CN104776850A - Navigation path programming method - Google Patents
Navigation path programming method Download PDFInfo
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- CN104776850A CN104776850A CN201410018880.5A CN201410018880A CN104776850A CN 104776850 A CN104776850 A CN 104776850A CN 201410018880 A CN201410018880 A CN 201410018880A CN 104776850 A CN104776850 A CN 104776850A
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- parking lot
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000010586 diagram Methods 0.000 description 4
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3423—Multimodal routing, i.e. combining two or more modes of transportation, where the modes can be any of, e.g. driving, walking, cycling, public transport
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention relates to a navigation path programming method. The navigation path programming method is realized by a vehicle-mounted navigation system. The navigation path programming method comprises the following steps of 1, determining if destination input by a vehicle user is located in a forbidding road section, 2, when the destination is located in the forbidding road section, transmitting an alarm to the vehicle user and inquiring if the vehicle will be driven to a park nearby a bus station, 3, if the vehicle user decides to drive the vehicle to the park, finding the part in a certain range and setting the park position as navigation destination, 4, marking the forbidding road section as a circumvention road section, and 5, carrying out path programming according to the navigation destination, the circumvention road section, a vehicle current position and map data.
Description
Technical field
The present invention relates to a kind of navigation path planning method of vehicle.
Background technology
In China, the traffic congestion in city is more and more serious, and the traffic restriction alleviating traffic congestion has been implemented in a lot of city.Such as in Beijing, car is according to the tail number of car plate, and within one week, 7 of some day can not sail the road within fifth ring road into up to 20 time; Road within the Fourth Ring road, 6 up to 23 time No trucks; Fifth ring road main road, 6 up to 22 time, forbid that more than 8 tons cargo vehicles pass through.The vehicle violated will be punished by a fine.
For such problem, prior art gives solution in a certain degree.A kind of vehicle restricted driving alarming method for power is disclosed in patent documentation CN102991415A, it is taken the number-plate number by camera, obtain the picture signal comprising the number-plate number, then the restricted driving signal conditioning package by being connected with camera processes to judge whether the same day is day of restricting driving to restricted driving information, when judging that the same day is restricted driving day, alerting drivers.
In addition, patent documentation CN102445206A discloses a kind of air navigation aid, and this air navigation aid comprises: the license plate number receiving the destination of user's input and the licence plate of user; Receiving satellite positioning signals also converts thereof into current time and current location information; Judge in all forbidden sections, whether to there is the forbidden section meeting above-mentioned license plate number, above-mentioned current time and above-mentioned current location information; If so, identify the forbidden section that is consistent for evading section, and carry out optimal path planning.
But prior art does not fundamentally solve the trip problem of the user of vehicle when vehicle is restricted driving.Such as, when the destination that the user of vehicle inputs is positioned at forbidden section, in any case vehicle can not be avoided entering forbidden section, the user of vehicle is still faced with the risk of being punished.
Summary of the invention
The invention provides a kind of navigation path planning method, this navigation path planning method fundamentally can solve the trip problem of the user of restricted driving vehicle, thus avoids the user of vehicle to be punished.
Navigation path planning method of the present invention is realized by the navigational system being equipped on vehicle, comprises the following steps: judge whether the destination of user's input of vehicle is positioned at forbidden section; When destination is positioned at forbidden section, the user to vehicle gives a warning and inquires the parking lot whether travelled to being positioned near a public traffic station; If the user of vehicle determines to travel to parking lot, then find parking lot within the specific limits and the position in parking lot be set to navigation purpose ground; Road closed to passage segment mark is designated as and evades section; According to navigation purpose ground, evade section, the current location of vehicle and map datum, carry out path planning.
Pass through the present invention, even if the user of vehicle trip purpose be in road closed to passage section time, also a reliable solution can be provided for the user of vehicle, namely, the destination of navigation is set to the parking lot near public traffic station and plans guidance path, thus, can first stop in the parking lot near vehicle drive to public traffic station by the user of vehicle, then take public transport and arrive destination, thus avoid the risk of being punished.In addition, navigation path planning method of the present invention is only the selection providing a kind of trip scheme can avoiding being punished to the user of vehicle, when the user of vehicle does not agree to the parking lot near by vehicle drive to public traffic station, navigation path planning method of the present invention still can give the user of the vehicle path planning providing conventional.
