An outdoor navigation method, device and system

Abstract

The present invention discloses an outdoor navigation method, device and system. In one aspect, the navigation method executed by a user terminal device includes: searching for surrounding beacon point signals, sending the encoded data of the searched beacon points together with the navigation requirements to a navigation center for path calculation by the navigation center; obtaining two temporary files related to the current navigation from the navigation center, wherein the first temporary file contains the navigation path information of the current navigation, and the second temporary file contains the associated information of the navigation path; starting from the starting beacon point based on the navigation path information, and using the beacon point association information in the second temporary file as the forward guidance to guide to the destination. The present invention realizes a new navigation mode that does not rely on satellite positioning, can independently achieve accurate and convenient outdoor navigation, and can also be used in cooperation with satellite navigation to provide a more comprehensive and perfect navigation service.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation, and particularly to an outdoor navigation method, device and system. Background Art

[0002] Currently, outdoor navigation technology mainly relies on the global satellite navigation system. Users, with the help of terminal devices, receive satellite signals, utilize the basic data information provided by positioning satellites in space, take the satellites as reference points to calculate the position of the receiver, and determine the route to the destination according to the current position of the receiver to achieve navigation guidance. In this navigation mode, it is necessary to maintain a connection with the satellites at all times and continuously perform position calculations. There are the following deficiencies: First, it is affected by the signal coverage range, and is particularly not good at road positioning services in cross spaces; second, this type of navigation requires a starting process of recognizing the road. These deficiencies are determined by the positioning algorithm adopted by satellite navigation. Some improvements can be made to make up for the deficiencies, but fundamental improvements cannot be made. And the measures to make up for the deficiencies often require higher complexity and intelligence in the manufacture of such devices, increasing the manufacturing cost and development difficulty of such devices. Summary of the Invention

[0003] Object of the Invention: The present invention provides an outdoor navigation method, device and system to achieve an outdoor navigation solution that does not rely on the satellite navigation system.

[0004] Technical Solution: In the first aspect of the present invention, an outdoor navigation method executed by a terminal device is provided, including the following steps:

[0005] Search for signals of surrounding signal points, and send the encoded data of the searched signal points together with the navigation requirements to the navigation center for path calculation, where the signal points are set within a specified range at road intersections and at specific positions of various units, units or buildings and send signals with their own unique codes, and at least two signal points are provided along the driving direction at each intersection, and the at least two signal points include a guiding signal point and a verification signal point, the guiding signal point is arranged on the road entering the intersection, and the verification signal point is arranged on the road leaving the intersection;

[0006] Receive two temporary files from the navigation center, where the first temporary file contains the navigation path of the current navigation, and the navigation path is composed of several signal point codes arranged in sequence, and the second temporary file contains the association information of the navigation path signal point codes, and the association information includes several data entries, and each data entry includes the guiding signal point code on the current road, the verification signal point code on other roads connected to the current road intersection in other directions, and prompt information selected for different directions, where the guiding signal point code and the verification signal point code both correspond to the signal point codes included in the navigation path;

[0007] Receive the encoded beacon points on the roadside during the progress after starting, and according to the received encoded beacon points N t , search for the next encoded beacon point N of the navigation path in the first temporary file t+1 , according to N t+1 , retrieve the corresponding associated information from the second temporary file as a guide for the forward direction selection;

[0008] After passing through the intersection and entering the next road, based on the encoded N' received from the beacon points on the next road t+1 , compare it with the associated signal encoded data corresponding to the beacon point N in the second temporary file t+1 , or compare it with the next encoded beacon point N of the path in the first temporary file t+1 , verify whether the selected path is correct. If it is correct, prompt the user to continue moving forward. If it is incorrect, initiate a new route planning.

[0009] Furthermore, the prompt information for different direction selections in the associated information includes one or more of the following: lane preparation prompts for different direction selections, distance prompts to the road intersection, direction selection prompts after arriving at the intersection, and voice and / or picture prompts corresponding to the selected direction information.

[0010] Furthermore, using the associated information of the beacon points in the second temporary file as a forward guide includes: searching in the second temporary file for the data entry with the encoded beacon point N t+1 , and obtaining the prompt information for the specific direction selection at the intersection in this data entry as a forward guide.

[0011] Furthermore, for highway fork intersections, the guiding beacon points include a first guiding beacon point set at a first distance from the intersection and a second guiding beacon point set at a second distance from the intersection, where the first distance is greater than the second distance;

[0012] For the case where there are multiple fork intersections in front of the on-road intersection, the guiding beacon points include a first guiding beacon point set on the on-road, and a second guiding beacon point set at each fork;

[0013] When receiving the encoded roadside beacon points during the progress, based on the relationship between the received signal strength and the distance between the signal emission point and the signal reception point, use the encoded beacon points that conform to the navigation path and whose corresponding signal strength reaches the set value as the guiding encoded beacon points, and obtain the forward indication from the associated information according to the guiding encoded beacon points.

[0014] Furthermore, verifying whether the transferred path is correct includes: when receiving the encoded beacon point N' on the next road t+1 , obtaining from the second temporary file the data with the encoded beacon point N tA data entry for guiding beacon points, from which the verification beacon point code N is obtained t+1 , compare the two data N' t+1 and N t+1 to check if they are the same. If they are the same, the path is correct; or, when receiving the beacon point code N' t+1 on the next road, obtain the next beacon point code N of the path from the first temporary file t+1 , compare N' t+1 and N t+1 to check if they are the same. If they are the same, the path is correct.

[0015] The second aspect of the present invention provides a navigation device, including:

[0016] A wireless transceiver configured to wirelessly communicate with a navigation center via a wireless communication network and receive wireless signals from beacon points;

[0017] At least one memory;

[0018] At least one processor coupled to the wireless transceiver and the at least one memory, wherein the at least one processor is configured to:

[0019] Identify the surrounding beacon point signals searched by the transceiver, send the searched beacon point coding data and navigation requirements to the navigation center for path calculation by the navigation center. The beacon points are set within a specified range at road intersections and at specific positions of various units, cells or buildings and send signals with their own unique codes. And at least two beacon points are provided along the driving direction at each intersection. The at least two beacon points include a guiding beacon point and a verification beacon point. The guiding beacon point is set on the road entering the intersection, and the verification beacon point is set on the road leaving the intersection;

[0020] Receive two temporary files from the navigation center. The first temporary file contains the navigation path of the current navigation, and the navigation path is composed of several sequentially arranged beacon point codes. The second temporary file contains the association information of the beacon point codes of the navigation path. The association information includes several data entries, and each data entry includes the guiding beacon point code on the current road, the verification beacon point codes on other roads connected to the current road intersection in different directions, and the prompt information selected for different directions of the intersection. The guiding beacon point code and the verification beacon point code both correspond to the beacon point codes included in the navigation path;

[0021] Receive the beacon point code on the roadside during the progress after starting. According to the received beacon point code N t , search for the next beacon point code N of the navigation path in the first temporary file t+1 , according to N t+1Retrieve the corresponding associated information from the second temporary file as a guide for the forward direction selection;

[0022] After passing through the intersection and entering the next road, based on the encoded N'received from the beacon point on the next road t+1 , compare it with the associated signal encoding data corresponding to the beacon point N in the second temporary file t+1 , or compare it with the encoded N of the next beacon point on the path in the first temporary file t+1 to verify whether the selected path is correct. If it is correct, prompt the user to continue moving forward. If it is incorrect, initiate route planning again.

