CN113029186B

CN113029186B - Navigation method and device

Info

Publication number: CN113029186B
Application number: CN202110259128.XA
Authority: CN
Inventors: 邱堋星; 陈志洋
Original assignee: Alibaba China Co Ltd
Current assignee: Alibaba China Co Ltd
Priority date: 2015-08-12
Filing date: 2015-08-12
Publication date: 2024-07-23
Anticipated expiration: 2035-08-12
Also published as: CN106441341A; CN113029186A; CN106441341B

Abstract

The invention discloses a navigation method and a navigation device, wherein the method comprises the following steps: planning a guiding path from a starting point to an ending point of a journey according to the topological relation between the starting point and the ending point of the journey and the road; acquiring a first turning intersection to be guided currently according to the guiding path and the current positioning position; judging whether the first steering intersection reaches a broadcasting condition preset by specific guiding voice or not; determining the specific guiding voice of which the broadcasting condition is reached as the specific guiding voice matched with the first steering intersection; and generating a voice text of the first steering intersection and broadcasting according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guiding voice matched with the first steering intersection. The guiding voice in the navigation method is more visual and friendly, so that a user can accurately judge the path, and the risk of walking is reduced.

Description

Navigation method and device

The application relates to a divisional application of a navigation method and a navigation device, wherein the application date is 2015, 8, 12, the application number is 201510493436.3.

Technical Field

The present invention relates to the field of navigation technologies, and in particular, to a navigation method and apparatus.

Background

With the improvement of living standard and the development of technology, intelligent terminals are popular, and people travel more and more by means of navigation tools. The navigation tool can guide the user how to walk by playing the guiding voice. In the navigation guiding process, the conventional guiding voice adopted by the existing navigation tool at the crossing needing the user to turn is like 'the front 500 m road end turns left, and the guiding is carried out towards the direction of the railway station'. It can be seen that the broadcasting key points of the conventional guiding voice for the intersection are mainly distance and intersection steering actions.

The existing navigation guidance mode has the following defects: first, the distance cues are not easily judged by the user, especially by users that are not sensitive to distance, and are not intuitive. Secondly, because of the view angle, the distance is not accurately estimated for users with unfamiliar roads. Thirdly, the existing navigation guidance mode is too different from the daily road guidance habit, and is not specific, visual and friendly enough. Therefore, the existing navigation guidance method cannot help the user to accurately judge the walking path, so that the user is at risk of walking by mistake.

Disclosure of Invention

In order to enable a user to accurately judge a walking path according to guiding voice and reduce the probability of walking wrong, the invention provides a navigation method and a navigation device.

In order to solve the technical problems, the invention adopts the following technical scheme:

A navigation method, comprising:

Planning a guiding path from a starting point to an ending point of a journey according to the topological relation between the starting point and the ending point of the journey and the road;

Acquiring a first turning intersection to be guided currently according to the guiding path and the current positioning position;

Judging whether the first steering intersection reaches a broadcasting condition preset by specific guiding voice or not;

Determining the specific guiding voice of which the broadcasting condition is reached as the specific guiding voice matched with the first steering intersection;

generating a voice text of the first steering intersection and broadcasting according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guiding voice matched with the first steering intersection;

The specific guiding voice is provided with broadcasting conditions, voice broadcasting contents and voice broadcasting rules, and the broadcasting conditions, the voice broadcasting contents and the voice broadcasting rules of the specific guiding voice correspond to each other.

A navigation method, the navigation method comprising:

Judging whether the first steering intersection reaches at least one broadcasting condition preset by specific guiding voice;

Wherein the specific guiding voice comprises a plurality of types, each specific guiding voice is provided with broadcasting conditions, voice broadcasting contents and voice broadcasting rules, and the broadcasting conditions, the voice broadcasting contents and the voice broadcasting rules of each specific guiding voice correspond to each other,

The specific guiding voice comprises voice at a T-shaped intersection, and the judging whether the first steering intersection reaches the broadcasting condition preset by the specific guiding voice specifically comprises the following steps:

Judging whether the first turning intersection meets the road connection relation and the connection angle of a preset T-shaped intersection or not according to an intersection data model of the first turning intersection;

and when the judgment result is yes, the first steering intersection reaches the broadcasting condition preset by the voice of the T-shaped intersection.

A navigation device, comprising:

A guiding path planning unit, configured to plan a guiding path from a starting point to an end point of a setting route according to a topological relation between the starting point and the end point of the setting route and a road;

The acquisition unit is used for acquiring a first steering intersection to be guided currently according to the guiding path and the current positioning position;

the judging unit is used for judging whether the first steering intersection reaches a broadcasting condition preset by specific guiding voice or not;

A determining unit, configured to determine a specific guiding voice in which the broadcasting condition is reached as a specific guiding voice that matches the first turning intersection;

the specific guiding voice broadcasting unit is used for generating a voice text of the first steering intersection and broadcasting the voice text according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guiding voice matched with the first steering intersection;

A navigation device, comprising:

the judging unit is used for judging whether the first steering intersection reaches at least one broadcasting condition preset by specific guiding voice or not;

The specific guiding voice broadcasting unit is used for generating a voice text and broadcasting of the first steering intersection according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guiding voice matched with the first steering intersection;

The specific guiding voice comprises a T-shaped intersection voice, the judging unit comprises a T-shaped intersection voice judging unit, and the T-shaped intersection voice judging unit comprises:

the T-shaped intersection judging unit is used for judging whether the first turning intersection meets the road connection relation and the connection angle of a preset T-shaped intersection according to the intersection data model of the first turning intersection;

Compared with the prior art, the invention has the following beneficial effects:

According to the navigation method provided by the invention, after the first turning intersection to be guided currently is obtained, whether the first turning intersection reaches the broadcasting condition preset by the specific guiding voice is required to be judged, the specific guiding voice with the broadcasting condition reached is determined to be the specific guiding voice matched with the first turning intersection, and when the first turning intersection is guided, broadcasting is carried out according to the matched specific guiding voice.

