CN101762279A - Navigation method and device - Google Patents

Abstract

The invention discloses a navigation method and equipment. The navigation method includes: setting geographic information, the geographic information includes: public transport information; determining the destination of the navigation object according to the received input information; performing path planning processing according to the geographic information, the departure place and the destination, and obtaining Planning a route, the route planning process includes: bus line planning, the planned route includes: at least one bus section; selecting and determining a navigation route from the planned route, the navigation path includes: at least one bus section; after receiving After the navigation instruction, the location of the navigation object is determined according to the received GPS satellite signal, and the navigation object is navigated according to the location of the navigation object and the navigation path. The above technical solution can provide effective public transport navigation services for navigation objects.

Description

Navigation method and equipment

technical field

The invention belongs to the technical field of navigation, and in particular relates to a walking-based navigation method and navigation equipment.

Background technique

The current Global Positioning System (Global Position System, GPS) navigation system can receive the data information transmitted by at least 3 satellites in the 24 GPS satellites around the earth, and the GPS navigation system can determine the position of the navigation object according to the data information. The GPS navigation system can determine the exact position of the navigation object in the electronic map according to the internal stored electronic map and the position coordinates.

The structure of the current navigation system is shown in Figure 1.

The navigation system in FIG. 1 includes: a speaker 1 , a chuck device 2 , an input device 3 , an audio output device 4 , a display device 5 , a control device 6 and a GPS receiving device 16 . The above-mentioned control device 6 may include: a user interface control module 7, a map data management module 8 and a navigation module 9; wherein the navigation module 9 may include: a navigation control module 10, a map display module 11, a path guidance module 12, and a path search module 13 , an information point retrieval device 14 and a self-vehicle position detection module 15 .

The chuck device 2 can restore the recorded content in the recording medium inserted thereinto into digital data, and transfer it to the control device 6 . The above-mentioned recording media may include: a secure digital card (Secure Digital Card, SD) or a flash memory card (Trans Flash Card, TF), etc. The above recorded content may include: map data or control program data, and the like.

The input device 3 is used to receive the user's input signal and transmit the user's input signal to the user interface control module 7 . The input device 3 may include: keys, joysticks, knobs, or touch pads.

The sound output device 4 can convert the sound data transmitted by the control device 6 into a sound signal, and send it to the speaker 1, and the speaker 1 converts the sound signal into a sound and outputs it, so that the speaker 1 can emit various signals according to the control of the control device 6. Operation notification and route guidance and other voices.

The display device 5 can display corresponding images according to the display data transmitted by the control device 6 . For example, the display device 5 displays images such as a map, a vehicle position mark, a planned route, and a user input interface. The display device 5 may include: a liquid crystal display (Liquid Crystal Display, LCD), a projector, or a cathode ray tube (Cathode Ray Tube, CRT) display, etc.

The control device 6 is used to control the chuck device 2 , the input device 3 and the sound output device 4 . The control device 6 can be implemented by devices with processing capabilities such as handheld computers, smart phones, and vehicle-mounted terminals.

The user interface control module 7 in the control device 6 is used to generate corresponding control instructions according to the user's input signal transmitted by the input device 3 , and transmit the control instructions to one or more modules included in the navigation module 9 . In addition, the user interface control module 7 is also used to transmit the processing result of the control instruction returned by the navigation module 9 to the sound output device 4 or the display device 5 .

The map data management module 8 in the control device 6 is used to read the map data through the chuck device 2 in response to the request of the navigation module 9, and the map data may include data content for picture guidance.

The navigation control module 10 in the navigation module 9 controls and invokes other modules included in the navigation module 9 .

The map display module 11 in the navigation module 9 generates display data for map display according to the map data read from the map data management module 8 , and transmits the display data to the user interface control module 7 .

The path guidance module 12 in the navigation module 9 performs route guidance processing on the map data obtained from the map data management module 8, and returns the guidance processing result to the map data management module 8, so that the map data management module 8 performs predictive reading . In addition, the route guidance module 12 is also used to transmit data such as the interface and navigation voice during the route guidance process to the user interface control module 7 .

The path search module 13 in the navigation module 9 is used to carry out path exploration processing on the map data obtained from the map data management module 8, and transmit the path exploration results to the path guidance module 12, so that the path guidance module 12 performs path guidance processing .

The information point retrieval device 14 in the navigation module 9 is used for retrieving geographical information points on the map, such as retrieving restaurants, then the geographic location information of all restaurants can be retrieved.

The self-vehicle position detection module 15 in the navigation module 9 transmits the data obtained from the GPS receiving device indicating the current position to the map data management module 8 , the map display module 11 and the route guidance module 12 .

The GPS receiving device 16 receives signals from GPS satellites, detects the current position and moving direction of the vehicle, and converts the detection results into protocol data and transmits them to the self-vehicle position detection module 15 in the navigation module 9 .

The inventor found in the process of realizing the present invention that the current GPS navigation system is mostly used for vehicles, that is, the GPS navigation system is loaded in the vehicle, and the GPS navigation system plans the route for the vehicle according to the characteristics of the vehicle, thereby navigating the vehicle. Since the driving characteristics of the vehicle are quite different from those of other travel modes, the current GPS navigation system cannot be well adapted to the navigation of other travel modes.

Contents of the invention

The navigation method and device provided in the embodiments of the present invention can provide effective bus navigation services for navigation objects.

The navigation method provided by the embodiment of the present invention includes:

determining the destination of the navigation object based on the received input information;

Perform route planning processing according to the geographical information, the departure place, and the destination to obtain a planned route. The route planning process includes: bus route planning, and the planned route includes: at least one bus section;

Selecting and determining a navigation path from the planned path, the navigation path including: at least one bus section;

After receiving the navigation instruction, determine the position of the navigation object according to the received GPS satellite signal, and navigate for the navigation object according to the position of the navigation object and the navigation path.