[0023] The third aspect of the present invention provides an outdoor navigation method executed by a navigation center, including the following steps:

[0024] Receive the beacon point encoding data and navigation requirements from the terminal device, perform path calculation according to the locally stored beacon point distribution, where the beacon points are set within a specified range of road intersections and specific positions of various units, cells, or buildings and send signals with their own unique encodings, and at least two beacon points are provided along the driving direction at each intersection, and the at least two beacon points include a guiding beacon point and a verification beacon point. The guiding beacon point is set on the road entering the intersection, and the verification beacon point is set on the road exiting the intersection;

[0025] Among them, performing path calculation according to the locally stored beacon point distribution includes: superimposing a measurement cursor on the digital map containing the beacon point distribution. Based on the navigation requirements, the cursor moves in opposite directions along all possible passing roads on the digital map that meet the set conditions of the navigation request from both the starting point and the ending point directions. When the two cursors meet, they stop running, and then add the paths formed by each cursor respectively to form a complete navigation path, and the navigation path is composed of several sequentially arranged beacon point encodings;

[0026] Package two temporary files according to the path calculation result and send them back to the terminal device. The first temporary file contains the navigation path of this navigation, and the second temporary file is matched from the local database and contains the associated information of the beacon point encodings of the navigation path. The associated information includes several data entries, and each data entry includes the encoding of the guiding beacon point on the current road, the encoding of the verification beacon point on the other direction roads connected to the current road intersection, and the prompt information for different direction selections for the intersection, where the encoding of the guiding beacon point and the encoding of the verification beacon point both correspond to the beacon point encodings included in the navigation path.

[0027] Furthermore, path calculation based on the locally stored beacon point distribution further includes: Whenever the cursor encounters an intersection or a fork in the road, the cursor will automatically split into the corresponding number of avatars and continue to travel along the roads they have each selected, forming a cursor group in a tree structure that extends towards the opposite side. The growth stops when the two tree structures on both sides come into contact, and the paths on both sides of the contact point are added together to form a complete navigation path; and among them

[0028] When the cursor group formed by continuous splitting travels towards each other on the roads of the digital map, whenever it encounters an intersection where there are already its own avatar cursors that have passed by, the later-arriving avatar cursor will stop running, and the path of the road that the late-arriving avatar cursor passed through before will be invalidated.

[0029] A fourth aspect of the present invention provides a computer device, including:

[0030] An external interface, configured to perform wireless communication with a navigation device via a wireless communication network;

[0031] At least one memory;

[0032] At least one processor, coupled to the wireless transceiver and the at least one memory, wherein the at least one processor is configured to:

[0033] Receive beacon point coding data and navigation requirements from a terminal device, perform path calculation based on the locally stored beacon point distribution, wherein the beacon points are set within a specified range of road intersections and at specific positions of various units, cells or buildings and send signals with their own unique codes, and there are at least two beacon points along the driving direction at each intersection, and the at least two beacon points include a guiding beacon point and a verification beacon point, the guiding beacon point is set on the road entering the intersection, and the verification beacon point is set on the road exiting the intersection;

[0034] Among them, performing path calculation based on the locally stored beacon point distribution includes: superimposing a measurement cursor on a digital map containing the beacon point distribution. Based on the navigation requirements, the cursor travels towards each other from two directions, the starting point and the end point, along all possible passable roads on the digital map that meet the set conditions of the navigation request. When the two cursors meet, they stop running, and then the paths formed by each cursor passing through are added together to form a complete navigation path, and the navigation path is composed of a number of beacon point codes arranged in sequence;

[0035] Encapsulate two temporary files according to the path calculation result. The first temporary file contains the navigation path of this navigation, and the second temporary file comes from the local database matching and contains the associated information of the beacon point encoding of the navigation path. The associated information includes several data entries, and each data entry includes the beacon point encoding on the current road, the verification beacon point encoding on other roads connected to the intersection of the current road, and the prompt information for different direction selections at the intersection. The beacon point encoding and the verification beacon point encoding both correspond to the beacon point encoding included in the navigation path;

[0036] Send the two temporary files back to the terminal device via an external interface.

[0037] The fifth aspect of the present invention provides an outdoor navigation system, including:

[0038] Several beacon points, which are signal transmitters set within a specified range of road intersections and sending signals with their own unique encodings; and signal transmitters set at specific positions of various units, units or buildings and sending signals with their own unique encodings;

[0039] A navigation center that communicates wirelessly with the terminal device through a wireless communication network and is configured to execute the navigation method as described in the third aspect of the present invention, or is configured as the computer device as described in the fourth aspect of the present invention;

[0040] A terminal device that communicates wirelessly with the navigation center through a wireless communication network and receives wireless signals from the beacon points, and is configured to execute the method as described in the first aspect of the present invention, or is configured as the navigation device as described in the second aspect of the present invention.

[0041] Beneficial effects: By analyzing and summarizing the characteristics and essence of outdoor navigation, the present invention proposes an outdoor navigation method, device, and system that do not rely on satellite positioning. For a travel navigation requirement, between the departure place and the destination, no matter how complex the road network is passed through, in fact, a direction selection is made at each intersection passed through. After the selection, when traveling on the selected road, only normal progress is required without making a selection. The above process is continuously repeated until a selection is made again when approaching the destination, that is, searching for and confirming the house number of the destination, and the entire journey ends. Based on this, the present invention summarizes the basic principle of navigation: the combination of continuous progress and continuous direction selection. By setting signal-point devices that can continuously emit signals at intersections, the signal points are divided into guiding signal points and verification signal points. The guiding signal points are used to prompt the user to select the correct direction, and the verification signal points are used to verify the correctness of the selected direction, enabling fast and accurate outdoor navigation. It can replace satellite navigation or be used as a supplement to satellite navigation technology. Based on the setting of signal points, the present invention uses the two-way growth method of cursor splitting to solve the navigation path, with high efficiency, and can quickly obtain the optimal path for complex road conditions, thereby improving the navigation efficiency. Description of the Drawings

[0042] Figure 1 It is a block diagram of the outdoor navigation system of the present invention;

[0043] Figure 2 It is the first example of the signal point setting of the present invention;

[0044] Figure 3 It is the second example of the signal point setting of the present invention;

[0045] Figure 4 It is the third example of the signal point setting of the present invention;

[0046] Figure 5 It is the fourth example of the signal point setting of the present invention;

[0047] Figure 6 It is the fifth example of the signal point setting of the present invention;

[0048] Figure 7 It is a flowchart of the outdoor navigation method executed by the terminal device of the present invention;

[0049] Figure 8 It is the processing logic of the terminal device of the present invention;

[0050] Figure 9 It is a flowchart of the outdoor navigation method executed by the navigation center of the present invention. Detailed Embodiment

[0051] To make the objectives, technical solutions, and advantages of the present invention more apparent, the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0052] Figure 1 The block diagram showing the composition of an outdoor navigation system according to an embodiment of the present invention is presented. The system includes: a navigation big data and solution service center (also known as a background service center, a navigation center, or a navigation big data center); wireless signal emission point devices and supporting equipment (also known as signal marking points) reasonably distributed at various road intersections, stations, and the entrances of various user units; various end-user devices and mobile communication devices that can connect to 4G / 5G / 6G networks; and various communication network service systems.