Preferably, parking lot is found by following steps: determine finding the first search radius of at least one public traffic station and the second search radius for finding at least one parking lot; With the current location of vehicle for benchmark, in the first determined region of search radius, search at least one public traffic station; With at least one public traffic station searched for benchmark, in the second determined region of search radius, search at least one parking lot; Show at least one parking lot searched; The parking lot that the user receiving vehicle selects from least one parking lot.
By the present invention, satisfactory parking lot can be found expeditiously.
Preferably, according to by the determined restricted driving rule of the license plate number of vehicle, type, current location and current time and according to Temporary Traffic Control Measures, the forbidden section of vehicle is judged.
By the present invention, in conjunction with the restricted driving rule of various places and Temporary Traffic Control Measures, can effectively judge the forbidden section of vehicle.
Preferably, rule of restricting driving and Temporary Traffic Control Measures are upgraded when the navigational system of vehicle starts by wireless network.
By the present invention, rule of restricting driving can be upgraded in real time, thus can farthest avoid the user of vehicle to be punished.
Preferably, the current location of vehicle and current time are obtained by global position system.
By the present invention, position and the current time of vehicle can be obtained exactly, thus forbidden section can be judged exactly, farthest avoid the user of vehicle to be punished.
Preferably, the second search radius is no more than 1500m.
By the present invention, the user of vehicle does not need the distance that walking is too far away after stopping just can arrive public traffic station, and the user for vehicle saves time and muscle power.
Preferably, when showing at least one parking lot searched, according to the public traffic station that preference is recommended near parking lot to the user of vehicle.
Preferably, preference comprises the shortest time and the least bus change number of times that arrive the destination of the user of vehicle from public traffic station.
By the present invention, suitable parking lot can be recommended according to the preference of user, thus not need user in person to screen from the parking lot of several candidates, for user provides convenience, and save the time.
Preferably, described public traffic station comprises bus stop, subway station, subway station, railway station.
By the present invention, provide the selection of more public transport can to the user of vehicle, thus provide more traffic paths can to the user of vehicle.
Accompanying drawing explanation
Fig. 1 is the general flow chart of an example of the navigation path planning method representing present embodiment.
Fig. 2 is the process flow diagram of an example of the method finding the parking lot be positioned near public traffic station.
Fig. 3 is the schematic diagram of an example of the method finding the parking lot be positioned near public traffic station.
Embodiment
Hereinafter, with reference to the accompanying drawings of the preferred embodiment of the present invention.
The navigation path planning method of present embodiment is realized by the navigational system being equipped on vehicle.When the user of vehicle opens the ignition switch of vehicle and starts vehicle, the navigational system energising of vehicle, performs navigation path planning method of the present invention by navigational system.
Fig. 1 is the general flow chart of an example of the navigation path planning method representing present embodiment.The navigation path planning method of present embodiment comprises step below.
In step sl, navigational system, by GPS receiving satellite signal, is carried out the location of vehicle, and is obtained current time.Navigational system, when carrying out the location of vehicle, provides the city (current city) that vehicle is positioned at.
Further, in step sl, navigational system by wireless network upgrade be used for aftermentioned judge vehicle whether by forbidden restricted driving rule and Temporary Traffic Control Measures.Restricted driving rule can be by inter-vehicle information system and intelligent transportation system and by wireless network, and the restricted driving that public transport management Ju Deng official of the such as public security bureau platform of acquisition is issued is regular.Temporary Traffic Control Measures can be obtained from Real-time Traffic Information by wireless network.
In step s 2, navigational system obtains license plate number and the type of vehicle.Navigational system obtains the license plate number of vehicle and the method for type both can be require that the user of vehicle inputs license plate number and the type of vehicle at every turn, also can be from the storage unit of vehicle ECU, obtain the license plate number and type that are stored in vehicle.
In step s3, navigational system, according to the license plate number of vehicle, type, current vehicle position (current city) and current time, judges whether vehicle exists by forbidden section according to restricted driving rule and Temporary Traffic Control Measures.
If the judged result of navigational system is "No", namely there is not forbidden section in step S3, then enter step S13.
In step s 13, the user of navigational system prompting vehicle inputs the destination of vehicle traveling, and receives this destination information.
In step S14, the destination that navigational system travels according to vehicle, the current location of vehicle and map datum carry out path planning.In present embodiment, map datum is pre-stored within vehicle or is obtained by wireless network.