The navigation device provided by the embodiment of the present invention includes:

The storage module is used for storing geographical information, and the geographical information includes: bus information;

A receiving module, configured to receive input information;

A determining start-stop module, configured to determine the destination of the navigation object according to the input information;

A route planning module, configured to perform route planning processing according to the geographical information, the departure place and the destination, to obtain a planned route, the route planning process includes: bus route planning, and the planned route includes: at least one bus section;

A navigation path module, configured to select and determine a navigation path from the planned path, the navigation path including: at least one bus section;

The navigation module is configured to determine the position of the navigation object according to the received GPS satellite signal after receiving the navigation instruction, and navigate for the navigation object according to the position of the navigation object and the navigation path.

It can be seen from the description of the above technical solution that in this embodiment, by including bus information in geographic information, and using the geographic information containing bus information to perform route planning processing, a navigation path including bus sections can be obtained, and by using the navigation path as a navigation Objects are used for navigation, so that effective public transport navigation services can be provided for navigation objects.

Description of drawings

Fig. 1 is a schematic structural diagram of a navigation system in the prior art;

FIG. 2 is a flow chart of a navigation method in Embodiment 1 of the present invention;

Fig. 3 is a schematic diagram of a navigation device according to Embodiment 2 of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Embodiment 1, navigation method. The flow of the method is shown in Figure 2.

In FIG. 2, S200. Determine the destination of the navigation object according to the received input information. Optionally, the departure point of the navigation object may also be determined according to the received input information. In addition, the departure location of the navigation object may also be determined according to the positioning of the current location of the navigation object, that is, the current location of the navigation object is determined as the departure location of the navigation object.

In this embodiment, information input may be performed by using one or more combinations of buttons, joysticks, knobs, and touch pads, and this embodiment does not limit the specific implementation of inputting information.

S210. Perform route planning processing according to the pre-stored geographic information, departure place, and destination, to obtain a planned route. There may be one or more planned paths obtained, and each planned path is a path provided from the departure point to the destination.

Above-mentioned geographic information comprises: bus information, and the path planning process in S210 comprises: bus route planning, thereby S210 specifically includes: carry out bus route planning (i.e. bus route calculation) according to pre-stored bus information, departure place and destination, obtain A planned route that includes transit segments. A planned route can contain one or more bus links. The bus information here may specifically include: platform name information, platform location information, bus line information, and the like. This embodiment does not limit the specific implementation process of the bus route planning and the specific content included in the bus information.

The geographic information in this embodiment may also include: map data. The map data is used for map display, and the displayed map can help users input departure information and destination information, and assist in determining the departure place and destination; the displayed map can also enable users to easily know their current location on the map, In addition, the displayed map can also graphically display the planned route and navigation route, etc. The above map data may include: road network information, point of interest information, and the like. This embodiment does not limit the specific application scenarios of the map data and the specific content included in the map data.

Optionally, the geographic information in this embodiment may also include: hiking information. Hiking information is used in hiking route planning to obtain hiking sections. The pedestrian information may include: at least one of pedestrian bridge information, zebra crossing information, tunnel information, and underground passage information. The pedestrian bridge information may include location information of the pedestrian bridge. The zebra crossing information may include position information of the zebra crossing. The tunnel information may include location information of the tunnel, entrance and exit information of the tunnel, and the like. The underground passage information may include location information of the underground passage, entrance and exit information of the underground passage, and the like. This embodiment does not limit the content specifically included in the walking information. The more detailed the content of the hiking information, the more accurate the hiking section obtained from the hiking route planning.

In the case that the geographic information includes hiking information, S210 may specifically include: performing bus route planning and hiking route planning according to pre-stored bus information and hiking information, departure and destination, and obtaining a planned route. A planned route thus obtained may include: at least one bus section, and may also include: at least one bus section and at least one walking section. The situation that the planned route does not include the walking section can be applied to the application scenario where the departure point and the destination are located on the bus platform and there is no need to walk between the bus interchange stations, or it can be applied to the application scenarios where the departure place and the destination are located on the bus platform and there is no Application scenarios such as bus transfers are required. The fact that the planned route includes both walking sections and bus sections may be applicable to an application scenario where walking is required between the departure point and/or a destination and a bus platform, or may be applicable to an application scenario where walking is required between bus interchange stations. That is to say, the walking section in this embodiment may include: the walking section from the starting point to the starting site of the first bus section, the walking section between the transfer stations of the two bus sections in the bus transfer, and At least one of the walking sections from the destination site to the destination of the last bus section. In the case where a planned path contains walking sections and bus sections, the walking section should be connected to the bus section in sequence, and all the bus sections and all walking sections included in a planning route can be connected in sequence to form a route from the starting point to the destination. of a pathway.

S220. Select and determine a navigation route from the planned routes obtained above. The navigation path includes: at least one bus section. Optionally, the navigation path may further include: at least one hiking section.

The planned route obtained above may be displayed in the form of a list of planned routes, so that a navigation route may be selected from the list of planned routes. Each planned route in the planned route list may have corresponding route description information, that is, the planned route list may display the planned route and the route description information. The route description information may include: at least one of the travel distance of the planned route, the number of bus transfers of the planned route, and the number of stations passed by the planned route. In addition, each planned route in the planned route list may also have a corresponding itinerary description, and the itinerary description may be a text description of the itinerary. A specific implementation manner of viewing the itinerary description may be: receiving a view view itinerary description command, and displaying the itinerary description corresponding to the currently selected planned route. A specific example of receiving the command to view the itinerary description is: clicking the "view itinerary description" button in the display interface of the planned route list, thereby receiving the command to view the itinerary description. A specific example of the content contained in the itinerary description of the planned route: "Walk 300 meters east from the starting point to bus stop A; take bus No. 5 from bus stop A to bus stop B; take bus No. 10 from bus stop B to Bus stop C; walk 150 meters northward from bus stop C to the destination." This embodiment does not limit the specific display methods of the planned route and route description information and itinerary description, nor does it limit the specific content contained in the route description information and itinerary description wait.