[0053] The interaction process relationship of the hardware devices is as follows: ① The user terminal sends a navigation request to the navigation big data solution center through the communication network. Optionally, the user terminal provides an interface where the user can input the navigation destination and select the requirements for road traffic conditions from a given option box, such as taking the highway and avoiding tolls, etc.; such information is sent to the navigation big data solution center through the communication network together with the navigation request; ② The navigation big data solution center receives the request, calculates and recommends, for example, three navigation routes, and sends them back to the user terminal; ③ The user selects a route and sends it back to the navigation big data center again; ④ The navigation big data center packs the navigation information into two temporary data files according to the selected route by the user and sends them back to the user terminal through the communication network; optionally, steps ② and ③ can also be simplified to that the navigation big data solution center receives the request and calculates the navigation route according to the user's requirements, then in step ④, the navigation big data center packs and sends according to the calculated navigation route; ⑤ The terminal device receives the navigation file and starts the navigation service; ⑥ The terminal device activates the relevant information of the navigation file in a timely manner with the signal data emitted by the beacon emission source set by the roadside, assists in guiding the user to make a direction selection, and finally enables the user to reach the destination (endpoint). The signal marking point, the beacon emission source, and the beacon emission device are used interchangeably in this article. The signal marking point is set on the roadside / roadside or on the road. For the sake of simplicity of description, it is called the roadside signal marking point in the following description.

[0054] In the present invention, roadside beacon points are classified into two types according to their functions: guiding beacon points and verification beacon points. During the interaction process, the encoded data sent by the two types of beacon points are respectively called flag codes (guiding codes) and verification codes. For the convenience of description, hereinafter, the encoding of guiding beacon points is represented by flag codes or guiding codes, and the flag code (guiding code) also refers to the guiding beacon point; the encoding of verification beacon points is represented by verification codes, and the verification code also refers to the verification beacon point. The function of the guiding code is as follows: when the terminal device receives the roadside guiding code signal, it indicates that the terminal device has driven close to the intersection and is about to face a direction selection. At this time, the navigation program will automatically activate the tutoring information in the navigation file related to the direction selection at the front intersection to guide the user to complete the direction selection. The function of the verification code is as follows: when the user actually completes the selection and turns into the selected next road, the terminal device will receive the roadside verification code signal to help the terminal device confirm that the selected road is correct and inform the user by voice.

[0055] The guiding code and verification code mentioned above are essentially in a one-to-one correspondence relationship with the navigation path encoding. The difference between them and the navigation path encoding is that the guiding code and verification code are the names used for the signal emitters arranged at different positions on the road when actually arranging signal emitters at the intersection; the navigation path is a set of data encoding information sent from the starting point to the ending point in sequence by the navigation service center (i.e., the background) to the user terminal.

[0056] The functions of the guiding code and verification code are, first, to help the terminal device match (identify) the signal encoding data (guiding code) of the signal source collected from the roadside, thereby triggering the central processor of the terminal device to match and call the navigation-related information corresponding to the intersection and prompt and tutor the user to select the correct direction; second, when the user turns into the selected road, the terminal device will again match (identify) the signal encoding data (verification code) of the signal source collected from the roadside with the navigation path encoding to determine whether the turned-in road is correct. The above process is continuously repeated during the traveling process until the destination (ending point) is reached.

[0057] Figures 2 - 6 A typical case of the beacon point setting of the present invention is shown, in which Figure 2Shown is Case 1: A crossroads (T-junction). At an appropriate position on the roadside in the direction of entering the intersection (the oncoming vehicle direction), a marker code (guidance code) is set, shown as a circle in the figure. At the roadside positions of each road in the direction of leaving the intersection (in terms of the oncoming vehicle direction), a verification code is set, shown as a triangle in the figure. When a terminal device (such as a mobile phone, etc.) approaches the intersection, it receives the marker code (guidance code) signal at a certain distance (100 - 200m). The terminal automatically calls the information corresponding to the intersection code stored in the memory, and prompts to make preparations for direction selection (go straight, turn left, turn right) and the corresponding lanes, etc. After entering the selected intersection, the terminal receives the verification code signal data at a certain distance (50 - 100m), and verifies it with the associated code data in the path code group stored on the terminal. If it is confirmed to be correct, it can continue to move forward.

[0058] Figure 3 Shown is an example of the beacon point settings for a roundabout intersection in Case 2. The circle represents the guidance beacon point set on the roadside approaching the roundabout (100 - 200m from the intersection), and the triangle symbol represents the verification beacon point set on the roadside about to leave the roundabout (within 50m from the intersection). Here, the verification beacon point is closer to the intersection (within 50m), which is convenient for the terminal device to detect the signal when driving in the roundabout. When the terminal device (such as a mobile phone, etc.) drives close to the roundabout intersection and detects the guidance code signal that conforms to the navigation path on the roadside, the central processor of the terminal device immediately calls the relevant guidance content in the navigation file and prompts the user for a reasonable walking route inside the roundabout. Suppose a certain navigation needs to skip two intersections and leave the roundabout from the third intersection. At this time, the verification beacon points of the two intersections that the terminal device must pass through can be used as the second and third guidance codes for this navigation. When the terminal device passes by, its signal can trigger the terminal device to jump out of the guidance prompt for the user to continue moving forward. When the user leaves the roundabout according to the prompt content, the verification code beacon signal data set at this intersection is compared with the code data in the terminal device's navigation path file and is found to match, proving that the path is correct, and the terminal prompts the user to continue driving along the selected road.

[0059] Figure 4 and Figure 5They are respectively the signal point diagrams of Case 3 where the vehicle branches off from the main road to the branch road and Case 4 where the vehicle merges from the branch road into the main road. Similarly, the circle is the flag code (guidance code), and the triangle is the check code. These two case scenarios are commonly seen when vehicles merge into or drive out of highways or urban expressways. Generally, due to the relatively high speeds and complex road conditions on such roads, in front of each fork (bifurcation) intersection, in addition to setting up signal points (guidance codes) at a relatively short distance from the intersection (200 - 300 m), a signal point (pre - guidance code) can also be added about one kilometer in advance on the same main road, so that the terminal device can notify the user earlier to prepare for lane arrangements and more calmly handle the need for upcoming road conversions. When the terminal device detects the roadside signal point signal during road driving and compares it with the encoded data of the current navigation path, if they do not match, it proves that although there is an intersection ahead, the current navigation does not require a road conversion at this intersection, and the terminal will automatically prompt and guide the user to continue moving forward on the main road; when the roadside signal point signal data detected by the terminal device during driving matches the encoded data of the current navigation path, the central processor of the terminal device will be triggered to call the direction - selection guidance information corresponding to this code, prompting the user to prepare for a route conversion. When approaching the intersection, through another guidance code, the terminal device is triggered to call the associated precise guidance information again, prompting the user to convert the road from the upcoming intersection. After the conversion is completed, the user's terminal device will receive the encoded data of the signal point set on the roadside of this road and automatically compare it with the navigation path encoding. If they match, it proves that the route conversion is correct, and the terminal device will prompt the user to continue moving forward.