In step S15, the path of having planned is presented on the display of guider by navigational system.
If the judged result of navigational system is "Yes", namely there is forbidden section in step S3, then enter step S4.
In step s 4 which, navigational system gives a warning to the user of vehicle, reminds the user of vehicle to there is forbidden section.In present embodiment, forbidden section based on map, such as, can be overlapped on map by warning, and is shown to the user of vehicle with special color; Warning also can carry out in the mode of voice, namely by voice broadcast to the user of vehicle.
In step s 5, the user of navigational system prompting vehicle inputs the destination of vehicle traveling, and receives this destination information.
In step s 6, the destination that navigational system inputs according to the user of vehicle, judges whether destination is positioned at forbidden section.
If the judged result of navigational system is that "No", i.e. destination are not positioned at forbidden section in step S6, then enter step S16.
In step s 16, road closed to passage segment mark is designated as and evades section by navigational system.
In step S17, the destination that navigational system travels according to vehicle, the current location of vehicle, evade section and map datum carries out path planning.
In step S18, the path of having planned is presented on the display of guider by navigational system.
If the judged result of navigational system is that "Yes", i.e. destination are positioned at forbidden section in step S6, then enter step S7.
In the step s 7, navigational system gives a warning to the user of vehicle, reminds the user destination of vehicle to be positioned at forbidden section, if by vehicle drive to forbidden section, be then faced with the risk of being punished.Meanwhile, whether the user of navigational system inquiry vehicle travels the parking lot to being positioned near public traffic station.In present embodiment, public traffic station comprises bus stop, subway station, subway station, railway station.
In step s 8, navigational system judges whether to travel the parking lot to being positioned near public traffic station according to the selection of the user of vehicle.
If the judged result of navigational system is that the user of "No", i.e. vehicle does not select to travel to parking lot in step S8, that is, the user of vehicle adheres to that steering vehicle is to forbidden section, then enter step S19.
In step S19, the destination that navigational system travels according to vehicle, the current location of vehicle and map datum carry out path planning.
In step S20, the path of having planned is presented on the display of guider by navigational system.
If the judged result of navigational system is that the user of "Yes", i.e. vehicle selects to travel to parking lot in step S8, then enter step S9.
In step s 9, navigational system according to the map data finds satisfactory parking lot, is namely positioned at parking lot near public traffic station in certain scope, and the position in this parking lot is set to navigation purpose ground.Navigational system finds the method in satisfactory parking lot, will describe in detail in ensuing Fig. 2 and Fig. 3.
In step slo, road closed to passage segment mark is designated as and evades section by navigational system.
In step s 11, navigational system according to navigation purpose (position in satisfactory parking lot), vehicle current location, evade section and map datum carries out path planning, guarantee that vehicle is travelling in the path in parking lot, can not enter forbidden section.
In step s 12, the path of having planned is presented on the display of guider by navigational system.
Below, illustrate that navigational system finds the method in the parking lot be positioned near public traffic station with reference to Fig. 2 and Fig. 3.Fig. 2 is the process flow diagram of an example of the method finding the parking lot be positioned near public traffic station.Fig. 3 is the schematic diagram of an example of the method finding the parking lot be positioned near public traffic station.
In step S91, determine the search radius a and the search radius b that find public traffic station and parking lot respectively.Specifically, reference Fig. 3, hunting zone A is centered by the current location of vehicle V, the determined border circular areas of search radius a.Navigational system, within the determined region of search A of search radius a, finds at least one public traffic station.Hunting zone B is centered by least one public traffic station to search out, the determined border circular areas of search radius b.Navigational system, within the determined region of search B of search radius b, finds at least one parking lot.
In step S91, search radius a and search radius b can be the numerical value that the user of vehicle inputs at every turn voluntarily, also can be according to presetting and the numerical value recommended to the user of vehicle of the parameter being stored in vehicle by navigational system.If the user to vehicle recommends by navigational system, then the radius a of the region of search of recommending should in rational scope, and recommend best from the numerical value of less search radius a first, such as 0 ~ 2000m; The search radius b recommended first preferably in the zone of reasonableness not needing the long-time walking of the user of vehicle, such as, is no more than 0 ~ 800m.
In step S92, navigational system for benchmark, searches for the public traffic station of existence with the current location of vehicle V within the determined region of search A of search radius a.