In S220, the navigation route may be selected and determined according to the route selection instruction input by the user, and the user may input the route selection instruction through buttons, joysticks, knobs, and touch pads. The determined navigation route may only include the bus section, or include other sections as well as the bus section, such as including the bus section and the walking section. This embodiment does not limit the specific implementation manner of selecting a navigation path.

S230. After receiving the navigation instruction, determine the location of the navigation object according to the received GPS satellite signal, and navigate for the navigation object according to the location of the navigation object and the above-mentioned navigation path.

Navigating the navigation object according to the location of the navigation object and the navigation path includes: performing bus navigation for the navigation object according to the location of the navigation object and the bus section in the navigation path. The optional navigating for the navigation object according to the location of the navigation object and the navigation path may also include: performing foot navigation for the navigation object according to the location of the navigation object and the hiking section in the navigation path.

The following is an example of a complete navigation process from the starting point to the destination, including public transportation navigation and foot navigation, to illustrate the public transportation navigation and foot navigation:

Navigation processing 1. Navigation on foot from the starting point to the first bus section. If the starting point is the starting station of the first bus section, the navigation process 1 may not be included in this navigation process. The first bus segment here is the bus segment closest to the departure point. Navigation processing one may include the following:

Processing 1. According to the current position of the navigation object, it is determined that the navigation object is located in the walking section from the starting point to the first bus section.

Processing 2. Determine whether the distance between the current position of the navigation object and the starting site of the first bus section is less than or equal to the predetermined distance X, and if it is less than or equal to the predetermined distance X, prompt the navigation object to approach the start of the first bus section site. It should be noted that the less than or equal to here can also be transformed into less than.

A specific example: determine whether the distance between the current position of the navigation object and the starting station of the first bus section is less than or equal to the predetermined distance X, the predetermined distance X can be set by the user or the manufacturer, and the predetermined distance X is such as 50 meters or 60 meters etc. When it is judged that the distance between the current position of the navigation object and the starting site of the first bus section is less than or equal to the predetermined distance X, the navigation object is prompted to be close to the starting site of the first bus section, and the prompt can also include a prompt of the bus line , For example, please take bus A at station B. The prompt method here may be a pop-up display window prompt or a voice prompt, and this embodiment does not limit the specific implementation manner of the prompt.

Process 3. If the shortest distance between the current position of the navigation object and the first bus link is less than or equal to the predetermined distance Y, prompt whether the navigation object has taken the bus of the first bus link.

If it is determined according to the received input information that the navigation object has taken the bus of the first bus section, the following navigation process 2 is performed.

If it is determined according to the received input information that the navigation object does not take the bus of the first bus section, and after a predetermined time t, it is determined that the distance between the current position of the navigation object and the starting station of the first bus section is less than or equal to Predetermined distance Y, then continue to prompt whether the navigation object has taken the bus of the first bus section;

If it is determined according to the received input information that the navigation object does not take the bus of the next bus section, and it is determined that the distance between the current position of the navigation object and the starting station of the first bus section within the predetermined time t is greater than Predetermined distance Y, then perform the following sub-processing:

Sub-processing, if the shortest distance between the current position of the navigation object and the first bus link is greater than or equal to the predetermined distance J and less than or equal to the predetermined distance K, then according to the pre-stored geographic information, the current position of the navigation object and the first bus link The destination site performs route planning processing; otherwise, re-performs route planning processing for the current position of the navigation object and the original destination according to the pre-stored geographic information. After the route planning process, a navigation route can be selected and determined, and the navigation process recorded in this embodiment can be used to navigate for the navigation object according to the selected and determined navigation route. If the navigation route determined this time is the navigation route corresponding to the current position of the navigation object and the destination site of the first bus link, then the navigation route determined this time needs to replace the current position of the navigation object in S220 to the first bus link. Navigation segments between destination stops. If the navigation route determined this time corresponds to the navigation route from the current position of the navigation object to the original destination, the navigation route determined this time needs to replace the navigation section between the current position of the navigation object and the original destination in S220.

It should be noted that, this embodiment does not limit the execution order of the above-mentioned processing 2 and processing 3, and the above-mentioned processing 2 and processing 3 may be executed in parallel.

A specific example of the above processing 3 is:

Determine whether the shortest distance between the current position of the navigation object and the first bus section is less than or equal to a predetermined distance Y, which can be set by the user or the manufacturer, such as 50 meters or 60 meters. If the above-mentioned shortest distance is greater than the predetermined distance Y, then continue to determine the current position of the navigation object according to the received GPS satellite signal, and continue walking navigation according to the current position and the walking section from the departure place to the starting site of the first bus section; If the above-mentioned shortest distance is less than or equal to the predetermined distance Y, it prompts whether the navigation object has already taken the bus A.

If it is judged according to the information input by the user that the navigation object has taken the bus A, the following navigation process 2 is performed.

If it is judged according to the information input by the user that the navigation object does not take the A road bus, then according to the predetermined time t (t such as 2 minutes), it is regularly judged whether the shortest distance between the current position of the navigation object and the first bus section is still less than or equal to the predetermined distance Y, If it is still less than or equal to the predetermined distance Y, then continue the above-mentioned processing procedures such as prompting whether the navigation object has taken the A-line bus. If it is determined that the shortest distance from the current position of the navigation object to the first bus section within the predetermined time t is greater than the predetermined distance Y (this phenomenon may be due to the fact that the navigation object has already taken the bus, the navigation object has gone out of the Y distance, or the bus has changed its route and other reasons), you can proceed as follows:

If it is judged that the shortest distance between the current position of the navigation object and the first bus section is greater than or equal to the predetermined distance J (such as 80 meters, 100 meters) and less than or equal to the predetermined distance K (such as 180 meters, 200 meters), then the navigation object The current location is the starting point, and the route planning is carried out with the destination station of the first bus section as the destination, and the planned route is obtained, and the navigation route is selected and determined from the planned route obtained this time, and the navigation route determined according to this selection is the navigation route. The object navigates from the current location to the destination stop of the first transit segment. After that, continue to navigate according to the next road segment after the first bus road segment in the navigation route determined in S220.