[0060] Figure 6Illustrates the handling of the multiple bifurcation roads in Case 5, that is, there are multiple walking route bifurcations in front of the intersection. Similarly, the circles are the flag codes (guidance codes), and the triangles are the check codes. Before entering the intersection, roads 1, 2, and 3 will each have two reminders of flag codes (guidance codes) successively when approaching the intersection. The first time reminds the user to prepare for the lane, and the second time uses images to prompt the overall layout of the multiple bifurcation intersections ahead, with significant markings and voice guidance to remind the user of the specific bifurcation intersection directions to connect to. When the terminal device approaches this bifurcation intersection, the terminal device will pop up a prompt for selecting the specific road of this intersection to help the user enter the correct path selected for this navigation. In this figure, by receiving the flag code (guidance code) signals located at the bifurcation (such as the bifurcation at intersections 2 and 4, the bifurcation at intersections 4 and 5, etc.), the terminal device can confirm whether to turn left or right by calling the navigation path association information. After entering the selected road, the terminal device receives the check code signal located on this road to confirm whether the selection is correct. If it is found that the coding is incorrect and the wrong intersection is selected, the check code of this intersection can be used to contact the background navigation center through the wireless communication network to re-plan a new route. In this example, the process of the terminal device identifying and processing the two guidance codes is as follows: First step, before entering the next bifurcation intersection from any one of the roads in the directions of roads 1, 2, and 3, the terminal device first approaches the first guidance code. When the signal strength reaches the set value, the central processor of the terminal device is triggered to call the guidance information stored under the corresponding code in the navigation file, and prompts the user to prepare for the lane conversion of the road ahead in both voice and image ways; Second step, when the terminal device continues to move forward along this road and approaches the next guidance code, once the signal detection strength reaches the set value, it triggers the central processor of the terminal device to call the guidance information stored under the corresponding code in the navigation file: On the one hand, it uses images to prompt the user of the overall distribution of the multiple bifurcation intersections ahead, and highlights the bifurcation intersections related to this navigation; On the other hand, the central processor of the terminal device transmits the second guidance code data related to this navigation obtained from the navigation file to the wireless signal collection device for standby. When the terminal device enters the intersection, the wireless signal collection device of the terminal device, based on this data, distinguishes the target signal source from the multiple second guidance code signal sources collected from the front, tracks it, and publishes the guidance information in the direction of tracking this signal source in the form of an electronic compass image on the screen, superimposed on the previous image, and at the same time supplemented by voice prompts (such as turn left / go straight / turn right); so that the user can understand and accurately approach the target bifurcation point. Third step, as the terminal device approaches the target signal point, the intensity of the target signal it searches for will also increase continuously. When the signal strength reaches the set value (proving that it has approached the target intersection within a certain distance at this time), it triggers the central processor to call the direction selection guidance information related to this second guidance code in the navigation file again, and prompts the user to choose to take the left or right bifurcation road.In the fourth step, after the user enters the selected road, they will receive the signal code (verification code) of the beacon points set by the roadside. This code is also part of the path code in the navigation file. When the two are verified to be consistent (proving that the theoretical data is consistent with the actual detection), it proves that the direction selection is correct. The user is then prompted by voice to continue driving.

[0061] Comprehensive Figures 2 - 6 Based on the exemplary beacon point settings at different intersections described in detail, the beacon point settings of the present invention can be summarized into two categories: (1) When approaching a highway fork, a first guiding code is arranged about one kilometer in advance to prompt the user to prepare for the lane (if the code does not match the current navigation code, it is ignored, and the terminal can prompt the user to continue driving on the main road). About 300m before approaching the intersection, a second guiding code is set to prompt the intersection information ahead and assist the user in choosing to leave the main road (if this code does not match the current navigation path code, the terminal prompts the user to continue driving on the main road). (2) When there are multiple forks in front of a road intersection (including roundabout intersections), signal coding emission points are set at each fork, which are collectively referred to as the second guiding code. The second guiding code set at each fork has two functions: For the first guiding code on the driving road, it is equivalent to a target direction guiding sign, and its function is to guide the terminal device to approach the target fork after entering the intersection; when the terminal device approaches the target fork to a certain distance (defined by the signal strength received by the terminal device increasing to a specified value), it will face the choice of going left or right at this fork. At this time, the function of this coded signal here becomes a guiding code to guide the terminal to make another direction selection, triggering the central processing unit of the terminal device to call the beacon association information related to this beacon point code and guiding the user to make a direction selection. Its function becomes secondary guidance.

[0062] Refer to Figure 7 , an outdoor navigation method executed by a terminal device, includes the following steps:

[0063] Step S11, search for the signals of surrounding beacon points, and send the obtained beacon point coding data together with the navigation requirements to the navigation center.

[0064] Exemplarily, the terminal device issues a navigation requirement through navigation software. The navigation software automatically searches for the signals of surrounding beacon points, and sends the obtained beacon point coding data together with the navigation requirement to the background navigation center through the 4G / 5G network. The navigation center calculates the navigation path based on the start and end point coding data (the end point coding is obtained through data conversion according to the input address name), compiles a navigation temporary file, and then sends it back to the terminal device through the wireless network.

[0065] Step S12: Obtain two temporary files related to the current navigation from the navigation center. The first temporary file contains the navigation path of the current navigation, and the second temporary file contains the associated information of this navigation path.

[0066] According to an embodiment of the present invention, the navigation path is composed of several beacon point codes, and the formation mechanism of this path will be described in detail below; the associated information of the path includes several data entries in terms of road intersections. Each data entry includes the guiding beacon point code on the current (traveling) road, the verification beacon point code on other roads connected to the intersection of the current road, and the prompt information selected for different directions. The guiding beacon point code and the verification beacon point code correspond to the beacon point codes included in the navigation path information.

[0067] As a preferred embodiment, the data entries in the second temporary file are saved in the name of the same-name coded data. In one embodiment, the prompt information selected for different directions in the associated information includes one or more of the following: lane preparation prompts for different direction selections, distance prompts to the road intersection, direction selection prompts after arriving at the intersection, and voice and / or picture prompts corresponding to the selected direction information. As Figure 8 shown, the content of this associated information includes: 1. The guiding beacon point code information (guiding code) on the current traveling road of this article; 2. The verification beacon point code information (verification code) on other roads connected to the intersection ahead of this road; 3. The advance preparation prompts for reasonable lanes when making different direction selections (left, right, straight); 4. The specific direction selection guidance prompts during the process of driving towards the intersection, etc. All of these can be presented in the form of voice and images (2D / 3D). The second temporary file also includes the characteristic associated information of the destination corresponding to the beacon point code at the end of the path.