Because the specific guiding voice of the guiding and steering intersection is matched with the intersection attribute road attribute and the intersection shape of the steering intersection, and because the user can observe the intersection attribute of the steering intersection in the travelling process, the specific guiding voice is more visual, more specific and friendly, and the user can judge the walking path more accurately and rapidly according to the guiding of the specific guiding voice, so that the risk of the user walking by mistake can be reduced.

Drawings

In order to clearly understand the technical solution of the present invention, a brief description will be made below of the drawings used in describing the specific embodiments of the present invention. It is obvious that these drawings are only some embodiments of the present invention, and that other drawings may be obtained by those skilled in the art without the inventive effort.

FIG. 1 is an exemplary diagram of a turn intersection according to an embodiment of the present invention;

FIG. 2 is a simplified schematic diagram of an intersection according to an embodiment of the present invention;

FIG. 3 is a simplified schematic diagram of a T-junction according to an embodiment of the present invention;

FIG. 4 is a flow chart of a navigation method according to an embodiment of the present invention;

fig. 5 is a schematic flow chart of step S403 according to the first embodiment of the present invention;

FIG. 6 is a schematic diagram of an ipsilateral intersection and a non-ipsilateral intersection according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a navigation device according to a second embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a determining unit according to a second embodiment of the present invention;

fig. 9 is a schematic structural diagram of a judging unit according to a second embodiment of the present invention.

Detailed Description

The principles and spirit of the present application will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are presented merely to enable those skilled in the art to better understand and practice the application and are not intended to limit the scope of the application in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

In order to make the technical solution of the present invention more clearly understood by those skilled in the art, before describing the specific implementation manner of the navigation method provided by the present invention, specific guiding voice in the embodiment of the present invention is first described.

First, the guidance voice refers to various prompt voices in the guidance process of the navigation device to the user. In the navigation method provided by the embodiment of the invention, the used guiding voice comprises a conventional steering voice, a disposable voice and a specific guiding voice.

The conventional steering voice refers to a voice for prompting steering, and the broadcasting mode of the voice is often referred to by taking distance as a reference, for example: "forward 500 m left turn, go to the direction of the train station, please pay attention to lane change".

Disposable speech refers to speech that is prompted once, for example: please keep straight "," pass through the bridge "," enter the tunnel ".

The specific guiding voice is a voice defined according to a daily guiding habit from the perspective of a user according to the embodiment of the present invention. The specific guided speech defined by embodiments of the present invention includes a variety of types. These different types of specific guidance voice contents not only have distance and steering action information but also include information of intersection shape, landmark data, and the like corresponding to the intersection model data. That is, the specific guiding voice according to the embodiment of the present invention corresponds to the intersection model data, which can reflect the intersection model data, compared to the conventional steering voice. For example, when a landmark building exists on a road, the landmark building is included in the specific guidance voice content corresponding to the road. The specific guiding voice accords with the daily guiding habit of people, fully embodies the humanized characteristic and can achieve better guiding effect. Moreover, the content of the specific guiding voices can reflect the intersection model data, so that the specific guiding voices are more specific, visual and friendly compared with information provided by the conventional steering voices, a navigation user can make judgment more accurately, quickly and intuitively after hearing the guiding voices, and the probability of the user walking by mistake can be reduced.

In an embodiment of the present invention, specific guiding voices include the following types:

(1) Traffic light voice: the method refers to the situation that the current turning intersection to be guided is a traffic light intersection and the turning intersection is analyzed to meet certain conditions. The voice broadcasting mode is as follows: "front [ \D ] [ N ] traffic light intersection\A [, to \R ], \L ]" or "front [ \D ] [ N ] traffic light intersection [, A [, to \S direction ], \L ]"; if the road is left-turned at the 1 st traffic light crossing of 500 m in front, the road is turned to the direction of the train station, and the driver is required to pay attention to lane change.

(2) Reference traffic light voice: the situation that the current turning intersection to be guided is not a traffic light intersection, but the latter intersection of the intersection is a traffic light intersection and meets certain conditions is indicated. The voice type broadcasting mode comprises the following steps: "first intersection A [, toward \S ] direction after passing traffic light in front of" or "first intersection A [, to \R ] after passing traffic light in front of" for example: "first crossing left turn after the traffic light is crossed in the front, go to the railway station direction". It should be noted that, in the embodiment of the present invention, the azimuth terms "front" and "rear" are defined according to the traveling direction. The direction along the traveling direction is "front", and the direction opposite to the traveling direction is "rear".

(3) Voice at T-word junction: the current turn crossing to be signaled is a T-shaped crossing, and the voice broadcasting mode is as follows: "front [ \D ] road end [ [ A ] toward \S direction ], \L ]" or "front [ \D ] road end [ [ A ] - \R ], \L ]", such as: "forward 500 m road end left turn, heading to train station direction" etc.

(4) Crossroad voice: the current steering intersection to be guided is an intersection, and the voice broadcasting mode is as follows: "front \D intersection [ [ A ] toward \S ], \L ]" or "front \D intersection [ [ A ], \R ], \L ]"; such as: "forward 500 m crossroad left turn, go to the direction of train station, please pay attention to lane change".

(5) Multi-junction speech: refers to a situation that a plurality of intersections are arranged in front and certain conditions are met. The voice broadcasting mode is as follows: "front [ N-th intersection ] \A", such as "front 2-nd intersection left turn".

(6) Landmark speech: the broadcasting mode is that under the condition that the front, the back, the left and the right of the steering intersection are provided with obvious marker markers: "front pass \Pback\A", such as: "forward through a tall building" and left turn.