If it is judged that the shortest distance between the current location of the navigation object and the first bus section is greater than the predetermined distance K, then the current location of the navigation object is used as the starting point, and the original destination is used as the destination to re-plan the route and obtain the planned route again. , select and determine a navigation path from the planned path, and perform navigation for the navigation object from the current location to the original destination according to the navigation path. Therefore, the navigation according to the navigation path determined in S220 is no longer continued.

Processing 2. The bus navigation of the first bus section. Navigation processing two may include the following:

Processing 1), judging whether the current position of the navigation object is close to the destination site of the first bus link, if it is close to the destination site of the first bus link, then prompting the navigation object to be close to the destination site of the first bus link, otherwise, do not proceed The tip.

There are many ways to judge whether the current position of the navigation object is close to the destination site of the first bus section, such as judging whether the distance between the current position of the navigation object and the bus destination site is less than or equal to U, and if it is less than or equal to U, it is determined that it is close to The destination station of the first bus link, otherwise, it is determined that there is no destination station close to the first bus link. For another example, judge whether the distance between the current position of the navigation object and the last station of the destination station of the first bus section is less than or equal to U, if less than or equal to U, then determine the destination station close to the first bus section, otherwise, determine that there is no Approaching the destination of the first transit segment.

Processing 2), regularly judge whether the distance between the current position of the navigation object and the destination site of the first bus section is less than or equal to the predetermined distance V, if it is less than or equal to the predetermined distance V, then prompt whether the navigation object has gotten off the bus, if according to the received If the received input information confirms that the navigation object has got off the bus, then the navigation is performed according to the current position of the navigation object and the next road segment connected with the first bus road segment. The next segment can be a bus segment or a walking segment. If it is determined that the navigation object has not got off the bus according to the received input information, and it is determined that the distance between the current position of the navigation object and the destination site of the first bus section is greater than or equal to the predetermined distance W and the duration of the predetermined distance W is greater than or equal to When it is equal to the predetermined time P, the navigation object is prompted to deviate from the destination station of the first bus section, please get off nearby. After prompting the navigation object to deviate and confirming that the navigation object has gotten off the vehicle according to the input information, re-plan the route for the current position and original destination of the navigation object according to the pre-stored geographical information, and regain the planned route. Select and determine the navigation path in the planning path, and perform navigation for the navigation object from the current position to the original destination according to the navigation path determined by this selection.

A specific example of processing 2) is: judge whether the distance between the current position of the navigation object and the destination site of the first bus link is less than or equal to V, if less than or equal to V, then prompt whether the navigation object has gotten off; The input information judges that the navigation object has got off the bus, then the navigation of the first bus section ends, and the navigation process of the next section connected with the first bus section is entered. If it is judged that the navigation object has not got off the bus according to the information input by the user, and the distance from the current position of the navigation object to the bus destination is less than the predetermined distance W, or the duration of greater than or equal to the predetermined distance W is less than the predetermined time P, then after the predetermined time O , and continue to perform the above-mentioned operations such as whether it is less than or equal to V and prompting whether the navigation object has gotten off the vehicle. If it is judged that the navigation object has not got off the bus according to the information input by the user, and it is judged that the distance between the current position of the navigation object and the bus destination is greater than or equal to the predetermined distance W (such as 200 meters), and is greater than or equal to the duration of the distance W from the central office If it is greater than or equal to the predetermined time P, the navigation object is prompted to deviate from the destination station of the first bus section, please get off at the nearest station.

Processing 3), in the case of determining that the navigation object is located at the first bus section according to the current position of the navigation object, regularly judge whether the current position of the navigation object deviates from the first bus section according to the predetermined time M; When there are two bus sections, it prompts whether the navigation object has taken the bus of the first bus section; according to the input information, if it is determined that the navigation object is not taking the bus of the first bus section, it prompts the navigation object to get off at the nearest bus, and confirms After leaving the navigation object and getting off at the nearest location, the route planning process is performed again for the current location of the navigation object and the original destination according to the pre-stored geographical information, and the planned route is obtained again. Afterwards, the navigation route is selected from the planned route obtained this time. And according to the navigation path determined by this selection, the navigation object is navigated from the current position to the original destination.

A specific example of processing 3) is:

Determine whether the shortest distance from the current position of the navigation object to the first bus section is greater than or equal to the predetermined distance Z, and whether the duration of the predetermined distance Z is greater than or equal to the predetermined time N, if greater than or equal to the predetermined distance Z, and greater than or equal to the predetermined time N, it is determined that the first bus section is deviated from, otherwise, it is determined that there is no deviation from the first bus section. The deviation may be caused by various situations such as the navigation object getting off the vehicle in advance or taking the wrong vehicle. If it is determined that there is no deviation from the first bus section, after the predetermined time M, continue to perform the above-mentioned operation of judging whether to deviate. If it is determined that it deviates from the first bus section, it will prompt whether the bus taken by the navigation object is the A bus. After M, continue to execute the operation of judging whether the navigation object deviates from the first bus section and the above prompt. If it is judged according to the information input by the user that the bus that the navigation object takes is not the A-route bus, the navigation object is prompted to get off at the nearest location. After prompting the navigation object to get off the car nearby, if it is judged that the navigation object has not got off the car according to the information input by the user, you can continue to prompt the navigation object to get off the car nearby; After the user has gotten off the vehicle, the route planning process will be performed again for the current position of the navigation object and the original destination according to the pre-stored geographical information, and the planned route will be obtained again. The navigation path determined by this selection is the navigation object for navigating from the current location to the original destination.

