CN101290230A - Road crossing navigation method and navigation system using the navigation method - Google Patents
Road crossing navigation method and navigation system using the navigation method Download PDFInfo
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Abstract
The present invention discloses a navigation method for a way crossing and a navigation system using the same. The navigation method comprises the following steps of: detecting the road state navigation information of the next way crossing to obtain a road state parameter; obtaining the road state navigation information of the next way crossing according to a calculation process and finding out a corresponding abstract picture in an abstract picture database to be used as a prompt picture of the way crossing to display. Since the abstract picture database in which various abstract pictures reflecting the navigation information of the road sate of the way crossing are saved is arranged in the navigation system, when the navigation system enters into the way crossing abstract picture mode to navigate, the actual road state navigation information of the way crossing is detected, and then the abstract picture is found out for the navigation. Since most way crossings have the same road state, the navigation system can intuitively display the road condition of the next way crossing, and can not occupy large storage space.
Description
Technical field
The present invention relates to the GPS navigation technical field, in particular, relate to a kind of air navigation aid of intersection and used the navigational system of this air navigation aid.
Background technology
At present, GPS navigation is one of GPS navigation important application direction in the navigation of roadnet.The gps antenna of GPS navigation system receives from 3 data messages that transmitted in earth-circling 24 gps satellites at least, in conjunction with the electronic chart that is stored in the navigation terminal, the position coordinates of determining by gps satellite signal is complementary therewith, determines the accurate position of navigation object in electronic chart.
When running into the complex cross crossing, when overhead, sinking road is especially arranged, because voice suggestion is longer, and be difficult to accurately express the travel direction in complex crossing the place ahead, tend to mislead the driver and enter wrong path, so navigational system needs other supplementary modes to guide the user smoothly by the complex cross crossing.Prior art takes to show the intersection map enlarged drawing of intersection usually, and informs driver's travel direction intuitively in the method that will sail sign indicating graphic on the road into of intersection map enlarged drawing correspondence.The map enlarged drawing is not enough for the expression at comparatively complicated crossing, especially for some overhead, this road that elevation change is arranged of sinking is arranged, map is difficult to the overview at reflection complex cross directly perceived crossing, the driver looks round map, and can delay the plenty of time in case go to the wrong way road.
Real road situation for the intersection that can better show the current place of driver, the patented claim that our company submitted on 03 14th, 2008: a kind of road display method of supporting picture, (number of patent application is: provide a kind of by when arriving the intersection 200810065576.0) for device and navigator, the method that shows the real picture that this crossing is drawn one to one or taken on the spot, with very directly perceived, the more humane road conditions that demonstrates next intersection, and inform driver's travel direction intuitively in the method that will sail on the road sign indicating graphic into of real picture correspondence.If when satisfying the condition that enters fork turn-by-turn navigation pattern, draw current minute fork in the road by gps data information and electronic map information, from electronic data, directly obtain again be pre-stored in the database with the indicating graphic of using when the corresponding real picture in current branch fork in the road and channeling direction; And real picture and indicating graphic drawn, be presented on the screen.
Fig. 1 shows the structure of existing navigational system and forms:
Described navigational system comprises: the control device 6 and the GPS receiving trap 16 that is connected with control device 6 of loudspeaker 1, memory storage 2, input media 3, voice output 4, display device 5, difference control store device 2, input media 3 and voice output 4.
Described control device 6 is a microcomputer, as adopting palm PC, smart mobile phone, car-mounted terminal etc.It comprises: user interface control module 7, map data management module 8 and navigation module 9; Navigation module 9 is mainly by Navigation Control module 10, map display module 11, route guidance module 12, path searcher module 13, information point retrieval module 14, constitute from car position detection module 15.
Preserve map datum, control program data in the memory storage 2 and reflected the real picture database of intersection outdoor scene situation, memory storage 2 is reduced into numerical data with above-mentioned recorded content, and delivers to and deliver to control device 6.Also be provided with the mapping table of intersection and real picture in the memory storage 2, intersections all in each width of cloth real picture stored in the real picture database and the map datum are one to one, and the intersection in the data can inquire corresponding real picture according to the map.
Usually, memory storage 2 can adopt chuck assembly, i.e. the storage card of extrapolation or data disks etc.Its recording medium can adopt for example SD card (Secure Digital Card), TF card (Trans FlashCard), CF card (Compact Flash Card), DVD (Digital Versatile Disc) etc.
Input media 3 can use button, rocking bar, knob or touch pad etc.Input media 3 is used to import user's various requirement, user's input signal is delivered in the user interface control module 7 of control device 6.
The voice data translation that voice output 4 is sent control device 6 here is a voice signal, delivers to loudspeaker 1.The voice signal that loudspeaker 1 is sent voice output 4 here converts sound and output to, and like this, loudspeaker 1 just can cooperate the needs of control device 6, sends the voice of various operational notifications and route guidance.
The signal that GPS receiving trap 16 receives from gps satellite, detect the present position and the moving direction of vehicle, and convert detected result to protocol data, these protocol datas further be sent in the navigation module 9 of control device 6 from car position detection module 15.
The user interface control module 7 of control device 6 receives the input of input media 3, generates and the desired content control instruction corresponding of input, delivers among the one or more submodules in the navigation module 9.In addition, user interface control module 7 response steering orders, and the result of returning from navigation module 9, deliver among voice output 4, the display device 5.
The requirement of the map data management module 8 response navigation modules 9 of control device 6 is read map datum from memory storage 2, and these map datums comprise real picture and are plotted in the data content that the prompting that is used to guide usefulness on the real picture is pointed to.
All the other submodules of navigation module 9 are controlled and called to the Navigation Control module 10 of navigation module 9.
The map display module 11 of navigation module 9 generates the video data that map shows usefulness according to the map data information of reading from map data management module 8, delivers to user interface control module 7.
The route guidance module 12 of navigation module 9 obtains map datum from map datum processing module 8, it is carried out the path induce processing, and inducing result to return to map data management module 11, read so that map data management module 11 is predicted.Data such as the interface in the time of also will inducing in addition, navigation speech send user interface control module 7 to.