In order to better guide the road, the embodiment of the invention also formulates broadcasting contents, broadcasting conditions, priorities and voice broadcasting rules of specific guiding voices. And, for each specific guiding voice, the broadcasting content, the broadcasting condition, the priority and the voice broadcasting rule are mutually corresponding, more precisely, are in one-to-one correspondence.

According to the results of questionnaires and actual experiences, the priorities of all types of guiding voices are respectively as follows in sequence from high to low: landmark speech, traffic light speech, T-junction speech, reference traffic light speech, multi-junction speech, crossroad speech, regular turn speech, and one-time speech.

The priority of the guidance voice indicates that when the intersection model data of a certain turning intersection reaches the broadcasting condition of a plurality of guidance voices, the turning intersection is preferably guided by using the guidance voice with higher priority.

In addition, the broadcasting rules of the guiding voice of each type are formulated, and the broadcasting distance, the broadcasting content and the broadcasting rules specified in the broadcasting content form of the guiding voice are mainly determined according to the grade and the composition attribute of the road entering at the intersection, the grade and the number of times of broadcasting the voice divided by the composition attribute of the road exiting at the intersection. In embodiments of the present invention, one type of voice rules that guide voice may be in the form of a table. Table 1 is an example table of voice rules.

TABLE 1

It should be noted that the specific guiding voice types provided by the embodiments of the present invention are not limited to the types described above. Other types of specific guiding voices are within the scope of the invention without departing from the inventive concept thereof.

The following describes intersection model data according to the embodiment of the present invention. In the embodiment of the invention, the intersection model data is data needed in the guiding process obtained by analyzing the steering intersection according to the source road data. Specifically, first, a turning intersection is determined according to a road topological relation in source road data, and then each turning intersection is analyzed to obtain data possibly needed in a guiding process. The source road data refer to manually collected road related data.

The intersection model data can specifically comprise one or more of passable road number, intersection road attribute, intersection shape, intersection traffic light information and intersection landmark information. Further, the intersection road attribute comprises one or more of a grade and a constituent attribute of an intersection entering road, a grade and a constituent attribute of an intersection exiting road, an angle, a relative azimuth and a gradient of the intersection exiting road. The intersection entering road and the intersection exiting road are determined according to the planned guiding path.

The intersection model data according to the embodiment of the invention are described one by one.

First, number of passable roads at the intersection:

And analyzing whether the road connected with the road entering the road at the intersection can pass or not according to the topological relation of the road, the conditions of whether the road can pass or not, the conditions of limiting the traffic and the like, and counting the number of the exit roads which can pass when the road entering the road at the intersection. Fig. 1 is an example diagram of an intersection a, and a road connected to the intersection includes four roads, namely, a road 1, a road 2, a road 3, and a road 4 in this order. In the figure, the direction indicated by the arrow is the traveling direction. As shown in fig. 1, the entry road at the intersection a is a road 1, and at the intersection a, there are 3 exit roads which are connected to the road 1 and can pass through, namely, a road 2, a road 3 and a road 4.

Second, intersection road attribute:

The intersection road attribute mainly includes a road class and a road composition attribute, which represents an additional attribute of a road, represents an additional type of the road, such as an isolated road, a connecting line, and the like.

The various levels of attributes for the roads are listed in table 2, and the various additional attributes for the roads are listed in table 3. Table 4 shows angles of the road 2, the road 3, and the road 4 with respect to the road 1 in the intersection a shown in fig. 1, wherein the angles of the road 2, the road 3, and the road 4 with respect to the road 1 are calculated by calculating the angles in the counterclockwise direction with the extending direction of the road 1 from the intersection a being zero degrees.

TABLE 2

TABLE 3 Table 3

Sequence number	Composition attributes
		1	Isolation road
2	Interior road
		3	Connecting wire
4	Roundabout road route
		5	Service area road
6	Guiding road
		7	Auxiliary road
8	Connecting wire
		9	An outlet
10	An inlet
		11	Flow dividing channel
12	Others

TABLE 4 Table 4

Road	Angle (unit: °)
		Road 1	0
Road 2	270
		Road 3	180
Road 4	90

The direction of the exit road is mainly divided according to the planned guiding path, and other exit roads are divided into left roads and/or right roads by taking the current exit road as a reference. As shown in fig. 1, if the currently planned guidance route is a road 1- > road 3, the direction of the road 2 is a left-side road, and the direction of the road 4 is a right-side road.

Third, shape of crossing

And analyzing the shape of the intersection according to the obtained intersection road attribute data and the source road data. The embodiment of the invention is illustrated by taking crossroads and T-shaped intersections as examples.

A simplified model of an intersection is shown in fig. 2, which includes traffic roads in 4 directions, and the number of lanes of the road in each direction is substantially uniform. ; in addition, the passing road in 4 directions of the road is required to satisfy the angle condition.

As an example, intersection a is determined to be an intersection when the angle of a passing road in the intersection corresponds to one of the following cases:

the extending direction of the road 1 from the intersection A is set to be zero, and the angle is calculated according to the anticlockwise direction.

In the first case, when the direction angle of the road 2 extending from the turning intersection is between 245 and 295 °, the direction angle of the road 3 extending from the intersection a is between 180±25°, and the direction angle of the road 4 extending from the turning intersection is between 65 and 115 °, the intersection a is an intersection.

In the second case, when the included angle between the road 2 and the road 4 is between 175 and 185 degrees, the direction angle of the road 3 extending from the turning intersection is between 180±10 degrees, and the included angle between the road 2 and the road 1 is greater than 50 degrees, and the included angle between the road 4 and the road 1 is greater than 50 degrees, the intersection a is an intersection.

In the third situation, when the included angle between the road 2 and the road 4 is between 175 and 185 degrees, the angle between the road 3 is between 180±30 degrees, and the included angle between the road 2 and the road 1 is greater than 80 degrees, and the included angle between the road 4 and the road 1 is greater than 80 degrees, the intersection a is the intersection.