It should be noted that, this embodiment does not limit the execution order of the above-mentioned processing 1), processing 2) and processing 3), and the above-mentioned processing 1), processing 2) and processing 3) may be executed in parallel.

Navigation processing 3. Navigation from the first bus link to the next navigation link. If the destination site of the first bus section is the destination, the navigation process 3 may not be included in this navigation process. If the next navigation section of the first bus section is the second bus section, the above description of the second navigation process can be used to continue the navigation. If the next navigation section of the first bus section is the second walking section, and the next navigation section of the second walking section is the second bus section, then the above description of the first navigation process can be used to continue navigation. If the next navigation segment of the first bus segment is the second walking segment, and the end point of the second hiking segment is the destination, then provide navigation services for the navigation object according to the current location of the navigation object and the walking segment, the navigation Services may include prompting a navigation object to approach a destination, among other things. This embodiment will not be described in detail.

Embodiment 2, navigation equipment. The structure of the navigation device is shown in Figure 3.

The navigation device in FIG. 3 includes: a storage module 300 , a receiving module 310 , a start-stop determining module 320 , a path planning module 330 , a navigation path module 340 and a navigation module 350 . Optionally, the navigation device may also include a deviation module 360 .

The storage module 300 is used for storing geographic information, and the geographic information includes: bus information.

The bus information stored in the storage module 300 may specifically include: platform name information, platform location information, bus line information, and the like. The geographic information stored in the storage module 300 may also include: map data. Optionally, the geographic information stored in the storage module 300 may also include: hiking information. The hiking information may include: at least one of pedestrian bridge information, zebra crossing information, tunnel information, and underground passage information. The pedestrian bridge information may include location information of the pedestrian bridge. The zebra crossing information may include position information of the zebra crossing. The tunnel information may include location information of the tunnel, entrance and exit information of the tunnel, and the like. The underground passage information may include location information of the underground passage, entrance and exit information of the underground passage, and the like. This embodiment does not limit the content specifically included in the walking information.

The receiving module 310 is configured to receive input information. The input information here may include: destination information, may also include: departure information and destination information; may also include information input by the user according to various prompts in the first embodiment above.

The start-stop determining module 320 is configured to determine the destination of the navigation object according to the input information received by the receiving module 310 . If the input information includes departure information, the determining start-stop module 320 may also be configured to determine the departure location of the navigation object according to the input information received by the receiving module 310 . The map data stored in the storage module 300 can be utilized in the process of determining the origin and destination. In addition, if the input information received by the receiving module 310 does not include departure information, the determining start-stop module 320 can determine the starting place of the navigation object according to the positioning of the current location of the navigation object, that is, the determining start-stop module 320 will navigate The current location of the object is determined as the starting point of the navigation object.

The route planning module 330 is configured to perform route planning processing according to the geographical information, departure place and destination stored in the storage module 300, and obtain the planned route. The path planning process here includes: bus line planning, one or more planned paths can be obtained, and each planned path is a path provided from the departure point to the destination.

The route planning module 330 can perform bus route planning (that is, bus route calculation) according to the bus information, origin and destination stored in the storage module 300, and obtain a planned route including bus sections. A planned route can contain one or more bus links. This embodiment does not limit the specific implementation process of the bus route planning performed by the route planning module 330 .

In the case that the geographical information stored in the storage module 300 includes hiking information, the route planning module 330 can perform bus route planning and hiking route planning according to the pre-stored bus information and hiking information, departure place and destination, and obtain the planned route. A planned route thus obtained may include: at least one bus section, and may also include: at least one bus section and at least one walking section. All the bus sections and all the walking sections included in a planned route obtained by the route planning module 330 can form a passage from the departure point to the destination after sequential connection.

The route planning module 330 may notify the navigation route module 340 to select a navigation route after the route planning process is completed.

The navigation path module 340 is configured to select and determine a navigation path from the planned paths obtained by the path planning module 330, the navigation path includes: at least one bus section; optionally, the navigation path may also include: at least one walking section.

The planned route obtained by the route planning module 330 may be displayed in the form of a list of planned routes. In this way, the navigation route selected by the navigation route module 340 is a planned route in the list of planned routes. Each planned route in the planned route list may correspond to route description information and itinerary description, and the specific content and display methods of the route description information and itinerary description will not be repeated here.

The navigation path module 340 can select and determine the navigation path according to the path selection instruction input by the user received by the receiving module 310, and the user can input the path selection instruction through buttons, joysticks, knobs, and touch pads.

The navigation module 350 is configured to determine the position of the navigation object according to the received GPS satellite signal after the receiving module 310 receives the navigation instruction, and navigate for the navigation object according to the position and the navigation path of the navigation object.

Navigating the navigation object by the navigation module 350 according to the location of the navigation object and the navigation route includes: the navigation module 350 performs bus navigation for the navigation object according to the location of the navigation object and the bus links in the navigation route. Optionally, the navigation module 350 navigating the navigation object according to the location of the navigation object and the navigation path may further include: the navigation module 350 performing foot navigation for the navigation object according to the location of the navigation object and the walking section in the navigation path.

The navigation module 350 here may include: any one or more of a first navigation submodule, a second navigation submodule, a third navigation submodule and a fourth navigation submodule. In the case that the navigation module 350 includes the fourth navigation submodule, the navigation module 350 may also include any one or both of the fifth navigation submodule and the sixth navigation submodule.

The first navigation submodule is used to prompt the navigation object to approach the bus section where the navigation object is located when it is determined according to the current position of the navigation object that the navigation object is located in the bus section and the current location of the navigation object is close to the destination site of the bus section where the navigation object is located. The destination station of the road segment.

Whether the first navigation submodule judges that the current position of navigation object is close to the mode of the destination site of the first bus road section can have multiple, as the first navigation submodule judges whether the current position of navigation object and the distance of bus destination station are less than or equal to U , if it is less than or equal to U, the first navigation submodule determines the destination site close to the first bus section, otherwise, the first navigation submodule determines that there is no destination site close to the first bus section. For another example, the first navigation submodule judges whether the distance between the current position of the navigation object and the last station of the destination station of the first public transport section is less than or equal to U, if it is less than or equal to U, then the first navigation submodule determines that it is close to the first The destination site of the bus section, otherwise, the first navigation submodule determines that there is no destination site close to the first bus section.