The path searcher module 13 of navigation module 9 obtains map datum from map data management module 8, and processing is directly explored in walking along the street in fact, and with track search system recommendation path return path bootstrap module 12 as a result.
The information point retrieval module 14 of navigation module 9 is obtained data to be filtered from map data management module 8, retrieve the information point search instruction of input media 3 inputs, result for retrieval is returned to map data management module 8, map display module 11, route guidance module 12.
Navigation module 9 will deliver to map data management module 8, map display module 11, route guidance module 12 from the data of the expression present position that GPS receiving trap 16 obtains from car position detection module 15.
Navigation module 9 obtains this current parking stall and puts information, when detecting this car and be about to arrive the intersection, inquiry obtains and next intersection that real picture one to one from the real picture database, simultaneously, on real picture, draw the navigation indication information according to navigation information, as directional arrow etc., send to display device and show.
The method that above-mentioned this navigational system is carried out the real picture navigation at the intersection needs in advance the real picture of each intersection from each crossing viewing angle correspondence to be stored in the navigational system.Because the intersection is numerous, as the Shenzhen thousands of different intersections are just arranged, and the intersection of a province more can reach millions of, and this makes navigational system need very big storage space could satisfy the requirement of using real picture to navigate, has caused storage space to take greatly.In addition, this pattern also needs the navigational system developer to spend huge fund and the plenty of time is carried out the making of the real picture at thousands of crossings, human resources have been wasted greatly, and when the map of navigational system changes to the map of other provinces and cities, also must replace at the real picture database that navigates in the intersection, compatible, portability is all very poor.
Summary of the invention
For overcoming above-mentioned defective, technical matters to be solved by this invention provides a kind of road conditions that can demonstrate next intersection very intuitively, can not take again too many storage space the intersection air navigation aid and used the navigational system of this air navigation aid.
The objective of the invention is to be achieved through the following technical solutions:
A kind of air navigation aid of intersection is characterized in that, comprises computation process and procedure for displaying,
Described computation process may further comprise the steps:
A: route guidance module detects the navigation calculating point that whether arrives next intersection; If arrive, change step B; If no show continues execution in step A;
B: route guidance module detects the road form navigation information of next intersection, obtains the road morphological parameters;
Described procedure for displaying may further comprise the steps:
C: route guidance module detects the navigation display dot that whether arrives next intersection; If arrive, change step D; If no show continues execution in step C;
D: the road form navigation information of next intersection that route guidance module obtains according to computation process finds the abstract picture corresponding with it and points out picture as the intersection in abstract picture database, show on display device.
Among the described step B, the step that detects the road form navigation information of next intersection comprises:
B1: detect and allly in next intersection non-ly sail road cross into and sail angle information between the road cross into;
B2: the interval corresponding relation with the direction types value of the predetermined angle that falls into according to above-mentioned angle information, search the outgoing direction types value;
Among the described step D, in abstract picture database, search the abstract picture that direction types value therewith is complementary and point out picture as the intersection according to the resulting direction types value of step B2.
Each road distance intersection central point first predeterminable range place of described intersection is provided with the angle calculation measuring point, among the described step B1, with all non-angle calculation measuring point of road cross and lines between the central point of intersection of sailing into, and sail the angle calculation measuring point of road cross and the angle that the line between the central point of intersection forms into, as angle information.Such design is because if road is being a detour near crossing intersection part, when people estimate this detour when sailing angle between the road cross into, also can extend a segment distance usually as estimating reference point in detour; We are arranged on position apart from intersection central point certain distance with the calculating measuring point of each road cross when the angle information of calculating between each road, the result who obtains more meets people's visual observation, and navigation effect is better.First predeterminable range is 50 meters; When 50 meters of the length overall deficiencies of road, with this central point farthest, road distance intersection as the angle calculation measuring point.
The non-road cross that sails into of all of described intersection is provided with elevation calculating measuring point apart from the intersection central point second predeterminable range place, and among the described step B, the step that detects the road form navigation information of next intersection also comprises:
B3: each non-elevation that sails road cross into calculates the elevation of measuring point and the difference of intersection central point elevation in next intersection of detection computations, obtains the difference of elevation value information;
B4: the default elevation difference range that falls into according to above-mentioned difference of elevation value information and the corresponding relation of elevation types value, search and draw the elevation types value;
Among the described step D, in abstract picture database, search the abstract picture that elevation types value therewith is complementary and point out picture as the intersection according to the resulting elevation types value of step B4.Second predeterminable range is 50 meters; When 50 meters of the length overall deficiencies of road, with this central point farthest, road distance intersection as the angle calculation measuring point.
Among the described step B, after step B4, also comprise:
Step B5: the coding generation module is searched the road codes table according to direction types value that obtains in the above-mentioned steps and elevation types value, obtains each non-corresponding coding of road that sails road cross into; According to all non-corresponding codings of road that sails road cross into, synthesising picture coding in order;
Among the described step D, the picture calling module is searched with the corresponding abstract picture of coding of graphics according to the coding of graphics that obtains among the step B5 and is pointed out picture as the intersection.
A kind of navigational system of using above-mentioned air navigation aid comprises:
From car position detection module, be used to receive the GPS locating information, detect from car position information;
The map datum module is used to preserve map datum;
Display device is used for show navigator information;
Route guidance module is used for calculating navigation information, and being sent to display device according to the map datum from car position information and the preservation of map datum module middle part that obtains from car position detection module;
It is characterized in that,
Described map datum module also comprises abstract picture database, preserves the abstract picture that has nothing in common with each other of reflection intersection road form navigation information in the described abstract picture database.
Described road form comprises that the number of road cross of intersection and each are non-and sails road cross into and sail angle information between the road cross into;
Described route guidance module comprises:
Directions calculation module, be connected with the map datum module, being used for calculating all non-in intersection sails road cross into and sails angle information between the road cross into, fall into the interval corresponding relation with the direction types value of predetermined angle according to above-mentioned angle information, draw every non-direction types value that sails road cross into;
In the described abstract picture database, every kind of all non-combination of sailing the direction types value at road cross place into all has one to have the abstract picture of same link form navigation information corresponding with it respectively.