[0068] Step S13: Start from the starting beacon point based on the navigation path information, and retrieve the corresponding associated information from the second temporary file during the traveling process as the guidance for moving forward.

[0069] After the navigation starts, the navigation software (central processing unit) first calls the same-name coded data information associated with the starting beacon point data code. The content of this information includes: the starting beacon point code information; the code information of the second beacon point of the navigation path; the associated direction selection prompt information, including voice guidance and image guidance (2D\3D). The user starts according to the terminal prompt.

[0070] When the terminal is far from the starting beacon point, the navigation software automatically activates the signal search function of the terminal, and through the interface and voice prompts the user to continuously approach the starting beacon point. When the signal strength of the starting beacon point reaches the set value (indicating that the terminal has reached a certain range of the starting point), the central processing unit immediately starts to call the same-named encoded data information in the second temporary file associated with the data encoding of the starting beacon point, and associates with the direction selection information guidance to guide the user to start moving forward in the direction prompted by the navigation.

[0071] During the journey, receive the roadside beacon point encoding, and according to the received guiding beacon point encoding N t , search for the next beacon point encoding N in the navigation path information t+1 , according to N t+1 , retrieve the corresponding associated information from the second temporary file as the guidance for the direction selection of moving forward.

[0072] According to the embodiment of the present invention, within a certain distance range from the intersection (for example, 200 - 300m), guiding beacon points (special signal emission points) are set. On the highway, two or three guiding beacon points can be set 1 - 2 kilometers in advance. The purpose is to prompt the user to make preparations in advance for the lane arrangement when entering the intersection or fork, and the direction selection when arriving at the intersection.

[0073] In an example, when the terminal device approaches the intersection and enters the signal range of the guiding beacon point on this road (signal emission distance 200 - 300m), it will receive the encoded signal emitted by this beacon point. The signal analysis software in the terminal device automatically identifies all received beacon signals at any time, and reports the searched signal encoding information to the central processing unit of the terminal device at any time.

[0074] At this time, the central processing unit of the terminal device will automatically compare the signal encoding data transmitted by the signal analysis software with the path encoding information in the stored path temporary file (that is, the digital navigation path, abbreviated as the navigation path). If it conforms to the sequential encoding data therein, this central processing unit will further call the information saved under the same-named encoded data in another temporary file. If the searched encoding data does not match the digital path temporary file (that is, the navigation path), then this kind of data will be automatically ignored, and the central processing unit will not make a linkage reaction.

[0075] According to an embodiment of the present invention, the navigation digital path encoding is arranged in the order from the starting point to the ending point. The used encoding will be automatically deleted by the navigation software. Therefore, the data at the top of the digital path file is always the data of the next intersection to be passed. Therefore, for the used path encoding and related information (the intersections that have been actually passed), the terminal device will automatically delete the relevant information of this intersection in the temporary file. Therefore, the data encoding information (current encoding information) at the top of the navigation path file at this time is the signal emission point encoding information of the next intersection to be passed immediately. Once the terminal device passes through this target intersection and the data comparison is consistent, it will further trigger the next action of the central processing unit.

[0076] Under this same-name encoding data, the information related to the upcoming intersection in front and the traveling direction to be selected will be associated and stored. It includes: 1. The check code information on the next road corresponding to this digital navigation path (the purpose is to match the prompt information for turning left, turning right, or going straight); 2. The distance prompt approximately to the intersection of this road; 3. The prompt for preparing to adjust the driving lane; 4. And the direction prompt information for turning left, turning right, or continuing to go straight after arriving at the intersection, etc.

[0077] To enhance the prompt effect, this information can be made into voice, images (2D\3D), and can be presented on the display screen of the terminal device and in the voice prompt at the same time for the user to use.

[0078] For unmanned driving devices, the information related to the direction selection of the intersection in front associated under this same-name encoding data will be directly transmitted to the central processing unit of the autonomous driving device. The central processing unit of the autonomous driving device controls the steering mechanism of the device and jointly completes the direction selection of the intersection with other information processing mechanisms.

[0079] In another example, for the situation where there are multiple forked roads in front of the intersection, generally, second guiding signal points are set at all road fork points in advance. When the terminal device leaves the previous road and enters the intersection, if there are multiple forked roads in front, it faces the choice of which forked intersection to enter the next required road from the front.

[0080] The described second guiding signal point mainly plays a role of relay transition. As described above in combination with Figures 2 - 6 For the situation where there is more than one forked intersection in front of the intersection, the second guiding signal point is set to facilitate being accurately guided to the target forked intersection. For the traveling road, when the terminal device travels to the vicinity of the intersection range, the first guiding code signal will trigger the central processing unit to call the relevant information of the navigation file, and the terminal device will prompt the user to make preparations for the lane and the docking preparation with the navigation data (second guiding code data) of the front path.

[0081] After entering the intersection, the signal collection device of the terminal device will receive multiple second beacon code signals. At this time, the terminal device will guide the user to approach the second beacon point that meets the navigation path requirements. As the terminal device gets closer and closer to the signal source, the received signal strength will continue to increase. When the signal strength reaches a preset value, it proves that the terminal device is close to the target fork intersection. At this time, the central processor will be triggered to further call the relevant information of the second temporary file to clearly prompt the user to choose to go left or right at the fork to proceed.

[0082] According to an embodiment of the present invention, the specific processing procedure of the terminal device is as follows:

[0083] On the road approaching the intersection, the guiding code (i.e., the first guiding code) set on the driving road interacts with the terminal device. The central processor of the terminal device calls the same-name coded data information associated with this guiding code in the navigation temporary file, and its content includes: 1. The coded information of the next beacon point to be docked (i.e., the second guiding code), and this code will be transmitted to the signal transceiver device for standby; 2. Prompt the user of the distance from the intersection and provide the layout image of the intersection.

[0084] When the vehicle reaches the intersection of the road it is traveling on, the signals of the second beacon points set at the fork points of the front fork intersection will cover the terminal device (the effective signal coverage range is 200-300m). At this time, the signal analysis software installed in the signal collection device built into the terminal device will recognize the coded signals sent by all the second beacon points in the front. All the second beacon points correspond to the situation where there are several fork intersections in the front and a beacon point is installed at each fork point. According to the data prompt transmitted by the central processor before, the signal collection device automatically compares and finds out the signal code that conforms to the digital path code of this navigation, and can issue an instruction to require the signal analysis software in the signal collection device to track the direction of the signal source of this code. The terminal device will use a supporting voice and an obvious graphical linkage method to prompt and guide the user to approach this signal source. This linked graph will be superimposed on the layout graph of this intersection, and with the voice prompt, it is convenient for the user to understand and approach the target beacon point.