The second navigation submodule is used to determine that the navigation object is located in the bus section according to the current position of the navigation object, and when the distance between the current location of the navigation object and the destination site of the bus section where the navigation object is located is less than or equal to the predetermined distance V, Prompt whether the navigation object has gotten off, the second navigation submodule determines that the navigation object has gotten off according to the input information received by the receiving module 310, then navigates according to the current position and the next section of the navigation object; if the second navigation submodule according to After the input information received by the receiving module 310 confirms that the navigation object has not got off the bus, the second navigation sub-module judges that the distance between the current location and the destination station of the bus section where the navigation object is located is greater than or equal to the predetermined distance W and the duration is greater than or equal to The predetermined time P prompts the navigation object to get off nearby, and the second navigation submodule notifies the route planning module 330 to perform route planning processing for the current location and destination of the navigation object according to the geographical information after determining that the navigation object gets off nearby.

A specific example: the second navigation submodule judges whether the distance between the current position of the navigation object and the destination site of the first bus section is less than or equal to V, if less than or equal to V, then the second navigation submodule prompts whether the navigation object has Get off the bus; the second navigation submodule judges that the navigation object has got off the bus according to the input information received by the receiving module 310, and then the navigation device performs the navigation process of the next road section connected with the first bus road section. If the second navigation submodule judges that the navigation object has not got off the bus according to the input information received by the receiving module 310, and the distance from the current position of the navigation object to the bus destination is less than the predetermined distance W, or the duration of greater than or equal to the predetermined distance W is less than the predetermined time P, then after the predetermined time O, the second navigation submodule continues to perform operations such as whether it is less than or equal to V and prompting whether the navigation object has gotten off the vehicle. If the second navigation submodule judges that the navigation object does not get off the bus according to the input information received by the receiving module 310, and the second navigation submodule judges that the distance between the current position of the navigation object and the bus destination site is greater than or equal to the predetermined distance W (such as 200 meters), and greater than or equal to the duration of the central office distance W greater than or equal to the predetermined time P, then the second navigation submodule prompts the navigation object to deviate from the destination site of the first bus section, please get off nearby.

The third navigation sub-module is used to prompt navigation when the navigation object is located in the walking section and the distance between the current position of the navigation object and the starting site of the next bus section of the walking section where the navigation object is located is less than or equal to the predetermined distance X The object is close to the start stop of the next transit segment.

A specific example: the third navigation submodule judges whether the distance between the current position of the navigation object and the starting station of the first bus section is less than or equal to the predetermined distance X, which can be set by the user or the manufacturer, and the predetermined distance X such as 50 meters or 60 meters and so on. When the third navigation submodule judges that the distance between the current position of the navigation object and the starting site of the first bus section is less than or equal to the predetermined distance X, the prompting navigation object is close to the starting site of the first bus section. Including tips on bus routes, such as taking bus A at station B.

The fourth navigation sub-module is used to prompt whether the navigation object has taken the route when the navigation object is located in the walking section and the shortest distance between the current position of the navigation object and the next bus section of the walking section where the navigation object is located is less than or equal to the predetermined distance Y. The bus of the next bus section, the fourth navigation submodule determines that the navigation object has taken the bus according to the input information received by the receiving module 310, and then notifies the first navigation submodule and/or the second navigation submodule according to the navigation object The current location and the next bus link are navigation objects for bus navigation.

A specific example: the fourth navigation submodule judges whether the shortest distance between the current position of the navigation object and the first bus section is less than or equal to the predetermined distance Y, which can be set by the user or the manufacturer, and the predetermined distance Y is such as 50 meters or 60 meters etc. If the above-mentioned shortest distance is greater than the predetermined distance Y, the fourth navigation submodule continues to determine the current position of the navigation object according to the received GPS satellite signal, and according to the current position and the walking section from the starting point to the starting site of the first bus section Continue walking navigation; if the above-mentioned shortest distance is less than or equal to the predetermined distance Y, the fourth navigation submodule prompts whether the navigation object has taken the A bus.

If the fourth navigation submodule judges that the navigation object has already taken the bus A, according to the input information received by the receiving module 310, it will notify the first navigation submodule and the second navigation submodule to perform bus navigation for the navigation object. If the fourth navigation submodule judges that the navigation object does not take the A-line bus according to the input information received by the receiving module 310, the fourth navigation submodule notifies the fifth navigation submodule and the sixth navigation submodule.

The fifth navigation submodule is used to determine that the navigation object does not take the bus of the next bus section according to the input information received by the receiving module 310, if the fifth navigation submodule determines the navigation object after a predetermined time t The distance between the current position of the user and the starting station of the next bus section is less than or equal to the predetermined distance Y, then the fifth navigation submodule continues to prompt whether the navigation object has taken the bus of the next bus section.

A specific example: after the fifth navigation submodule receives the notification from the fourth navigation submodule, the fifth navigation submodule regularly judges the shortest distance between the current position of the navigation object and the first bus section according to the predetermined time t (t such as 2 minutes) Whether it is still less than or equal to the predetermined distance Y, if it is still less than or equal to the predetermined distance Y, then the fifth navigation sub-module continues the above-mentioned process of prompting whether the navigation object has taken the A-line bus.