Each road distance intersection central point first predeterminable range place of described intersection is provided with the angle calculation measuring point, described directions calculation module is by the latitude and longitude information of inquiry angle calculation measuring point in the map datum module, calculate the non-angle calculation measuring point of road cross and the line between the central point of intersection of sailing into, and sail the angle that the angle calculation measuring point of road cross and the line between the central point of intersection form into, sail road cross into and sail angle information between the road cross into as non-.
The distribution situation in described predetermined angle interval is: (0 °～90 °] be first interval; (90 °～175 °] be second interval; (175 °～185 °] be the 3rd interval; (185 °～270 °] be the 4th interval; (270 °～360 °) are the 5th interval.
Described road form navigation information also comprises the elevation change information of each road of crossing intersection part; The non-road cross that sails into of all of described intersection is provided with elevation calculating measuring point apart from the intersection central point second predeterminable range place,
Described route guidance module also comprises:
The elevation computing module, be connected with the map datum module, calculate the elevation information of measuring point by inquiry elevation in the map datum module, calculate in next intersection each non-elevation that sails road cross into and calculate the elevation of measuring point and the difference of intersection central point elevation, the default elevation difference range that falls into according to above-mentioned difference of elevation value information and the corresponding relation of elevation types value draw every non-elevation types value that sails road cross into;
In the described abstract picture database, every kind of all non-combination of sailing the direction types value and the elevation types value at road cross place into all has one to have the abstract picture of same link form navigation information corresponding with it respectively.Increase the elevation information that detects the intersection, can be when showing intersection indication picture, the actual form of the intersection of fitting more is user's navigation more intuitively.
The described default elevation difference range and the corresponding relation of elevation types value are: when the elevation difference more than or equal to-2m during smaller or equal to 2m, the elevation types value is expressed as level road; When elevation difference during greater than 2m, the elevation types value is expressed as the rising road surface; When elevation difference during less than-2m, the elevation types value is expressed as the sinking road surface.
Described route guidance module also comprises:
The coding generation module is used for each non-direction types value and elevation types value that sails road cross into of above-mentioned intersection is encoded by default scheme synthesising picture;
The picture calling module is used for searching corresponding abstract picture according to the coding of graphics that the coding generation module generates at abstract picture database, is sent to display device as intersection prompting picture.
Described map datum module also comprises preserves the indicating graphic database that turns to indicating graphic, also is provided with the indicating graphic drafting module in the described route guidance module, is used for the indicating graphic that turns to of indicating graphic database is plotted in abstract picture.Earlier select abstract picture, on abstract picture, draw again and turn to indicating graphic, reduced the quantity that needs the abstract picture preserved in the abstract picture database according to the road form of intersection.
Described abstract picture is for from sailing the view that angle is observed into, or the view of observing from the default bias angle.From sailing can more fit user's actual navigation situation of view that angle observes into, and when can better reflect whole crossing road form from other angles, abstract picture can be the view from the observation of default bias angle.
Abstract picture in the described abstract picture database is the abstract picture of the junction of three roads and four forks in the road; The real picture database that also comprises the real picture of preserving the above crossing of five troubles in the described map datum module.Such design is because the road form at the crossing more than five troubles is too many, the quantity of the abstract picture of abstract formation and the quantity of real picture is very big gap not, therefore, available concrete real picture represents that the above intersection of five troubles points out picture as the intersection.
The present invention is owing to be provided with the abstract picture database of the abstract picture that has nothing in common with each other of preserving reflection intersection road form navigation information in navigational system, navigational system enters intersection abstract graph pattern when navigated in the intersection, can detect the road form navigation information of actual intersection earlier, finding the abstract picture corresponding with it navigates as intersection prompting picture, because in the actual conditions, most intersection has identical road form, can navigate as intersection prompting picture by same abstract picture in the intersection of same link form, therefore, navigational system of the present invention can demonstrate the road conditions of next intersection very intuitively, can not take too many storage space again, save a large amount of resources, improved the compatible and portable of map datum between the different cities.
Description of drawings
Fig. 1 is the structural representation of navigational system of the prior art;
Fig. 2 is the structural representation of navigational system in the embodiment of the invention;
Fig. 3 is the schematic flow sheet of the air navigation aid of intersection in the embodiment of the invention;
Fig. 4-1～Fig. 4-the 5th, the floor map of a concrete intersection in the embodiment of the invention;
Fig. 5 is 0000001110000111 the abstract picture in intersection for coding of graphics in the embodiment of the invention;
Fig. 6 turns to indicating graphic pinup picture limit coordinate synoptic diagram in the embodiment of the invention;
Fig. 7 is the indicating graphic synoptic diagram in the embodiment of the invention;
Fig. 8 is a coding of graphics key diagram in the embodiment of the invention;
Fig. 9 is the abstract picture in 0000001110000111 intersection for the coding of graphics after will turning to the indication picture synthetic in the embodiment of the invention.
Embodiment
The invention will be further described below in conjunction with accompanying drawing and preferred embodiment.
Because in the middle of numerous intersections, 4 troubles and following more than 95% of crossing preemption intersection total amount of 4 troubles, most of intersection has identical outlet number and form, so a lot of outlet numbers are identical and can navigate as intersection prompting picture by an abstract picture of 3D that can reflect the road morphological data of information such as current road bifurcated, elevation in plesiomorphic crossing.Therefore, can be with the road form of intersection that much has identical outlet number and form abstract come out is with an intersection prompting picture with abstract picture of this same link shape information as this intersection.Like this, all intersections with identical or akin road form only need an abstract picture to represent, therefore, have reduced the quantity that needs the picture preserved in the picture database to a great extent.Because the road morphotype at the crossing that 4 troubles and 4 troubles are following has only limited some kinds, can realize that 4 troubles and the following crossing of 4 troubles show that the sight picture of intersection carries out navigation function, has reduced storage space, exploitation funds and developer's workload greatly so only need the hundreds of pictures at the most.In addition, even the map datum in the navigational system is changed into the map datum of other cities or country, do not need to change the abstract picture in the abstract picture database yet, still can well support the navigation of intersection, improved the differently compatibility between the diagram data and portable.