The simplified model of a T-junction is shown in fig. 3, which includes only roads in three directions, and the road angles in these three directions need to satisfy certain conditions.

As an example, it is determined that intersection a is a T-intersection when the angle of the traffic road in the intersection meets the following condition: the intersection comprises only a road 1, a road 2 and a road 4 which are arranged clockwise, wherein an included angle between the road 1 and the road 2 is between 70 and 110 degrees, and an included angle between the road 1 and the road 3 is between 70 and 110 degrees.

It should be noted that the angle of each road in the crossroad and the T-shaped intersection is not limited to the above example, and may be other values according to circumstances.

Fourth, intersection information

The intersection information mainly comprises intersection traffic light information and intersection landmark information, whether the intersection is a traffic light intersection is read and judged through an identifier manufactured by source data, whether the intersection is landmark data is judged through the source data, and if the landmark data exists, the direction of the landmark at the intersection and the visible distance of the landmark are saved. The visual distance of the landmark refers to the furthest distance from the position of the landmark to the intersection, which can be seen without an obstruction. Based on the visual distance of the landmark, it can be determined where the guidance can be performed with the voice of the landmark.

The navigation device is pre-stored with the above-described respective intersection model data before navigation is performed by the navigation device. It should be noted that, the intersection model data may be stored in the navigation device before the navigation device leaves the factory, and in addition, the intersection model data may also be uploaded to the navigation device through technical means such as network communication, and in the embodiment of the present invention, the intersection model data may be preferably updated in time.

The above-mentioned model data of each intersection can be obtained by the following method:

Firstly, determining a turning intersection according to a road topological relation in source road data, wherein the source road data comprises a plurality of turning intersections in normal condition;

For each turn-around intersection,

Extracting all the possible entering road grades and the constituting attributes, and extracting all the exiting road grade and the constituting attributes corresponding to each possible entering road;

According to each possible entry road and all exit roads corresponding to the possible entry road, analyzing the number of passable roads at the turning intersection, and analyzing the angle and the azimuth of the passable roads at the turning intersection;

Determining the shape of the steering intersection according to the angle and the azimuth of the passable road of the steering intersection;

analyzing whether the turning intersection has traffic lights or not according to the source road data, and if so, determining that the turning intersection is a traffic light intersection;

Analyzing whether landmark data exists at a turning intersection according to the source road data, and if so, extracting the landmark data of the turning intersection;

and storing the obtained grade and the composition attribute of all the possible entering roads of each turning intersection, the grade and the composition attribute of all the possible entering roads, the number of passable roads, the shape of the intersection, the traffic light information of the intersection and the landmark data of the intersection into a file, thereby forming intersection model data.

It should be noted that, in the embodiment of the present invention, the order of acquiring the different road port model data is not limited, so the order of acquiring the different road port model data may be interchanged, as long as the intersection model data which can be obtained as desired is within the scope of protection of the present invention.

Based on the specific guiding voice and the intersection model data, the embodiment of the invention provides a navigation method. First, see embodiment one.

Example 1

Fig. 4 is a flowchart of a navigation method according to an embodiment of the invention. As shown in fig. 4, the navigation method includes the steps of:

S401, planning a guiding path from a starting point to an ending point of a travel according to the topological relation between the starting point and the ending point of the travel and the road.

S402, acquiring a first turning intersection to be guided currently according to the guiding path and the current positioning position.

S403, judging whether the first steering intersection reaches at least one preset broadcasting condition of specific guiding voice:

As described above, in the embodiment of the present invention, specific guidance voices are of various types, which specifically include, as examples: landmark speech, traffic light speech, T-intersection speech, multi-intersection speech, reference traffic light speech and crossroad speech. When the first turning intersection reaches at least one broadcasting condition preset by specific guiding voice, step S404 is executed, and when the first turning intersection does not reach any one broadcasting condition preset by specific guiding voice, step S407 is executed.

The first specific implementation manner of step S403 may be as follows:

And respectively judging whether the first steering intersection reaches various types of specific guiding voice preset broadcasting conditions. More specifically, judging whether the first turning intersection reaches a landmark voice preset broadcasting condition, judging whether the first turning intersection reaches a traffic light voice preset broadcasting condition, judging whether the first turning intersection reaches a T-shaped intersection voice preset broadcasting condition, judging whether the first turning intersection reaches a multi-intersection voice preset broadcasting condition, judging whether the first turning intersection reaches a traffic light voice preset broadcasting condition and judging whether the first turning intersection reaches an intersection voice preset broadcasting condition.

In the first implementation manner of step S403, the judging sequence of the broadcasting conditions preset by the first turning intersection and the specific guiding voices of different types may not be limited, so long as the first turning intersection and all the broadcasting conditions preset by the specific guiding voices are respectively judged to be completed.

In addition, in the embodiment of the present invention, each type of specific guiding voice is further provided with a priority, and the priorities of different types of specific guiding voices are set differently from each other. As an example, the priorities of the specific guidance voices described above are in order from high to low: landmark speech, traffic light speech, T-intersection speech, multi-intersection speech, reference traffic light speech and crossroad speech.

In order to quickly find the specific guidance voice type with the highest priority matching the first turn intersection, the second implementation of the step S403 may be specifically:

And respectively judging whether the first steering intersection reaches the broadcasting conditions preset by the corresponding specific guiding voices according to the priority of the specific guiding voices from high to low, and ending the judgment whether the first steering intersection reaches the broadcasting conditions preset by the specific guiding voices when one type of broadcasting conditions preset by the specific guiding voices are reached.