The sixth navigation submodule is used to determine that the navigation object does not take the bus of the next bus section according to the input information received by the receiving module 310, if the sixth navigation submodule determines that the navigation object within the predetermined time t The distance between the current position of the navigation object and the starting station of the next bus section is greater than the predetermined distance Y, then continue to judge whether the shortest distance between the current position of the navigation object and the next bus section is greater than or equal to the predetermined distance J and less than or equal to the predetermined distance K, if greater than or equal to the predetermined distance J and less than or equal to the predetermined distance K, the sixth navigation submodule notifies the path planning module 330 to perform path planning processing for the current position of the navigation object and the destination site of the above-mentioned next bus section according to geographic information, otherwise , notify the route planning module 330 to re-perform the route planning process for the current position of the navigation object and the destination according to the geographical information.

The deviation module 360 is used to determine whether the current position of the navigation object deviates from the bus section where the navigation object is located according to the predetermined time M when it is determined that the navigation object is located on the bus section according to the current position of the navigation object. When the deviation is determined, Prompt whether the navigation object has taken the bus on the bus section where the navigation object is located. According to the input information received by the receiving module 310, it is determined that the navigation object is not taking a bus on the bus section where the navigation object is located, then prompt the navigation object to get off the bus. After it is determined that the navigation object gets off the vehicle, the route planning module 330 is triggered to re-perform the route planning process according to the current location of the navigation object and the original destination.

A specific example: the deviation module 360 judges whether the shortest distance from the current position of the navigation object to the first bus section is greater than or equal to the predetermined distance Z, and whether the duration of the predetermined distance Z is greater than or equal to the predetermined time N, if greater than or equal to the predetermined If the distance Z is greater than or equal to the predetermined time N, then the deviation module 360 determines that the first bus section is deviated from, otherwise, the deviation module 360 determines that there is no deviation from the first bus section. The deviation may be caused by various situations such as the navigation object getting off the vehicle in advance or taking the wrong vehicle. If the deviation module 360 determines that there is no deviation from the first bus section, the deviation module 360 continues to perform the above-mentioned determination of whether to deviate after a predetermined time M. If the deviation module 360 determines that it deviates from the first bus section, the deviation module 360 prompts whether the bus that the navigation object takes is the A bus, if the deviation module 360 judges that the navigation object takes the bus according to the input information received by the receiving module 310 If the bus is the A bus, then after the predetermined time M, the deviation module 360 continues to execute the operation of judging whether the navigation object deviates from the first bus section and the above prompt. If the deviation module 360 judges that the bus that the navigation object takes is not the A-route bus according to the information input by the user, the deviation module 360 prompts the navigation object to get off the bus nearby. After the deviation module 360 prompts the navigation object to get off nearby, if the deviation module 360 judges that the navigation object does not get off the vehicle according to the input information received by the receiving module 310, the departure module 360 can continue to prompt the navigation object to get off nearby; After getting off nearby, if the deviation module 360 judges that the user has got off the vehicle according to the input information received by the receiving module 310, the deviation module 360 notifies the route planning module 330 to provide the current position and the original destination of the navigation object according to the pre-stored geographic information. Re-run the path planning process.

Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be realized by means of software plus a necessary hardware platform, and of course all can be implemented by hardware, but in many cases the former is better implementation. Based on this understanding, all or part of the contribution made by the technical solution of the present invention to the background technology can be embodied in the form of software products, and the software products can be used to execute the above-mentioned method flow. The computer software product can be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute various implementations of the present invention. Examples or the methods described in some parts of the Examples.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (10)