The system architecture of navigational system of the present invention as shown in Figure 2, it comprises:
The map datum module, promptly memory storage 2, are used to preserve map datum; Store the abstract picture database 201 of the abstract picture of 3D, abstract picture database address enquiry module 203, indicating graphic database 202;
Display device is used for show navigator information;
Control device 6, comprise navigation module 9, wherein, navigation module 9 comprises route guidance module 12, the expression that will obtain from GPS receiving trap 16 from car position detection module 15 of navigation module 9 is delivered to map data management module 8, map display module 11, route guidance module 12 now from the data of car position; Route guidance module 12 calculates navigation information, and is sent to display device 5 according to the map datum from car position information and the preservation of map datum module middle part that obtains from car position detection module; The requirement of the map data management module 8 response navigation modules 9 of control device 6 is read map datum from memory storage 2, and the data content of picture guiding usefulness; The map display module 11 of navigation module 9 generates video data and picture video data that map shows usefulness according to map data information and the pictorial information read from map data management module 8, delivers to user interface control module 7.
Wherein, preserve map datum, control program data in the memory storage 2, be used to show the abstract picture database 201 of intersection navigation information, picture database address base 203 and stored the indicating graphic database 202 of all kinds of indicating graphic pictures; Store the abstract picture of the various intersection of reflection road form in the described abstract picture database 201; Wherein, the shown road form navigation information of any two abstract pictures all is inequality.Described road form comprises that the number of road cross of intersection and each are non-sails road cross into and sails angle information between the road cross into, and the elevation change information of each road of crossing intersection part.Described picture database address base 203 links the indicating graphic address of the abstract graph correspondence of the coding of graphics of the abstract graph of all kinds of intersections in the abstract picture database 201 and abstract graph memory address and this intersection.Memory storage 2 becomes numerical data with all these reductions of data, and delivers to and deliver to control device 6.
Be provided with intersection search module 1201, intersection distance (time) computing module 1202, threshold values judge module 1203, directions calculation module 1204, elevation computing module 1205, coding generation module 1206, picture calling module 1207, indicating graphic drafting module 1208 in the described route guidance module 12.
Wherein, described intersection search module 1201 is searched for next crossing according to the system recommendation path of path searcher module search from the current position that car position detection module is determined;
The intersection of route guidance module 12 distance (time) computing module 1202 according to from the next crossing of the current position of car position detection module 15 and the search of intersection search module and current driving speed calculation current location to crossroad mouth distance (time);
The threshold values judge module 1203 of route guidance module 12 is by the threshold values size to crossroad mouth distance (time) and default navigation calculating point place of current location relatively, and whether real-time supervised path bootstrap module detection arrives the navigation calculating point of next intersection; When current location to crossroad mouth distance (time) than threshold values hour, when promptly arriving the navigation calculating point of next intersection, start directions calculation module, elevation computing module and the generation module of encoding; The navigation display dot that arrives next intersection is, navigational system enters intersection abstract graph pattern, shows the navigation information at the intersection prompting picture of the road form of next intersection.
Wherein, being provided with of navigation calculating point can have two kinds of schemes, a kind of as in the above-mentioned scheme, with being arranged on of navigation calculating point apart from a distance, next intersection, as 500 meters, this distance is made as apart from threshold values, or is made as the time threshold values with the regular hour that shifts to an earlier date, judge whether to arrive the navigation calculating point according to the current line vehicle speed; This threshold values can be set in advance for program, also can produce in real time according to parameter values such as present speed, weather conditions for program.When current location to the distance (time) of crossroad mouth than threshold values hour, when being this car arrival navigation calculating point, begin in advance to calculate, when arriving the navigation display dot of a certain intersection, navigational system enters intersection abstract graph pattern, directly shows corresponding abstract picture.In the present embodiment, in order to simplify calculating, the point that navigation calculating is put the place display dot that is set to navigate, that is, and after arriving navigation calculating point, in case finished the calculating of navigation information, just demonstration at once.
Another kind of scheme is: the navigation calculating point of all intersections in the guidance path of current generation all is arranged on new guidance path generation place; Promptly, when in selected destination and when beginning generation pass, promptly begin to calculate the navigation information of intersection, find the address of the abstract picture that corresponding need call, and it is kept in the buffer memory of navigational system, when arriving the navigation display dot of a certain intersection, show corresponding abstract picture.If according to predetermined guidance path driving, when having entered into other paths, navigational system does not need to regenerate new guidance path again to vehicle, begins to calculate simultaneously the navigation information of all intersections in the new guidance path again.
The directions calculation module 1204 of route guidance module 12 is connected with the map datum module, calculating in the intersection other every according to the longitude and latitude of next intersection central point in the electronic map data and each branch road point coordinate non-ly sails road cross into and sails angle information between the road into, fall into the interval corresponding relation with the direction types value of predetermined angle according to above-mentioned angle information, draw every non-direction types value that sails road cross into.
Wherein, each 50 meters of road distance intersection central point of intersection are provided with the angle calculation measuring point, directions calculation module is by the latitude and longitude information of inquiry angle calculation measuring point and intersection central point in the map datum module, calculate the non-angle calculation measuring point of road cross and the line between the central point of intersection of sailing into, and sail the angle that the angle calculation measuring point of road cross and the line between the central point of intersection form into, obtain non-ly sailing road cross into and sailing angle value between the road cross into.
Table 1:
| Angle | θ＜90 | 90≤θ＜ 175 | 175≤θ ＜185 | 185＜θ ≤270 | θ＞270 |
| The direction types value | 001 | 010 | 011 | 100 | 101 |
The division of this angular interval mainly is to consider the visual impact maximum of the road in dead ahead to people, therefore, because the width of road can produce certain influence to the result of calculation of angle, the width of angular divisions that aims at the dead ahead is 10 ° interval, falls into the road that this interval interior road all is considered as 180 ° of angles.