More specifically, the second implementation manner of the step S403 is shown in fig. 5, and specifically is:

S4031, judging whether the first turning intersection reaches a landmark voice broadcasting condition, and ending the judgment whether the first turning intersection reaches a broadcasting condition preset by specific guiding voice when the first turning intersection reaches the landmark voice broadcasting condition;

s4032, judging whether the first turning intersection reaches a traffic light voice preset broadcasting condition or not when the first turning intersection does not reach a landmark voice broadcasting condition, and ending judging whether the first turning intersection reaches a specific guiding voice preset broadcasting condition or not when the first turning intersection reaches the traffic light voice broadcasting condition;

S4033, judging whether the first turning intersection reaches a broadcasting condition preset by voice of the T-shaped intersection or not when the first turning intersection does not reach the traffic light voice broadcasting condition, and ending judging whether the first turning intersection reaches the broadcasting condition preset by specific guiding voice when the first turning intersection reaches the voice broadcasting condition of the T-shaped intersection;

S4034, judging whether the first turning intersection reaches a multi-intersection voice preset broadcasting condition or not when the first turning intersection does not reach the T-shaped intersection voice broadcasting condition, and ending judging whether the first turning intersection reaches the specific guiding voice preset broadcasting condition or not when the first turning intersection reaches the multi-intersection voice broadcasting condition;

S4035, judging whether the first turning intersection reaches a broadcasting condition preset by referring to traffic lights when the first turning intersection does not reach a multi-intersection voice broadcasting condition, and ending judging whether the first turning intersection reaches a broadcasting condition preset by specific guiding voices when the first turning intersection reaches the traffic lights;

S4036, judging whether the first turning intersection reaches the preset broadcasting condition of the crossroad voice when the first turning intersection does not reach the preset broadcasting condition of the reference traffic light voice, and ending judging whether the first turning intersection reaches the preset broadcasting condition of the specific guiding voice when the first turning intersection reaches the preset broadcasting condition of the crossroad voice.

The following describes a specific process of judging the preset broadcasting conditions of the first steering intersection and each type of specific guiding voice.

As an example, the above-mentioned current positioning position may be a current positioning GPS position, and the judging whether the first steering intersection reaches the broadcasting condition preset by landmark voice specifically includes:

a1, judging whether GPS time carried in the current positioning GPS position is within a preset sight line visible time period or not:

for example, since the daytime view is good, the preset view visible time period is a time period corresponding to the daytime. The step A1 specifically comprises the following steps: it is determined whether the GPS time carried in the current positioning GPS position is within a daytime period.

A2, judging whether landmark buildings exist at the first turning intersection according to intersection model data of the first turning intersection:

It should be noted that, the intersection model data of the first turning intersection may be extracted from the source road model data. Since the source road model data includes model data of each intersection, the model data includes one or more of a passable road number, an intersection road attribute, an intersection shape, intersection traffic light information, and intersection landmark information. Therefore, the intersection model data of the first turn intersection extracted from the source road model data also includes the above-described individual information, and landmark information is included in the information.

Therefore, according to the intersection model data of the first turning intersection, whether the first turning intersection has landmark buildings or not can be judged. As an example, the landmark building may be an XX building.

A3, judging whether the user can see the landmark building at the current positioning GPS position according to the guiding path:

If the result of the determination of A2 is yes, that is, the first turning intersection has a landmark building, determining the azimuth of the landmark building relative to the current positioning GPS position, for example: "left side before crossing", "right side before crossing", "left side opposite to crossing", "right side opposite to crossing", "on crossing";

and judging whether the landmark building can be seen by the user at the current positioning GPS position according to the guiding path.

And when all the three judging results are yes, the first steering intersection reaches the broadcasting condition preset by the landmark voice. And when one of the three judging results is negative, the first steering intersection does not reach the broadcasting condition preset by the landmark voice.

As an example, determining whether the first steering intersection reaches a traffic light voice preset broadcasting condition specifically includes:

B1, judging whether the first turning intersection is a traffic light intersection or not according to intersection model data of the first turning intersection.

B2, judging whether the number of the traffic light intersections on the first guide section is not larger than a first preset value according to an intersection data model of the intersections on the first guide section, wherein the first guide section is a guide section from the current positioning position to the first turning intersection on the guide path:

It should be noted that, if the number of traffic light intersections on the first guiding section is too large, the user may record unclear, and if the guiding broadcast is still performed according to the voice of the traffic light intersections, a good guiding effect may not be achieved. Therefore, in the embodiment of the invention, the condition that the number of the traffic light intersections on the first guide section does not exceed the first preset value is taken as one condition of the traffic light voice broadcasting condition. Typically, the first preset value may be 3.

It should be noted that, when calculating the number of traffic light intersections on the first guide section, the first turning intersection may be included, or the first turning intersection may not be included, so that the implementation of the technical scheme is not affected, and the difference is only in the value range of the first preset value.

And when the two judging results are yes, the first steering intersection reaches the traffic light voice preset broadcasting condition.

As an example, determining whether the first turning intersection reaches a broadcasting condition preset by voice at the T-shaped intersection specifically includes:

C. Judging whether the first turning intersection meets the road connection relation and the connection angle of a preset T-shaped intersection or not according to an intersection data model of the first turning intersection:

it should be noted that, the preset connection relationship and connection angle of the T-shaped intersection are shown in fig. 3.

As an example, determining whether the first steering intersection reaches a broadcasting condition preset by referring to traffic light voice specifically includes:

And D1, judging whether the first turning intersection is a non-traffic light intersection according to intersection model data of the first turning intersection.

D2, judging whether at least one ipsilateral intersection which is a traffic light intersection exists on a first guide section according to an intersection data model of the intersection on the first guide section, and whether the distance between the ipsilateral intersection and the first steering intersection is smaller than a preset distance, wherein the first guide section is a guide section from the current positioning position to the first steering intersection on the guide path:

for a clear understanding of ipsilateral and non-ipsilateral intersections, please refer to fig. 6. FIG. 6 is a schematic diagram of ipsilateral and non-ipsilateral intersections. As shown in fig. 6, when the current traveling direction is the direction indicated by the arrow and the intersection a is the first turn intersection to be currently guided, the intersection b is the same-side intersection and the intersection b is the traffic light intersection, and the intersection c is the non-same-side intersection. That is, the bifurcation road extending direction of the ipsilateral intersection b coincides with the road extending direction to be steered at the time of the first steering intersection a to be currently guided.