[0085] Meanwhile, the signal analysis software installed on the signal collection device built into the terminal device, based on the terminal device getting closer and closer to the target signal source and continuously enhancing the signal strength, once the signal strength reaches the set value, immediately starts to report to the central processing unit. The central processing unit then immediately calls the same-named coded data information associated with this coding in the temporary file, and the content includes: 1. The next navigation path coded data information docked with the coding of the second guiding beacon point here (the purpose is to enable the central processing unit to identify and call out the prompt information for turning left or right at this fork in the road in the navigation temporary file); and the voice prompt and graphic (2D / 3D) prompt, etc. corresponding to the selected direction information.

[0086] Step S14, after passing through the intersection and entering the next road, based on the coding N' received from the beacon point on this next road t+1 , compare it with the associated information corresponding to the beacon N t+1 in the second temporary file to verify whether the path is correct. If it is incorrect, initiate route planning again.

[0087] When the terminal device passes through the intersection according to the prompt and enters the selected next road, it will enter the signal range of the beacon point set on the roadside (or on the road) of this road. At this time, the signal analysis software on the terminal device will receive the coded signal of this beacon point, and the central processing unit of the terminal device will automatically compare the signal data transmitted by the analysis software with the data in the first temporary file (i.e., the digital navigation path). If it conforms to the sequential coded data therein, it will start a voice prompt to inform the user to continue driving. At the same time, the used data coding and related data association information will be automatically deleted by the navigation software. If a data error is found, the software will immediately start the path re-planning program, link with the background through 4G / 5G signals, re-plan the path, and guide the user to reach the destination using the newly planned path.

[0088] When the terminal device travels to the street where the destination is located, the terminal device sequentially checks the coded information sent by the beacon points installed on the units, units or buildings on this road according to the navigation path, and guides the terminal device to continue moving until the unit, unit or building coded signal received by the terminal is consistent with the final coded information of the navigation path. The terminal prompts the user to reach the destination in voice and image ways, and the entire navigation process is completed.

[0089] Combined with Figure 8 , an exemplary description of the processing process of the terminal device is made through two examples.

[0090] Example 1. The process for relatively simple intersections such as plane intersections is as follows:

[0091] The first step: The wireless signal collection device reports the collected coded signal to the central processing unit.

[0092] Step 2: The CPU automatically compares the data in the digital path in the navigation temporary file in sequence according to the transmitted coded signal data. If the data does not match, it will be automatically ignored. Once a match is found (guide code), the next digital path code (check code) will be automatically called from the navigation digital path temporary file.

[0093] At the same time, the CPU automatically and sequentially calls the coded data information with the same name in another navigation file. Figure 8 As shown, there are three coded data information with the same name in the figure.

[0094] Step 3: The CPU automatically compares the three coded data with the same name according to the next digital path code (check code) called from the navigation digital path temporary file. If the two check codes match, the coded data with the same name will be selected, and the corresponding associated data stored will be called and processed by the CPU, and the processed signal will be transmitted to the terminal peripherals (speaker, display, etc.). The coded data with the same name that is not selected will be automatically deleted.

[0095] Step 4: When the central processor receives the coded signal from the wireless signal collection device again and it matches the check code data in the navigation temporary file, the processor will automatically confirm and send a standard voice prompt to the speaker. At the same time, this set of coded data information with the same name will be automatically deleted (the used information will be deleted).

[0096] When the verification code information does not match, the navigation software will be automatically triggered, automatically starting with the data encoding data received here and the originally planned destination encoding data as the end point, and sending a new navigation request to the background through the wireless network (4G\5G). The background replans the road and sends the new navigation file to the terminal device.

[0097] Step 5: Repeat steps 1 to 4 until you reach your destination.

[0098] Example 2: The process for an intersection with multiple forked roads or roundabouts is as follows:

[0099] Step 1: The wireless signal collection device reports the collected coded signal to the central processor.

[0100] Step 2: The CPU automatically compares the data in the digital path of the navigation temporary file in sequence according to the transmitted coded data. If the data does not match, it will be automatically ignored. Figure 8 N in the figure), the next digital path code (the second guidance beacon code) will be automatically called out from the navigation digital path temporary file ( Figure 8 is N+1).

[0101] Meanwhile, the central processing unit automatically and sequentially calls the same-named encoded data information in another navigation file in a relay manner. For example, Figure 8 As shown, there are three pieces of the same-named encoded data N information, representing that there are three fork roads ahead.

[0102] Step 3: The central processing unit automatically compares and sequentially calls the three pieces of the same-named encoded data information according to the next digital path code called from the navigation digital path temporary file (corresponding to the second guiding code in Figure 8 and being the encoded N+1 in Figure 8 ). Among the associated information, if the second guiding code is consistent, this piece of the same-named encoded data information will be selected, and the corresponding associated data information stored therein will be called and processed by the central processing unit, and the processed information will be transmitted to the terminal peripheral devices (such as wireless signal collection devices, speakers, terminal displays, etc.). The unselected same-named encoded data information will be automatically deleted.

[0103] Step 4: The wireless signal collection device will receive the instruction from the central processing unit and activate the function of specifying signal direction finding to guide the terminal device to move towards the direction of the specified second guiding code signal source. The closer it is to the signal source, the stronger the intensity of the specified signal source (the signal of the encoded N+1 in Figure 8 ). When the signal intensity reaches the set value, the fork road association information corresponding to the second guiding code (the encoded N+1 in Figure 8 and Figure 8 ) will be activated, and the relevant content will be interpreted and transmitted to the terminal peripheral devices (such as speakers, displays, etc.) to guide the user to select the correct road to enter.

[0104] Step 5: When the central processing unit receives the encoded signal transmitted by the wireless signal collection device again and it conforms to the check code data in the navigation temporary file, the processor will automatically confirm and transmit a standard voice prompt to the speaker for broadcasting. At the same time, this group of the same-named encoded data information will be automatically deleted (the used data will be deleted).

[0105] When the check code information does not conform, the navigation software will be automatically triggered, and a new navigation request will be sent to the background starting from the data code received here and with the originally planned destination code as the end point through the wireless network (4G / 5G). The background re-plans the road and sends the new navigation file to the terminal device.

[0106] Step 6: Continue to repeat the steps of the first to fourth steps of the navigation in Example 1 until the destination is reached.

[0107] It should be noted that the so-called pilot code and check code in the present invention include the second pilot code mentioned above, and they are essentially digital codes in the navigation digital path. During the navigation process using the navigation digital path coding, it is used in combination in the order of data and with the associated intersections as units. Before entering an intersection, the first navigation digital path signal coding encountered is called the pilot code (sometimes even two or three are set in advance on the road to facilitate the vehicle to prepare the lane in advance); when passing through the intersection and turning into the next road, the next navigation digital path signal coding contacted by the terminal device is called the check code. At some intersections (such as crossroads), only one pilot code and one check code are required to complete the direction selection (as Figure 8 shown, where the first and second line boxes in the second temporary file represent this situation). At some intersections, since there is more than one fork in the road ahead, in order to accurately find the fork point that conforms to the navigation path, therefore, a "transition pilot code" (the second pilot code mentioned above) is added at each fork point. At such intersections, three navigation path digital codes are required to complete the direction selection, namely: the first pilot code, the second pilot code, and a check code.