Directions calculation module 1204 is according to the angle of each road in the current intersection, drawing every non-ly sails road cross into and sails angle between the road cross into, search its corresponding direction types value, and the direction types value of each bar road is offered coding generation module 1206.(to the influence that abstract picture caused, above-mentioned predetermined angle interval can also be set to other schemes as if the careful degree of not considering interval division, as, angle is defined as 001 less than 85 ° direction types value; Direction types value less than 95 ° is defined as 010 to angle more than or equal to 85 °; Direction types value less than 175 ° is defined as 011 to angle more than or equal to 95 °; Direction types value less than 185 ° is defined as 100 to angle more than or equal to 175 °; Direction types value smaller or equal to 265 ° is defined as 101 to angle more than or equal to 185 °; Direction types value smaller or equal to 275 ° is defined as 110 to angle more than or equal to 265 °; Angle is defined as 111 more than or equal to 275 ° direction types value.Though such design can make the kind of direction types value increase, cause the quantity of the abstract picture in the abstract picture database to increase greatly, but in the actual conditions, because four forks in the road much all are crossing distribution, being respectively 90 ° of roads and 270 ° of roads, to divide width be 10 ° interval, can be so that the shown road form that goes out of the abstract abstract picture that forms be more fitted actual conditions.)
In abstract picture database, the abstract standard of abstract picture is identical with the examination criteria of above-mentioned actual intersection, and every kind of all non-combination of sailing the direction types value at road cross place into all has a corresponding abstract picture with it of abstract picture that same link form navigation information is arranged respectively.Abstract picture be plotted in match actual conditions to the full extent, in the time of in a road falls into above-mentioned some predetermined angle interval, this road that shows in the abstract picture is arranged on the angular bisector in this predetermined angle interval; In the time of in two road fall into above-mentioned some predetermined angle interval, these two road that show in the abstract picture are equally divided into three parts with this angular interval; Recursion successively.Certainly, the distribution of road in the predetermined angle interval can be carried out suitable adjustment according to actual conditions in the abstract picture.
The non-road cross that sails into of all of intersection is provided with elevation calculating measuring point apart from 50 meters of intersection central point; The elevation computing module 1205 of route guidance module 12 is connected with the map datum module, calculate the elevation information of measuring point by inquiry elevation in the map datum module, calculate in next intersection each non-elevation that sails road cross into and calculate the elevation of measuring point and the difference of intersection central point elevation, the default elevation difference range that falls into according to above-mentioned difference of elevation value information and the corresponding relation of elevation types value draw every non-elevation types value that sails road cross into.
In the present embodiment with difference of elevation more than or equal to-2 meters and be defined as 01 smaller or equal to 2 meters difference of elevation types value, the elevation types value is expressed as level road; Difference of elevation is defined as 10 greater than 2 meters difference of elevation types value, and the elevation types value is expressed as the rising road surface; Difference of elevation is defined as 11 less than-2 meters difference of elevation types value, and the elevation types value is expressed as the sinking road surface; Shown in following table table 2.
Table 2:
| ＞-2 meters and≤2 meters | ＞2 meters | ≤-2 | |
| Type | |||
| 01 | 10 | 11 |
The setting of 2 meters elevation difference mainly is in order to adapt to people's subjective perception rule, usually people are for have comparatively significantly perception in the elevation difference more than 2 meters, obviously, it is also passable that the threshold values of difference of elevation is provided with other numerical value, can specifically be provided with according to the elevation change of concrete road conditions.
In abstract picture database, the abstract standard of abstract picture is identical with the examination criteria of above-mentioned actual intersection, and every kind of all non-combination of sailing the direction types value and the elevation types value at road cross place into all has one to have the abstract picture of same link form navigation information corresponding with it respectively.The abstract picture of above-mentioned 3D can also can reflect the view of whole crossing road form for the skew certain angle preferably for from sailing the view that angle is observed into.From sailing can more fit user's actual navigation situation of view that angle observes into, and when can better reflect whole crossing road form from other angles, abstract picture can be the view from the observation of default bias angle.
In the present embodiment, in order to simplify calculating, elevation calculates measuring point and overlaps with the angle calculation measuring point, all is to be calculation level with the about 50 meters point of distance intersection central point.As calculation level, mainly is in order to make people consistent as much as possible with corresponding abstract picture to the perception of current intersection steering angle with the point of 50 meters of distance calculation distance center points.Especially near its road the intersection the actual intersection of detour, when people sail the angle of road in subjective perception, the angle of that can't select usually that itself and intersection directly join, carry out perception but can extend a segment distance in sailing road cross into, this distance is usually about 50 meters.Therefore, the angle calculation distance is set to 50 meters in the present embodiment.Obviously can choose other numerical value according to actual visibility or other factors.
Each non-direction types value and elevation types value that sails road cross into that the coding generation module 1206 of route guidance module 12 provides according to directions calculation module, elevation computing module, search road codes table (shown in following table table 3), by default scheme synthesising picture coding;
Table 3:
| The direction types value | The elevation types value | Road codes |
| 10 | 001 | 0001 |
| 10 | 010 | 0010 |
| 10 | 011 | 0011 |
| 10 | 100 | 0100 |
| 10 | 101 | 0101 |
| 01 | 001 | 0110 |
| 01 | 010 | 0111 |
| 01 | 011 | 1000 |
| 01 | 100 | 1001 |
| 01 | 101 | 1010 |
| 11 | 001 | 1011 |
| 11 | 010 | 1100 |
| 11 | 011 | 1101 |
| 11 | 100 | 1110 |
| 11 | 101 | 1111 |
Coding of graphics is produced by each road codes of intersection.Because the abstract picture in the abstract picture database is the abstract picture of the junction of three roads and four forks in the road; The intersection prompting picture at the above crossing of five troubles is represented that by real picture therefore, present embodiment adopts 12 codings, and coded format is shown in following table table 4:
Table 4:
| Coding place figure place | Implication |
| 1-4 | With sail counterclockwise article one road codes that road intersects into |
| 5-8 | With sail the counterclockwise second road codes that road intersects into |
| 9-12 | With sail counterclockwise the 3rd road codes that road intersects into |
| Remarks | Sail counterclockwise the 3rd road that road intersects into as nothing, the 9-12 position is encoded to 0000 |
As shown in Figure 8, the place figure place 1-4 that wherein encodes is and sails article one road codes that road intersects counterclockwise into; Coding place figure place 5-8 is the second road codes crossing counterclockwise with sailing road into; Coding place figure place 9-12 is three road codes crossing counterclockwise with sailing road into; Sail counterclockwise the 3rd road that road intersects into as nothing, the 9-12 position is encoded to 0000.