In order to alleviate the memory burden of the user, it is required that the distance between the homolateral intersection and the first turning intersection is smaller than a preset distance, for example, the preset distance is 200 meters in addition.

And when the two judging results are yes, the first steering intersection reaches the broadcasting condition preset by referring to the traffic light voice.

As an example, determining whether the first turning intersection reaches a broadcasting condition of multi-intersection voice preset specifically includes:

e1, judging whether the first guide section has the same-side road junction which is not more than a second preset value or not according to the road junction model data of the first steering road junction, and judging whether the same-side road junction does not have a non-same-side road junction or not:

In order to reduce the memory burden of the user, the number of the same-side intersections on the first guide section is not greater than a second preset value, which may be 3.

E2, judging that smaller intersections do not exist in the same-side intersections according to the intersection model data of the same-side intersections, wherein the smaller intersections are roads in a park or a community:

Because smaller intersections are not easily found during travel, it is desirable to determine that there are no smaller intersections in the plurality of ipsilateral intersections.

And when the two judging results are yes, the first steering intersection reaches the broadcasting condition of the multi-intersection voice preset.

As an example, the broadcasting condition for judging whether the first steering intersection reaches the crossroad voice preset specifically includes:

F1, judging whether the first turning intersection meets the preset road connection relation and connection angle of the intersection according to the intersection model data of the first turning intersection:

It should be noted that, the road connection relationship and the connection angle of the preset intersection are shown in fig. 2.

F2, judging whether the first guide section has no bad-resolution crossroad and whether the number of crossroads in the first guide section is not larger than a third preset value according to an intersection data model of the crossroads on the first guide section:

The road junction angle meets the angle condition of the road junction, but the difference value between the number of lanes of the road in at least one direction and the number of lanes of the road in other directions is not smaller than the preset difference value. For example, at an intersection, where three directions are normal and the other direction is a road entering a cell, the intersection is a poorly resolved intersection.

And when the judgment results are yes, the first steering intersection reaches the broadcasting condition preset by the crossroad voice.

In the embodiment of the present invention, when the broadcast condition preset by each specific voice is reached by the first turning intersection, the judging order of each sub-condition is not limited.

S404, determining the specific guiding voice of which the broadcasting condition is met as the specific guiding voice matched with the first steering intersection:

it should be noted that, according to the first implementation manner of step S403, the first turning intersection may reach the preset broadcasting condition of the specific guiding voice of multiple types. In the embodiment of the invention, the specific guiding voice in which the plurality of broadcasting conditions are achieved can be determined as the specific guiding voice matched with the first steering intersection.

However, according to the above description, in order to better guide the road, these different types of specific guidance voices have different priorities according to the results of the questionnaire and the actual experience, and when the specific guidance voices whose broadcasting conditions are reached are plural, it is preferable to employ the specific guidance voice in which the priority is highest as the specific guidance voice matched with the first turning intersection.

To achieve this, the step S404 may specifically include: and comparing the priority of the specific guiding voice with the highest broadcasting condition, and determining the specific guiding voice with the highest priority and the highest broadcasting condition as the specific guiding voice matched with the first steering intersection. For example, if the specific guidance voices for which the broadcast condition is reached are landmark voices and intersection voices, since the landmark voices have higher priority than the intersection voices, the landmark voices are regarded as the specific guidance voices matched with the first turning intersection.

It should be noted that, in the second implementation manner of step S403, whether the first steering intersection reaches the broadcasting condition preset by the corresponding specific guiding voice is determined according to the order from high to low of the priority of the specific guiding voice, and when one type of broadcasting condition preset by the specific guiding voice is reached, the determining whether the first steering intersection reaches the broadcasting condition preset by the specific guiding voice is ended. Therefore, the specific guidance voice for which the broadcast condition obtained by the second implementation is reached is the specific guidance voice for which the broadcast condition with the highest priority is reached.

In addition, there is also a one-time voice in the guiding process of the guiding path, such as "please keep going straight", "pass through the bridge", "enter the tunnel", etc. When there is one-time voice in the process of guiding the guiding path, the navigation method may further include:

S405, judging whether the configured one-time voice broadcasting can cause interference to the voice text broadcasting of the first turning intersection, if not, broadcasting the one-time voice before broadcasting the voice text of the first turning intersection, otherwise, prohibiting broadcasting the one-time voice:

Specifically, whether the distance from the broadcasting point of the disposable voice to the first-turn intersection to be guided currently is larger than the distance S of the first-time broadcasting voice point configured by the first-turn intersection to be guided currently is judged, when the distance from the broadcasting point of the disposable voice to the first-turn intersection to be guided currently is larger than the distance S of the first-time broadcasting voice point configured by the first-turn intersection to be guided currently, the broadcasting of the disposable voice does not cause interference to the broadcasting of the guiding voice of the first-turn intersection, the disposable voice is inserted, and when the distance from the broadcasting point of the disposable voice to the first-turn intersection to be guided currently is not larger than the distance S of the first-time broadcasting voice point configured by the first-turn intersection to be guided currently, the broadcasting of the disposable voice causes interference to the broadcasting of the first-turn intersection, and at this time the inserting of the disposable voice is prohibited.

As a specific embodiment of the present invention, the distance S of the first broadcast voice point configured at the first turn intersection to be currently guided may be 2200 meters.