1. A navigation method, characterized in that geographic information is provided, and the geographic information includes: public transport information, and the method includes: determining the destination of the navigation object based on the received input information; Perform route planning processing according to the geographical information, the departure place, and the destination to obtain a planned route. The route planning process includes: bus route planning, and the planned route includes: at least one bus section; Selecting and determining a navigation path from the planned path, the navigation path including: at least one bus section; After receiving the navigation instruction, determine the position of the navigation object according to the received GPS satellite signal, and navigate for the navigation object according to the position of the navigation object and the navigation path. 2. The method according to claim 1, wherein said navigating for a navigation object according to the position of the navigation object and the navigation path comprises: When it is determined according to the current position of the navigation object that the navigation object is located in the bus section, and the current position is close to the destination site of the bus section where the navigation object is located, prompting the navigation object to approach the destination site of the bus section where the navigation object is located; and/or According to the current position of the navigation object, it is determined that the navigation object is located in the bus section, and the distance between the current position and the destination site of the bus section where the navigation object is located is less than or equal to the predetermined distance V, prompting whether the navigation object has gotten off the bus, If it is determined that the navigation object has got off the vehicle according to the received input information, then perform navigation according to the current position of the navigation object and the next section; If the distance between the destination sites of the bus section where the navigation object is located is greater than or equal to the predetermined distance W and the duration is greater than or equal to the predetermined time P, then the navigation object is prompted to get off the bus nearby, and after determining that the navigation object gets off the bus nearby, according to the geographical The information is the current position of the navigation object and the destination for path planning processing. 3. the method as claimed in claim 1 or 2, is characterized in that, described method also comprises: When it is determined that the navigation object is located on the bus section according to the current position of the navigation object, it is regularly judged according to the predetermined time M whether the current location of the navigation object deviates from the bus section where the navigation object is located, and when the deviation is determined, the navigation is prompted Whether the object has taken the bus on the bus section where the navigation object is located; According to the input information, it is determined that the navigation object takes a bus that is not the bus section where the navigation object is located, then the navigation object is prompted to get off at the nearest bus, and after it is determined that the navigation object gets off the bus, according to the current position of the navigation object and the destination. Perform path planning processing. 4. The method according to claim 1 or 2, wherein the geographical information also includes: hiking information, and the path planning process also includes: hiking route planning, and the planned path and navigation path also include: At least one foot section; the foot section includes: the foot section from the departure point to the starting site of the first bus section or the foot section between the transfer stations of the two bus sections in the bus transfer, or the last bus section The hiking section from the destination site of the section to the destination. 5. The method according to claim 4, wherein said navigating for a navigation object according to the position of the navigation object and the navigation path comprises: When it is determined according to the current location of the navigation object that the navigation object is located in the walking section, and the distance between the current location and the starting site of the next bus section of the walking section where the navigation object is located is less than or equal to a predetermined distance X, Prompting the navigation object to approach the starting station of the next bus segment; and / or According to the current position of the navigation object, it is determined that the navigation object is located in the walking section, and the shortest distance between the current location and the next bus section of the walking section where the navigation object is located is less than or equal to the predetermined distance Y, prompting whether the navigation object has already taken the According to the received input information, it is determined that the navigation object has taken the bus, and then the navigation object performs bus navigation for the navigation object according to the current position of the navigation object and the next bus section. 6. The method according to claim 5, wherein said navigating for a navigation object according to the position of the navigation object and the navigation path further comprises: According to the received input information, it is determined that the navigation object does not take the bus of the next bus section, then if the distance between the current position of the navigation object and the starting station of the next bus section is determined after a predetermined time t is less than or equal to the predetermined distance Y, then continue to prompt whether the navigation object has taken the bus of the next bus section; and/or According to the received input information, it is determined that the navigation object does not take the bus of the next bus section, and it is determined that the distance between the current position of the navigation object and the starting station of the next bus section within the predetermined time t is greater than In the case of a predetermined distance Y, if the shortest distance between the current position of the navigation object and the next bus section is greater than or equal to the predetermined distance J and less than or equal to the predetermined distance K, then the current position of the navigation object and the The destination station of the next bus section performs route planning processing, otherwise, re-performs route planning processing for the current position of the navigation object and the destination according to the geographic information. 7. A navigation device, characterized in that the navigation device comprises: The storage module is used for storing geographical information, and the geographical information includes: bus information; A receiving module, configured to receive input information; A determining start-stop module, configured to determine the destination of the navigation object according to the input information; A route planning module, configured to perform route planning processing according to the geographical information, the departure place and the destination, to obtain a planned route, the route planning process includes: bus route planning, and the planned route includes: at least one bus section; A navigation path module, configured to select and determine a navigation path from the planned path, the navigation path including: at least one bus section; The navigation module is configured to determine the position of the navigation object according to the received GPS satellite signal after receiving the navigation instruction, and navigate for the navigation object according to the position of the navigation object and the navigation path. 8. The device according to claim 7, wherein the navigation module comprises: The first navigation submodule is used to prompt the navigation object to approach the bus where the navigation object is located when determining that the navigation object is located in the bus section according to the current position of the navigation object, and the current position is close to the destination site of the bus section where the navigation object is located the destination station of the road segment; and/or The second navigation submodule is used to determine according to the current position of the navigation object that the navigation object is located in the bus section, and when the distance between the current location and the destination site of the bus section where the navigation object is located is less than or equal to a predetermined distance V, Prompt whether the navigation object has got off the car, and determine that the navigation object has got off the car according to the input information, then navigate according to the current position of the navigation object and the next road section; if it is determined that the navigation object has not got off the car according to the received input information, judge the current position If the distance between the destination site of the bus section where the navigation object is located is greater than or equal to the predetermined distance W and the duration is greater than or equal to the predetermined time P, then the navigation object is prompted to get off at the nearest station, and the route planning module is notified after determining that the navigation object has to get off at the nearest station Perform path planning processing for the current position and destination of the navigation object according to the geographic information; And/or the device also includes: The deviation module is used to determine whether the current position of the navigation object deviates from the bus section where the navigation object is located according to the predetermined time M when it is determined that the navigation object is located on the bus section according to the current position of the navigation object. When it deviates, prompt the navigation object whether to take the bus on the bus section where the navigation object is located. According to the input information, if it is determined that the navigation object is not taking the bus on the bus section where the navigation object is located, then prompt the navigation object to get off the bus. After the object gets off the vehicle, the path planning module is triggered to re-perform the path planning process according to the current location of the navigation object and the destination. 9. The device according to claim 8, wherein the geographic information stored by the storage module further includes: hiking information, and the path planning process of the path planning module further includes: hiking route planning, and the planned path And the navigation path also includes: at least one walking section; the walking section includes: the walking section from the starting point to the starting site of the first bus section, the walking section between the transfer stations of the two bus sections in the bus transfer road section, and at least one of the walking section from the destination site of the last bus section to the destination. 10. The device according to claim 9, wherein the navigation module comprises: The third navigation submodule is used for when the navigation object is located in the walking section and the distance between the current position and the starting site of the next bus section of the walking section where the navigation object is located is less than or equal to a predetermined distance X , prompting the navigation object to approach the starting stop of said next transit segment; and/or The fourth navigation sub-module is used for prompting whether the navigation object has already been taken when the navigation object is located in the walking section and the shortest distance between the current position and the next bus section of the walking section where the navigation object is located is less than or equal to the predetermined distance Y The bus of the next bus section determines that the navigation object has taken the bus according to the received input information, and then notifies the first navigation submodule and/or the second navigation submodule according to the current position of the navigation object and the The next bus section is the navigation object for bus navigation; In the case where the navigation module includes a fourth navigation sub-module, the navigation module also includes The fifth navigation sub-module is used to determine that the navigation object does not take the bus of the next bus section according to the received input information, if it is determined after the predetermined time t that the current position of the navigation object is different from the next bus section. If the distance between the starting stations of a bus section is less than or equal to the predetermined distance Y, then continue to prompt whether the navigation object has already taken the bus of the next bus section; and/or The sixth navigation submodule is used to determine that the navigation object does not take the bus of the next bus section according to the received input information, and determine the distance between the current position of the navigation object and the next bus section within the predetermined time t. When the distance between the starting stations is greater than the predetermined distance Y, if the shortest distance between the current position of the navigation object and the next bus section is greater than or equal to the predetermined distance J and less than or equal to the predetermined distance K, the route planning module is notified according to the geographical The information is the current location of the navigation object and the destination site of the next bus section for route planning processing, otherwise, the route planning module is notified to re-perform the route planning process for the current location of the navigation object and the destination according to the geographical information.

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