The coding of graphics that the picture calling module 1207 of route guidance module 12 generates according to coding generation module 1206 calls the abstract picture in intersection and the corresponding indicating graphic picture of unique correspondence.
Picture and image parameters that the indicating graphic drafting module 1208 of route guidance module 12 calls according to the picture calling module are plotted in the indicating graphic that turns in the indicating graphic database on the abstract picture.Indicating graphic can be the figure of sign such as arrow direction, and figure can be and dynamically also can be static state.
Map display module 11 is according to the map data information of reading from map data management module 8, generate the video data that map shows usefulness, image data information according to indicating graphic drafting module 1208 is read generates the video data that picture shows usefulness, delivers to user interface control module 7.
User interface control module 7 is delivered to the result that indicating graphic drafting module 1208 returns from route guidance module 12 among voice output 4, the display device 5.
The map that display device 5 explicit user interface control modules 7 provide shows the video data of usefulness and is used for the intersection prompting picture of intersection navigation.
For the above intersection of five troubles, both can adopt the abstract picture of above-mentioned pre-rendered 3D to represent, also can represent, with the outdoor scene of fitting more by the real picture of taking on the spot.Because the limited amount of the intersection that five troubles are above, additional workload is not very big.
The flow process of the air navigation aid of intersection of the present invention is as shown in Figure 3:
Navigate among the step S101
Module9 will deliver to map data management module 8, map display module 11, route guidance module 12 from the data of the expression present position that GPS receiving trap 16 obtains from car position detection module 15;
Among the step S103 intersection distance (time) computing module 1202 according to the next crossing of current position data that provide from car position detection module 15 and 1201 search of intersection search module and current driving speed calculation current location to crossroad mouth distance (time);
Among the step S 104 threshold values judge module 1203 relatively current location to crossroad mouth distance (time) and threshold values size, when current location to crossroad mouth distance (time) than threshold values hour, start directions calculation module, elevation computing module and the generation module of encoding; When current location is bigger than threshold values to crossroad mouth distance (time), repeating step S101;
The directions calculation module 1204 of route guidance module 12 is calculated other crossings, next intersection and the angle that sails road among the step S105, calculate other branch roads and the angle information of sailing road into according to next intersection central point longitude and latitude in the electronic map data and each branch road point coordinate, angle direction type list, and get the outgoing direction types value according to angle information;
The elevation computing module 1205 of route guidance module 12 calculates other branch road elevation change according to next crossing central point elevation in the electronic map data and each branch road point height among the step S106, and draws the elevation types value according to elevation change;
The coding generation module 1206 of route guidance module 12 generates coding of graphics according to direction types value and the elevation types value that directions calculation module, elevation computing module provide among the step S107;
The picture calling module 1207 of route guidance module 12 is searched picture database address base 203 according to the coding of graphics that the coding generation module generates among the step S108, calls the abstract picture in intersection of unique correspondence, the indicating graphic that rolls the road correspondence away from and image parameters according to the address in abstract picture database 201;
The abstract picture in intersection that the indicating graphic drafting module 1208 of route guidance module 12 is determined according to picture calling module 1207 among the step S109, roll the road correspondence away from turn to indicating graphic and image parameters, be compounded to form intersection prompting picture.
Wherein, among the step S109, about turning to the drafting of indicating graphic (being rotation arrow), (number of patent application is: describe in detail 200810065576.0), so do not giving unnecessary details at this in a kind of road display method, device and navigator of supporting picture of patented claim.
Certainly, turning to indicating graphic also is a part that can be used as abstract picture, directly is plotted on the abstract picture, is kept in the abstract picture database; For four forks in the road, just need three different (being that the rotation arrow direction indication is different) abstract pictures of navigation information to reflect with a kind of road form.Turn to the mode of indicating graphic to compare with separating drafting, such being provided with increased the quantity of the abstract picture of preserving in the abstract picture database, but reduced the follow-up step of drawing, synthesizing.This scheme still can well realize the present invention.
Be what how in abstract picture database, to be found with the corresponding abstract picture of road form navigation information of actual intersection with the example of actual intersection explanation guider below.
Fig. 4-1～Fig. 4-5 is the synoptic diagram of the intersection of a reality.
Because in electronic map database, road all is to explain the O of the measuring point of road as shown in Fig. 4-1～Fig. 4-5 with path coordinate has been put down in writing the road of attribute form informations such as longitude and latitude and elevation with the measuring point of road measuring point usually
1Point, O
2Point, O
3Point, A
7To A
1Point, B
1To B
3Point, and C
1To C
3, and D
1To D
2Point, wherein, O
2Point sails the intersection central point that road cross and current intersection intersect to form into in the current intersection; O
1Point, O
3Point non-ly sails the intersection central point that road cross and current intersection intersect to form into for other each.When system travels at O
2An place road drives towards O by the An point
2When point, system GPS receiving trap 16 is accepted gps signal, converts detected result to protocol data, and deliver in the navigation module 9 of control device 6 from car position detection module 15.The data of present position be will represent from car position detection module 15, map data management module 8, map display module 11, route guidance module 12 delivered to.
Threshold values judge module 1203 compares current location to crossroad mouth distance and threshold values size, when current location is bigger than threshold values to crossroad mouth distance (time), repeating step S101, promptly wait for the protocol data that next gps signal produces, from car position detection module 15 next gps signal is represented the data of present position, deliver to map data management module 8, map display module 11, route guidance module 12.Until the data of representing the present position according to gps signal draw current location to crossroad mouth distance than threshold values hour, start directions calculation module 1204, elevation computing module 1205 and coding generation module 1206.