S406, generating a voice text of the first steering intersection and broadcasting according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guiding voice matched with the first steering intersection;

It should be noted that, when the specific guiding voice matched with the first turning intersection is only one, step S406 specifically includes: and generating a voice text of the first steering intersection and broadcasting voice according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guiding voice matched with the first steering intersection.

When there are a plurality of specific guidance voice types matched with the first turn intersection, step S406 may specifically be: and generating a voice text of the first steering intersection and broadcasting voice according to any voice broadcasting content and voice broadcasting rule corresponding to the specific guiding voice matched with the first steering intersection. As an alternative embodiment of the invention, when a plurality of specific guiding voice types matched with the first turning intersection exist, generating a voice text of the first turning intersection and broadcasting according to broadcasting contents and voice broadcasting rules corresponding to the specific guiding voice matched with the first turning intersection with highest priority.

In the navigation method provided by the embodiment of the present invention, after step S403, the method may further include:

And S407, broadcasting the first steering intersection according to the content of the conventional steering voice and the voice broadcasting rule of the conventional steering voice when the first steering intersection does not reach any broadcasting condition corresponding to the specific guiding voice.

The above is a specific implementation manner of the navigation method provided in the embodiment of the present invention. In the navigation method, after a first turning intersection to be guided currently is acquired, whether the first turning intersection reaches a broadcasting condition preset by specific guiding voice is required to be judged, the specific guiding voice with the broadcasting condition reached is determined to be the specific guiding voice matched with the first turning intersection, and when the first turning intersection is guided, broadcasting is carried out according to the matched specific guiding voice.

Based on the navigation method provided by the embodiment, the invention also provides a specific implementation mode of the navigation device, and the specific implementation mode is referred to in the second embodiment.

Example two

Fig. 7 is a schematic structural diagram of a navigation device according to a second embodiment of the present invention. As shown in fig. 7, the navigation device includes the following units:

A guide path planning unit 71 for planning a guide path from a start point to an end point of a set trip according to a topological relation of the start point and the end point and a road;

An obtaining unit 72, configured to obtain a first turn intersection to be currently guided according to the guiding path and the current positioning position;

a judging unit 73, configured to judge whether the first steering intersection reaches a preset broadcasting condition of a specific guiding voice;

a determining unit 74 configured to determine a specific guidance voice for which the broadcast condition is reached as a specific guidance voice that matches the first turn intersection;

In addition, the navigation device may further include:

The disposable voice broadcasting judging unit 75 is configured to judge whether the configured disposable voice broadcasting will cause interference to the broadcasting of the voice text at the first turning intersection, if not, the disposable voice is broadcasted before the broadcasting of the voice text at the first turning intersection, otherwise, the broadcasting of the disposable voice is prohibited.

A specific guidance voice broadcasting unit 76, configured to generate a voice text and report of the first turning intersection according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guidance voice matched with the first turning intersection;

The above is a main structure of the navigation device provided by the embodiment of the present invention. According to the navigation device provided by the invention, after the first turning intersection to be guided currently is obtained, whether the first turning intersection reaches the broadcasting condition preset by the specific guiding voice is required to be judged, the specific guiding voice with the broadcasting condition being reached is determined to be the specific guiding voice matched with the first turning intersection, and when the first turning intersection is guided, broadcasting is carried out according to the matched specific guiding voice. Because the specific guiding voice of the guiding and steering intersection is matched with the intersection attribute road attribute and the intersection shape of the steering intersection, and because the user can observe the intersection attribute of the steering intersection in the travelling process, the specific guiding voice is more visual, more specific and friendly, and the user can judge the walking path more accurately and rapidly according to the guiding of the specific guiding voice, so that the risk of the user walking by mistake can be reduced.

As a specific embodiment of the present invention, the specific guiding voices include a plurality of types, each type of specific guiding voice is further provided with a priority, the priorities of the different types of specific guiding voices are different, and if the broadcasting condition is reached, the specific guiding voices have a plurality of types; as shown in fig. 8, the determining unit 74 includes:

A comparing subunit 741, configured to compare the priority of the specific guiding voice that the broadcasting condition is reached;

a determining subunit 742, configured to determine, as the specific guiding voice that matches the first turn intersection, the specific guiding voice whose playing condition with the highest priority is reached.

As another specific embodiment of the present invention, the specific guidance voices include a plurality of types, each type of specific guidance voices is set with a different priority, and the priorities of the different types of specific guidance voices are set differently from each other;

The judging unit 73 includes:

and the judging subunit is used for respectively judging whether the first steering intersection reaches the corresponding broadcasting condition preset by the specific guiding voice according to the priority of the specific guiding voice from high to low, and ending the judgment whether the first steering intersection reaches the broadcasting condition preset by the specific guiding voice when one type of broadcasting condition preset by the specific guiding voice is reached.

As still another embodiment of the present invention, in order to enable the judging unit to judge whether the first turning intersection reaches the broadcasting conditions preset by the specific guiding voices of various types, as shown in fig. 9, the judging unit 73 specifically includes:

Landmark speech judging unit 731, traffic light speech judging unit 732, T-intersection speech judging unit 733, multi-intersection speech judging unit 734, reference traffic light speech judging unit 735, and intersection speech judging unit 736.

Wherein, as a further specific embodiment of the present invention, the landmark speech judging unit 731 includes: :

The time period judging unit is used for judging whether the GPS time carried in the current positioning GPS position is within a preset sight line visible time period or not;

the landmark building judging unit is used for judging whether landmark buildings exist at the first turning intersection according to the intersection model data of the first turning intersection;

the landmark building visible judging unit is used for judging whether a user can see the landmark building at the current positioning GPS position according to the guiding path;

and when all the three judging results are yes, the first steering intersection reaches the broadcasting condition preset by the landmark voice.