In step S93, navigational system, according to the Search Results in step S92, judges whether there is public traffic station in the A of region of search.If judged result is "Yes", namely there is public traffic station, then enter step S94; If judged result is "No", namely there is not public traffic station, then get back to step S91, reset the numerical value of search radius a.The numerical value resetting search radius a can be inputted the numerical value of a larger search radius a voluntarily by the user of vehicle, or by navigational system such as, according to preset and the parameter being stored in vehicle recommends the numerical value of a larger search radius a to the user of vehicle, 2000 ~ 4000m.If in the step S92 next carried out ~ S93, still do not find public traffic station, then return the numerical value of step S91 setting search radius a large further.
In present embodiment, such as, find four public traffic stations 1,2,3,4, as shown in Figure 3.
In step S94, navigational system respectively with the public traffic station 1,2,3,4 searched for benchmark, within the determined region of search B of search radius b, search for the parking lot of existence.
In step S95, navigational system, according to the Search Results in step S94, judges whether there is parking lot in the B of region of search.If judged result is "Yes", namely there is parking lot, then enter step S96; If judged result is "No", namely there is not parking lot, then get back to step S91, reset the numerical value of search radius a and/or search radius b.The search radius a reset and/or the numerical value of search radius b can be the numerical value being inputted a larger search radius a and/or search radius b by the user of vehicle voluntarily, also can by navigational system according to preset and the parameter being stored in vehicle recommends the numerical value of a larger search radius a and/or search radius b to the user of vehicle, if in the step S94 next carried out ~ S95, still do not find parking lot, then return the numerical value that step S91 sets search radius a large further and/or search radius b.The numerical value of the search radius b preferably recommended by navigational system is maximum is no more than 1500m.
In the present embodiment, six parking lot u, v, w, x, y, z are such as altogether found, as shown in Figure 3.
In step S96, the parking lot u, the v that find, w, x, y, z are overlapped on map by navigational system, and are shown to the user of vehicle with special color.
In addition, when parking lot u, v that navigational system can find in display, w, x, y, z, the public traffic station 1,3,4 calculated near parking lot u, the v of each candidate, w, x, y, z arrives time and the number of transfer of the actual destination of the user of vehicle, and is shown to the user of vehicle.Navigational system can according to the preference of the user of vehicle, and such as " shortest time ", " least bus change " screen the public traffic station of candidate.
In the step s 97, navigational system receive vehicle user to parking lot, according to preference or not according to the selection of preference.
Like this, even if the user of vehicle is when destination is in forbidden section, also first by vehicle drive to parking lot, then destination can be arrived by public transport.
Above preferred enforcement embodiment of the present invention is illustrated, but the invention is not restricted to above-mentioned embodiment, in the scope not departing from thought of the present invention, some distortion and amendment can be made.
Claims (9)
1. a navigation path planning method, is realized by the navigational system being equipped on vehicle, it is characterized in that, comprise the following steps:
Judge whether the destination of user's input of vehicle is positioned at forbidden section;
When described destination is positioned at described forbidden section, the described user to described vehicle gives a warning and inquires the parking lot whether travelled to being positioned near a public traffic station;
If the described user of described vehicle determines to travel to described parking lot, then find described parking lot within the specific limits and the position in described parking lot be set to navigation purpose ground;
Described road closed to passage segment mark is designated as and evades section;
According to described navigation purpose ground, described in evade section, the current location of described vehicle and map datum, carry out path planning.
2. navigation path planning method according to claim 1, is characterized in that, finds described parking lot by following steps:
Determine finding the first search radius of at least one public traffic station and the second search radius for finding at least one parking lot;
With the described current location of described vehicle for benchmark, search at least one public traffic station described in the described first determined region of search radius;
With at least one public traffic station described in searching for benchmark, search at least one parking lot described in the described second determined region of search radius;
Show at least one parking lot described searched;
The described parking lot that the user receiving described vehicle selects from least one parking lot described.
3. navigation path planning method according to claim 1, it is characterized in that, according to by the determined restricted driving rule of the license plate number of described vehicle, type, current location and current time and according to Temporary Traffic Control Measures, judge the described forbidden section of described vehicle.
4. navigation path planning method according to claim 3, is characterized in that, described restricted driving rule and described Temporary Traffic Control Measures are upgraded when the described navigational system of described vehicle starts by wireless network.