At this moment, directions calculation module 1204 is the intersection map datum that provides of data management module 8 according to the map, and the intersection map datum is as shown in table 5, only provides the part example data among the figure.
Table 5:
| Road point ID | Longitude | Latitude | Elevation | The road tie point | Described road ID |
| O 1 | 50.832789437 | 34.25942584 | 5 | Y | ca |
| O 2 | 50.832789438 | 34.25942584 | 5.1 | Y | Cdr、 |
| O 3 | 50.832789439 | 34.25942584 | 5.1 | Y | kcs、wak |
| A 1 | 50.832789438 | 34.25942585 | 5 | N | Cdr |
| A 2 | 50.832789438 | 34.25942586 | 5 | N | Cdr |
| A 3 | 50.832789438 | 34.25942587 | 5 | N | Cdr |
| A N | XXXXXXXXXX | XXXXXXXXXX | X | N | Cdr |
| B 1 | XXXXXXXXXX | XXXXXXXXXX | X | N | kcs |
| B N | XXXXXXXXXX | XXXXXXXXXX | X | N | kcs |
| C 1 | XXXXXXXXXX | XXXXXXXXXX | X | N | wak |
| C n | XXXXXXXXXX | XXXXXXXXXX | X | N | wak |
| D 1 | XXXXXXXXXX | XXXXXXXXXX | X | N | ca |
| D n | XXXXXXXXXX | XXXXXXXXXX | X | N | ca |
At first, directions calculation module 1204 is determined to calculate measuring point according to the intersection map datum, promptly chooses the elevation that calculates other branch roads and angle calculation measuring point of sailing road into and road difference of elevation and calculates measuring point.Directions calculation module 1204 is according to the intersection map datum, because O
2Point calculates A successively for to sail the central point of road in the intersection into
1O
2With | A
1O
2-50|, A
2O
2With | A
2O
2-50|.....A
nO
2With | A
nO
2-50|, choose | A
nO
2The A of-50| minimum value
nAs calculating measuring point, suppose that this embodiment chooses A
2The point.The same manner draws B
2Point, C
3And D
1Point is for calculating measuring point.And these are calculated measuring point ID offer elevation computing module 1205.Directions calculation module 1204 is calculated each bar road of intersection and the angle that sails road into.Directions calculation module 1204 is calculated A respectively
2O
2With O
3B
2Angle, shown in Fig. 4-3, its angle is 95 °; A
2O
2With O
3C
3Angle, shown in Fig. 4-4, its angle is 179 °; A
2O
2With O
1D
1Angle, shown in Fig. 4-5, its angle is 181 °.
The coding generation module 1206 final coding of graphics that draw are 001110000111.
Table 6:
| Coding of graphics | Offset address | NSZ1 turns to the indicating graphic pinup picture utmost point | NSZ1 turns to indicating graphic ground | NSZ2 turns to indicating graphic to paste | NSZ2 turns to indicating graphic ground | NSZ3 turns to indicating graphic to paste | NSZ3 turns to indicating graphic ground |
| Point coordinate | The location side-play amount | Figure limit coordinate | The location side-play amount | Figure limit coordinate | The location side-play amount | ||
| 001110000110 | 154 | (86，34) | D76 | (77，22) | F3A | (52，XX) | XXX |
| 001110000111 | 32C | (94，81) | 5C3 | (73，81) | B97 | (XX，XX) | XXX |
| 001110010110 | D1H6 | (66，21) | 87F | (51，45) | D43 | (XX，XX) | XXX |
| 001110010111 | 2A51 | (32，75) | D89 | (21，34) | F86 | (XX，XX) | XXX |
| 000010011011 | 1489 | (57，21) | 4AF | (45，37) | ACF | (XX，XX) | XXX |
Wherein,
NSZ1 is article one road crossing counterclockwise with sailing road into;
NSZ2 is the second road crossing counterclockwise with sailing road into;
NSZ3 is three road crossing counterclockwise with sailing road into.
The offset address that checks in this encoded picture from table 6 is 32C, and calls this and the corresponding abstract picture of road form at the current crossing that calculates, as shown in Figure 5.And the indicating graphic pinup picture limit horizontal ordinate that draws NSZ2 road on the picture simultaneously is 73, and indicating graphic pinup picture limit is an ordinate 81, as shown in Figure 6.The offset address of indicating graphic is B97.Picture calling module 1207 finds the offset address of indicating graphic according to the graphic data base address table, calls indicating graphic as shown in Figure 7.
Indicating graphic drafting module 1208 is plotted to this indicating graphic on the abstract picture in this intersection according to indicating graphic pinup picture limit coordinate, forms final guiding figure as shown in Figure 9.
User interface control module 7 is the result of returning from indicating graphic drafting module 1208, among the display device 5.
The map that display device 5 explicit user interface control modules 7 provide shows that the picture of usefulness shows the video data of usefulness.
Above content be in conjunction with concrete preferred implementation to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (14)
1, a kind of air navigation aid of intersection is characterized in that, comprises computation process and procedure for displaying,
Described computation process may further comprise the steps:
A: route guidance module detects the navigation calculating point that whether arrives next intersection; If arrive, change step B; If no show continues execution in step A;
B: route guidance module detects the road form navigation information of next intersection, obtains the road morphological parameters;
Described procedure for displaying may further comprise the steps:
C: route guidance module detects the navigation display dot that whether arrives next intersection; If arrive, change step D; If no show continues execution in step C;
D: the road form navigation information of next intersection that route guidance module obtains according to computation process finds the abstract picture corresponding with it and points out picture as the intersection in abstract picture database, show on display device.
2, the air navigation aid of intersection as claimed in claim 1 is characterized in that, among the described step B, the step that detects the road form navigation information of next intersection comprises:
B1: detect and allly in next intersection non-ly sail road cross into and sail angle information between the road cross into;
B2: the interval corresponding relation with the direction types value of the predetermined angle that falls into according to above-mentioned angle information, search the outgoing direction types value;
Among the described step D, in abstract picture database, search the abstract picture that direction types value therewith is complementary and point out picture as the intersection according to the resulting direction types value of step B2.