[0108] From the above description, it can be known that every time the terminal device makes a direction selection at an intersection, two or three digital codes in the navigation digital path will be used in sequence, which is called "combined use". And the used digital codes and related supporting information will be automatically deleted by the software.

[0109] According to the embodiments of the present invention, the reason why the terminal device knows how to make a direction selection prompt at an intersection is mainly based on the following principle:

[0110] When approaching the intersection, the terminal device receives the roadside pilot code signal, and after successful comparison with the digital navigation path data, it triggers the central processing unit to call the information related to this intersection in the second navigation file.

[0111] Taking a crossroads as an example:

[0112] At the intersection, there are three direction selections: straight, left turn, and right turn. In the second navigation temporary file, the specific prompt information related to these three direction selections is stored respectively. When the central processing unit makes a selection, it needs to use the next coding data coding (check code) in the navigation digital path following the pilot code. This coding data should be the signal source coding set on the roadside (on the road) of the next road after passing through the intersection.

[0113] Such as Figure 8As shown, in the three boxes on the first line of the second navigation temporary file, the same guiding code is on the first line of each box, which correspondingly indicates that the terminal device has reached the specified intersection. However, the encoded data on the second line is different. These three encoded data respectively correspond to the encoded data of the signal emitters set on the left, straight, and right roads. Which set of data in the three boxes of the left-turn, straight-ahead, and right-turn data the central processor specifically calls depends on the second-line data encoding that matches the current navigation digital path.

[0114] As Figure 8 shown, if in the navigation digital path, the next encoded data encoding is the same as the second-line encoded data in the "straight-ahead box", the central processor will call the dataset information in the "straight-ahead box" to make the terminal present prompts related to going straight to help the user complete the direction selection at this intersection. The same goes for turning left or right. After passing through this intersection, two navigation digital path encodings are used up. The navigation software will automatically delete the information data related to this intersection in the two temporary navigation files. The next set of data will automatically take its place to prepare for comparing the direction selection at the next intersection.

[0115] When encountering a multiple-bifurcation intersection ahead, a second guiding code is added. The principle of data call is the same as the above intersection selection principle. It's just that for a multiple-bifurcation intersection, three digital navigation path encoding data need to be used up in two relays to help the central processor call the information data related to the current navigation in the second navigation temporary file. As Figure 8 shown in the third line of , the three data information boxes illustrate the information storage and call method for this type of intersection.

[0116] Referring to Figure 9 , the outdoor navigation method executed by the navigation center includes the following steps:

[0117] Step S21, receiving the beacon point encoded data and navigation requirements from the terminal device, and performing path calculation according to the locally stored beacon point distribution;

[0118] The method for the navigation center to calculate the path is as follows:

[0119] Condition preparation: a. Precise and detailed digital map; b. Roads of all levels and types represented in different colors; c. The positions and their coding data of the signal points arranged at each intersection marked on the map; d. The names of each community, each unit, each building, each courtyard and the coding of the signal points arranged therein (electronic house number coding) marked on the map; e. The real-time traffic conditions and traffic conditions of the roads, etc. (network data, information is updated at any time). f. A measurement cursor that can be superimposed on the digital map. g. Detailed guidance information related to direction selection corresponding to the coding at each intersection (stored in the form of a total database of intersections and nodes); h. Data coding corresponding to place names, unit names, community names, etc. (stored in the form of a database).

[0120] The present invention determines the path by superimposing a measurement cursor and corresponding distance calculation software on a digital map. When the user's instruction comes in, if the user does not make other special restrictive requirements, the cursor is made to move in opposite directions along all possible traffic roads on the digital map from the starting point and the ending point respectively. Finally, when the two cursors meet midway and stop running, the paths formed by each cursor passing through are added together to form a complete navigation path.

[0121] The present invention enables the measurement cursor moving at a uniform speed to have the ability to split. Briefly speaking, the cursor is defined in the name of the requester (for example, named after a telephone number), and then the named cursor starts from the starting point and the ending point respectively and moves in opposite directions. During the process of moving in opposite directions on the roads of the digital map, it has the ability to continuously split. Whenever the cursor encounters an intersection or a fork in the road, the cursor moving at a uniform speed will automatically split into two or three split bodies and continue to move along the roads they have selected respectively, gradually forming a "tree structure" (cursor group) and extending towards the opposite side. Eventually, the "branches" growing on both sides will meet, and the two sides of the meeting "branches" are docked and added together to form complete navigation paths. After the cursors meet, they automatically stop running.

[0122] When the cursor group formed by continuous splitting moves towards each other on the roads of the digital map, whenever it encounters an intersection where its own split cursor has passed, the later-arriving split cursor will stop running, and the road path passed by the late-arriving split cursor before will be invalidated. That is, this "branch" will stop growing and disappear. In this way, many "too long" paths can be eliminated, that is, the number of detouring "branches" can be reduced. The cursor moves and splits according to this method, and adds the paths passed by the first three split cursors that are successfully paired with the split cursor on the opposite side respectively to the path passed by the paired cursor on the opposite side (add the "branches" that are successfully docked), and takes the top three paths with the shortest distance from the starting point to the end point as the recommended paths for serving users. By calculating the walking path with this uniform speed, splitting, and two-way "growth method", multiple reference paths can be calculated and selected at one time for users to choose. Its efficiency is much higher than other methods. It can be used for the best path selection in complex road conditions.

[0123] In one example, the method for the calculation software of the navigation center to solve the path specifically includes:

[0124] (a) The navigation center receives the user's navigation request (including the starting point code and the end point address name), the end point place name is compared and converted into a data code in the database, and the code data of the starting point and the end point are respectively marked on the digital map.

[0125] (b) The measurement cursor is numbered and named with the requester's phone number, and with two splits, it starts from the starting point and the end point marked on the digital map respectively, and moves towards each other along the roads on the digital map that meet the set conditions at the same speed, so as to find the best through road that meets the requirements and connects the starting point and the end point.

[0126] When the cursor moves on the digital map, it must meet the pre-set conditions. For example: select to give priority to taking the highway and avoid toll stations, etc. For the convenience of matching and processing for identification, various roads are distinguished by colors. For example, urban arterial roads, intercity highways, etc. are marked with different colors respectively.

[0127] The cursors starting from the starting point and the end point respectively at the same time, when moving towards each other along the road network of the digital map, when encountering the lines that need to be avoided in the pre-set conditions, they will automatically stop running; when encountering various intersections, they will face the problem of choosing the forward direction. At this time, the cursor can split and move forward along each passage direction in a way that conforms to traffic rules. In this way, because the cursor keeps splitting and moving forward when encountering intersections, the number of moving cursors will be more and more as it goes. In order to avoid repeated walking, conditions can be set. For example, whenever a section of the road is passed by a split cursor with the same name, when the later-arriving split cursor with the same name passes again, the later cursor will be automatically deleted, etc.