5. the navigation path planning method according to claim 1 or 3, is characterized in that, described current location and the described current time of described vehicle are obtained by global position system.
6. navigation path planning method according to claim 2, is characterized in that, described second search radius is no more than 1500m.
7. navigation path planning method according to claim 2, is characterized in that, show search described at least one parking lot time, according to the public traffic station that preference is recommended near described parking lot to the described user of described vehicle.
8. navigation path planning method according to claim 7, is characterized in that, described preference comprises the shortest time and the least bus change number of times that arrive the described destination of the described user of described vehicle from described public traffic station.
9. the navigation path planning method according to any one of claim 1 ~ 8, is characterized in that, described public traffic station comprises bus stop, subway station, subway station, railway station.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410018880.5A CN104776850A (en) | 2014-01-14 | 2014-01-14 | Navigation path programming method |
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| CN201410018880.5A CN104776850A (en) | 2014-01-14 | 2014-01-14 | Navigation path programming method |
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| CN104776850A true CN104776850A (en) | 2015-07-15 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105651296A (en) * | 2016-02-02 | 2016-06-08 | 深圳市凯立德科技股份有限公司 | Parking guidance method and device |
| CN105674997A (en) * | 2016-01-13 | 2016-06-15 | 上海斐讯数据通信技术有限公司 | Driving assistance request method and system thereof, driving assistance response method and system thereof |
| CN107063279A (en) * | 2017-03-15 | 2017-08-18 | 上海理工大学 | A kind of Traffic Net combined type introduction route generating means and route generation method |
| GB2559000A (en) * | 2016-11-18 | 2018-07-25 | Bosch Gmbh Robert | Method and device for navigating a motor vehicle |
| CN109000657A (en) * | 2018-06-15 | 2018-12-14 | 杭州后博科技有限公司 | A kind of Passenger Traveling Choice method and system based on navigation |
| CN109990799A (en) * | 2019-03-28 | 2019-07-09 | 北京小米移动软件有限公司 | The tactful display methods of trip, device and storage medium |
| CN111145568A (en) * | 2019-12-31 | 2020-05-12 | 斑马网络技术有限公司 | Warning method and device for vehicle in cruising and electronic equipment |
| JP2020170443A (en) * | 2019-04-05 | 2020-10-15 | 矢崎総業株式会社 | Charging service system, communication terminal, and server device |
| WO2021035577A1 (en) * | 2019-08-23 | 2021-03-04 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for identifying island areas in a road network |
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2014
- 2014-01-14 CN CN201410018880.5A patent/CN104776850A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105674997A (en) * | 2016-01-13 | 2016-06-15 | 上海斐讯数据通信技术有限公司 | Driving assistance request method and system thereof, driving assistance response method and system thereof |
| CN105651296A (en) * | 2016-02-02 | 2016-06-08 | 深圳市凯立德科技股份有限公司 | Parking guidance method and device |
| GB2559000A (en) * | 2016-11-18 | 2018-07-25 | Bosch Gmbh Robert | Method and device for navigating a motor vehicle |
| GB2559000B (en) * | 2016-11-18 | 2022-08-17 | Bosch Gmbh Robert | Method and device for navigating a motor vehicle |
| CN107063279A (en) * | 2017-03-15 | 2017-08-18 | 上海理工大学 | A kind of Traffic Net combined type introduction route generating means and route generation method |
| CN109000657A (en) * | 2018-06-15 | 2018-12-14 | 杭州后博科技有限公司 | A kind of Passenger Traveling Choice method and system based on navigation |
| CN109990799A (en) * | 2019-03-28 | 2019-07-09 | 北京小米移动软件有限公司 | The tactful display methods of trip, device and storage medium |
| JP2020170443A (en) * | 2019-04-05 | 2020-10-15 | 矢崎総業株式会社 | Charging service system, communication terminal, and server device |
| JP7182090B2 (en) | 2019-04-05 | 2022-12-02 | 矢崎総業株式会社 | Charging service system and server device |
| WO2021035577A1 (en) * | 2019-08-23 | 2021-03-04 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for identifying island areas in a road network |
| CN111145568A (en) * | 2019-12-31 | 2020-05-12 | 斑马网络技术有限公司 | Warning method and device for vehicle in cruising and electronic equipment |
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