Each road distance intersection central point first predeterminable range place of described intersection is provided with the angle calculation measuring point, among the described step B1, with all non-angle calculation measuring point of road cross and lines between the central point of intersection of sailing into, and sail the angle calculation measuring point of road cross and the angle that the line between the central point of intersection forms into, as angle information.
3, the air navigation aid of intersection as claimed in claim 2, it is characterized in that, the non-road cross that sails into of all of described intersection is provided with elevation calculating measuring point apart from the intersection central point second predeterminable range place, among the described step B, the step that detects the road form navigation information of next intersection also comprises:
B3: each non-elevation that sails road cross into calculates the elevation of measuring point and the difference of intersection central point elevation in next intersection of detection computations, obtains the difference of elevation value information;
B4: the default elevation difference range that falls into according to above-mentioned difference of elevation value information and the corresponding relation of elevation types value, search and draw the elevation types value;
Among the described step D, in abstract picture database, search the abstract picture that elevation types value therewith is complementary and point out picture as the intersection according to the resulting elevation types value of step B4.
4, the air navigation aid of intersection as claimed in claim 3 is characterized in that, among the described step B, after step B4, also comprises:
Step B5: the coding generation module is searched the road codes table according to direction types value that obtains in the above-mentioned steps and elevation types value, obtains each non-corresponding coding of road that sails road cross into; According to all non-corresponding codings of road that sails road cross into, synthesising picture coding in order;
Among the described step D, the picture calling module is searched with the corresponding abstract picture of coding of graphics according to the coding of graphics that obtains among the step B5 and is pointed out picture as the intersection.
5, a kind of navigational system of the air navigation aid of intersection according to claim 1 of having used comprises:
From car position detection module, be used to receive the GPS locating information, detect from car position information;
The map datum module is used to preserve map datum;
Display device is used for show navigator information;
Route guidance module is used for calculating navigation information, and being sent to display device according to the map datum from car position information and the preservation of map datum module middle part that obtains from car position detection module;
It is characterized in that,
Described map datum module also comprises the abstract picture database that is used to show the intersection navigation information, preserves the abstract picture that has nothing in common with each other of reflection intersection road form navigation information in the described abstract picture database.
6, navigational system as claimed in claim 5 is characterized in that, described road form comprises that the number of road cross of intersection and each are non-and sails road cross into and sail angle information between the road cross into;
Described route guidance module comprises:
Directions calculation module, be connected with the map datum module, being used for calculating all non-in intersection sails road cross into and sails angle information between the road cross into, fall into the interval corresponding relation with the direction types value of predetermined angle according to above-mentioned angle information, draw every non-direction types value that sails road cross into;
In the described abstract picture database, every kind of all non-combination of sailing the direction types value at road cross place into all has one to have the abstract picture of same link form navigation information corresponding with it respectively.
7, navigational system as claimed in claim 6, it is characterized in that, each road distance intersection central point first predeterminable range place of described intersection is provided with the angle calculation measuring point, described directions calculation module is by the latitude and longitude information of inquiry angle calculation measuring point in the map datum module, calculate the non-angle calculation measuring point of road cross and the line between the central point of intersection of sailing into, and sail the angle that the angle calculation measuring point of road cross and the line between the central point of intersection form into, sail road cross into and sail angle information between the road cross into as non-.
8, navigational system as claimed in claim 6 is characterized in that, the distribution situation in described predetermined angle interval is: (0 °～90 °] be first interval; (90 °～175 °] be second interval; (175 °～185 °] be the 3rd interval; (185 °～270 °] be the 4th interval; (270 °～360 °) are the 5th interval.
As claim 6 or 7 or 8 described navigational system, it is characterized in that 9, described road form navigation information also comprises the elevation change information of each road of crossing intersection part; The non-road cross that sails into of all of described intersection is provided with elevation calculating measuring point apart from the intersection central point second predeterminable range place,
Described route guidance module also comprises:
The elevation computing module, be connected with the map datum module, calculate the elevation information of measuring point by inquiry elevation in the map datum module, calculate in next intersection each non-elevation that sails road cross into and calculate the elevation of measuring point and the difference of intersection central point elevation, the default elevation difference range that falls into according to above-mentioned difference of elevation value information and the corresponding relation of elevation types value draw every non-elevation types value that sails road cross into;
In the described abstract picture database, every kind of all non-combination of sailing the direction types value and the elevation types value at road cross place into all has one to have the abstract picture of same link form navigation information corresponding with it respectively.
10, navigational system as claimed in claim 9 is characterized in that, the described default elevation difference range and the corresponding relation of elevation types value are: when the elevation difference more than or equal to-2m during smaller or equal to 2m, the elevation types value is expressed as level road; When elevation difference during greater than 2m, the elevation types value is expressed as the rising road surface; When elevation difference during less than-2m, the elevation types value is expressed as the sinking road surface.
11, navigational system as claimed in claim 9 is characterized in that, described route guidance module also comprises:
The coding generation module is used for each non-direction types value and elevation types value that sails road cross into of above-mentioned intersection is encoded by default scheme synthesising picture;
The picture calling module is used for searching corresponding abstract picture according to the coding of graphics that the coding generation module generates at abstract picture database, is sent to display device as intersection prompting picture.
12, navigational system as claimed in claim 5, it is characterized in that, described map datum module also comprises preserves the indicating graphic database that turns to indicating graphic, also be provided with the indicating graphic drafting module in the described route guidance module, be used for the indicating graphic that turns to of indicating graphic database is plotted in abstract picture.
13, navigational system as claimed in claim 5 is characterized in that, described abstract picture is for from sailing the view that angle is observed into, or the view of observing from the default bias angle.
14, navigational system as claimed in claim 5 is characterized in that, the abstract picture in the described abstract picture database is the abstract picture of the junction of three roads and four forks in the road; The real picture database that also comprises the real picture of preserving the above crossing of five troubles in the described map datum module.
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