The traffic light voice determination unit 732 includes:

the traffic light intersection judging unit is used for judging whether the first turning intersection is a traffic light intersection or not according to intersection model data of the first turning intersection;

The traffic light intersection number judging unit is used for judging whether the number of the traffic light intersections on a first guide section is not more than a first preset value according to an intersection data model of the intersections on the first guide section, wherein the first guide section is a guide section from the current positioning position to the first steering intersection on the guide path;

The T-junction voice determination unit 733 includes:

The multi-junction voice determination unit 734 includes:

The non-traffic light intersection judging unit is used for judging whether the first turning intersection is a non-traffic light intersection according to intersection model data of the first turning intersection;

The same-side road junction judging unit is used for judging whether at least one same-side road junction which is a traffic light road junction exists on a first guide section according to a road junction data model of the road junction on the first guide section, and whether the distance between the same-side road junction and the first turning road junction is smaller than a preset distance or not, wherein the first guide section is a guide section from the current positioning position to the first turning road junction on the guide path;

And when the judging results are all yes, the first steering intersection reaches the broadcasting condition preset by referring to the traffic light voice.

The reference traffic light voice determination unit 735 includes:

the same-side road mouth number judging unit is used for judging whether a plurality of same-side road mouths which are not larger than a second preset value exist on the first guide section according to the road mouth model data of the first steering road mouth, and whether non-same-side road mouths do not exist between the same-side road mouths;

The smaller intersection judging unit is used for judging that smaller intersections do not exist in the same-side intersections according to intersection model data of the same-side intersections, and the smaller intersections are roads in a park or a district;

and when the judging results are all yes, the first steering intersection reaches the broadcasting condition of the multi-intersection voice preset.

The crossroad voice determination unit 736 includes:

The intersection judging unit is used for judging whether the first turning intersection meets the road connection relation and the connection angle of the preset intersection according to the intersection model data of the first turning intersection;

The intersection quantity and type judging unit is used for judging whether the first guide section does not have an intersection which is not well resolved and whether the number of the intersections in the first guide section is not larger than a third preset value according to an intersection data model of the intersections on the first guide section;

when the judging results are all yes, the first steering intersection reaches the broadcasting condition preset by the crossroad voice;

The road junction angle meets the angle condition of the road junction, but the difference value between the number of lanes of the road in at least one direction and the number of lanes of the road in other directions is not smaller than the preset difference value.

In addition, the navigation device in the embodiment of the invention can be specifically equipment such as a vehicle navigator, a PDA, a mobile phone and the like.

It should be noted that although in the above detailed description several units, sub-units of the navigation device are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more of the elements described above may be embodied in one device or in a different device in accordance with embodiments of the present application. Also, conversely, the features and functions of one unit described above may be further divided into a plurality of sub-units to be embodied.

Furthermore, although the operations of the methods of the present application are depicted in the drawings in a particular order, this is not required or suggested that these operations must be performed in this particular order or that all of the illustrated operations must be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.

While the spirit and principles of the present invention have been described with reference to several particular embodiments, it is to be understood that the invention is not limited to the disclosed embodiments nor does it imply that features of the various aspects are not useful in combination, nor are they useful in any combination, such as for convenience of description. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1.A navigation method, the navigation method comprising:

2. The method according to claim 1, wherein each type of specific guiding voice is further provided with a priority, the priorities of the different types of specific guiding voices are different from each other, and if there are a plurality of specific guiding voices for which the broadcasting condition is reached, the determining the specific guiding voice for which the broadcasting condition is reached as the specific guiding voice matched with the first turning intersection specifically includes:

And comparing the priority of the specific guiding voice with the highest broadcasting condition, and determining the specific guiding voice with the highest priority and the highest broadcasting condition as the specific guiding voice matched with the first steering intersection.

3. The method of claim 1, wherein each type of specific guided voice is provided with a different priority, and the priorities of the different types of specific guided voice are different from each other;

the judging whether the first steering intersection reaches the broadcasting condition preset by the specific guiding voice or not specifically comprises the following steps:

4. A method according to claim 3, wherein the specific guidance voices include landmark voices, traffic light voices, T-intersection voices, multi-intersection voices, reference traffic light voices and crossroad voices;

the priority of the specific guiding voice is sequentially from high to low: landmark speech, traffic light speech, T-intersection speech, multi-intersection speech, reference traffic light speech and crossroad speech.

5. The method of any one of claims 1-4, wherein when a one-time voice is configured before the voice broadcast point at the first turn-around intersection, the method further comprises:

Judging whether the configured one-time voice broadcasting can cause interference to the voice text broadcasting of the first turning intersection, if not, broadcasting the one-time voice before broadcasting the voice text of the first turning intersection, and if so, forbidding broadcasting the one-time voice.

6. A navigation device, comprising:

7. The apparatus of claim 6, wherein each type of specific guiding voice is further provided with a priority, the priorities of the different types of specific guiding voices are different from each other, and if the broadcasting condition is reached, there are a plurality of specific guiding voices;

The determination unit includes:

A comparison subunit, configured to compare the priority of the specific guiding voice that the broadcast condition is reached;

And the determining subunit is used for determining the specific guiding voice with the highest priority and the highest playing condition as the specific guiding voice matched with the first steering intersection.

8. The apparatus of claim 6, wherein each type of specific guided voice is provided with a different priority, and the priorities of the different types of specific guided voice are different from each other;

the judging unit includes:

9. The apparatus of claim 8, wherein the specific guidance voices include landmark voices, traffic light voices, T-intersection voices, multi-intersection voices, reference traffic light voices, and crossroad voices;

10. The apparatus according to any one of claims 6-9, wherein when a one-time voice is configured before a voice broadcast point at the first turn-around intersection, the apparatus further comprises:

The disposable voice broadcasting judging unit is used for judging whether the configured disposable voice broadcasting can cause interference to the voice text broadcasting of the first steering intersection, if not, broadcasting the disposable voice before broadcasting the voice text of the first steering intersection, and if so, forbidding broadcasting the disposable voice.