[0128] Soon, two groups of split cursor clusters moving towards each other from the starting point and the end point will continuously approach. Finally, among the cursors moving towards each other, several pairs will meet successively on different roads. The sum of the distances traveled by the two cursors before they meet is a complete connection path between the starting point and the end point. When there are more than three such paths, the path formed by the first three pairs of cursors that meet (proving the shortest distance, or the shortest time, etc.) is taken as the recommended route and pushed to the user for selection.

[0129] After the user selects a route, the information is sent back to the navigation center.

[0130] Optionally, a more simplified step is adopted: The user directly enters the destination information in the navigation application interface of the terminal, and directly selects the traffic condition information provided by the interface, such as taking the highway, avoiding tolls, etc. Together with the beacon point coding signals around the terminal searched, they are sent to the navigation data center. The navigation data center directly calculates the navigation path required by the user according to the user's request and the set conditions using the above calculation method.

[0131] Step S22, encapsulate two temporary files according to the path calculation result and send them back to the terminal device.

[0132] On the route selected by the user, first, the calculation software collects and packs the beacon point data related to each intersection and node on the digital map route in the order from the starting point to the end point to form a navigation digital path file.

[0133] The calculation software then calls out the pre-edited intersection direction selection guidance information that matches the current navigation digital path coding in the form of a homonymous data link from the intersection and node total database to form a supporting direction selection guidance information file.

[0134] Send the above two edited navigation temporary files to the user terminal together.

[0135] After the user terminal receives the navigation file and clicks to confirm and start, it can start navigation.

[0136] It should be understood that the various steps described in the method embodiments of the present invention can be executed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0137] The term "including" and its variants used herein are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments".

[0138] It should also be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0139] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0140] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

[0141] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

[0142] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

Claims

1. An outdoor navigation method executed by a terminal device, characterized in that, Including the following steps: Search for surrounding beacon signals, and send the encoded data of the searched beacons and the navigation requirements to the navigation center for path calculation. The beacons are set within a specified range at road intersections and at specific positions of various units, cells or buildings, and send signals with their own unique codes. At least two beacons are provided along the driving direction at each intersection. The at least two beacons include a guiding beacon and a verification beacon. The guiding beacon is set on the road entering the intersection, and the verification beacon is set on the road leaving the intersection; Receive two temporary files from the navigation center. The first temporary file contains the navigation path of this navigation, and the navigation path is composed of several beacon encodings arranged in sequence. The second temporary file contains the associated information of the navigation path beacon encodings. The associated information includes several data entries, and each data entry includes the guiding beacon encoding on the current road, the verification beacon encoding on other roads connected to the current road intersection in different directions, and the prompt information selected for different directions at the intersection. The guiding beacon encoding and the verification beacon encoding both correspond to the beacon encodings included in the navigation path; Receive the beacon point encoding on the roadside during the progress after starting, and according to the received beacon point encoding N t , search for the next beacon point encoding N in the navigation path in the first temporary file t+1 , according to N t+1 , retrieve the corresponding associated information from the second temporary file as a guide for the forward direction selection; After entering the next road through an intersection, based on the encoded N' received from the beacon point on the next road t+1 , compare it with the associated signal encoding data corresponding to the beacon point N t+1 in the second temporary file, or compare it with the encoding N of the next beacon point on the path in the first temporary file t+1 to verify whether the selected path is correct. If it is correct, prompt the user to continue moving forward. If it is incorrect, initiate route planning again.

2. The method according to claim 1, wherein The prompt information selected for different directions in the associated information includes one or more of the following: lane preparation prompts for different direction selections, distance prompts from the road intersection, direction selection prompts after arriving at the intersection, and voice and / or picture prompts corresponding to the selected direction information.

3. The method according to claim 2, wherein Using the punctuation mark association information in the second temporary file as the forward guidance includes: searching in the second temporary file for a data entry containing data encoding the punctuation mark with N t+1 and obtaining the hint information selected for a specific direction in this data entry as the forward guidance.

4. The method according to claim 1, wherein For highway bifurcation intersections, the guiding beacon includes a first guiding beacon set at a first distance from the intersection and a second guiding beacon set at a second distance from the intersection, and the first distance is greater than the second distance; For the situation where there are multiple bifurcation intersections in front of the on-road intersection, the guiding beacon includes a first guiding beacon set on the on-road and a second guiding beacon set at each bifurcation; When receiving the roadside beacon encoding during travel, based on the relationship between the received signal strength and the distance between the signal emission point and the signal reception point, the beacon encoding that conforms to the navigation path encoding and whose corresponding signal strength reaches the set value is used as the guiding beacon encoding, and the forward indication is obtained from the associated information according to the guiding beacon encoding.

5. The method according to claim 1, characterized in that, Verifying whether the transferred path is correct includes: receiving the punctuation mark code N' on the next road t+1 When, obtain the data entry with the punctuation mark code N as the guiding punctuation mark from the second temporary file t , obtain the verification punctuation mark code N from this data entry t+1 , compare the two data N' t+1 and N t+1 Whether they are consistent. If they are consistent, the path is correct; or, when receiving the punctuation mark code N' on the next road t+1 When, obtain the next punctuation mark code N of the path from the first temporary file t+1 , compare N' t+1 and N t+1 Whether they are consistent. If they are consistent, the path is correct.

6. A navigation device, characterized in that, Including: A wireless transceiver configured to communicate wirelessly with the navigation center via a wireless communication network and receive wireless signals from the beacon; At least one memory; At least one processor coupled to the wireless transceiver and the at least one memory, wherein the at least one processor is configured to: Identify the surrounding fiducial point signals detected by the transceiver, and send the encoded data of the detected fiducial points together with the navigation requirements to the navigation center for path calculation. The fiducial points are set within the specified range of road intersections and at specific positions of various units, cells, or buildings, and send signals with their own unique codes. At least two fiducial points are provided along the driving direction at each intersection. The at least two fiducial points include a guiding fiducial point and a verification fiducial point. The guiding fiducial point is set on the road entering the intersection, and the verification fiducial point is set on the road leaving the intersection. Receive two temporary files from the navigation center. The first temporary file contains the navigation path for this navigation, and the navigation path is composed of several sequentially arranged fiducial point codes. The second temporary file contains the association information of the fiducial point codes in the navigation path. The association information includes several data entries, and each data entry includes the guiding fiducial point code on the current road, the verification fiducial point code on the other roads connected to the current road intersection, and the prompt information for different direction selections. The guiding fiducial point code and the verification fiducial point code correspond to the fiducial point codes included in the navigation path. Receive the beacon point encoding on the roadside during the progress after starting, and according to the received beacon point encoding N t , search for the next beacon point encoding N of the navigation path in the first temporary file t+1 , according to N t+1 , retrieve the corresponding associated information from the second temporary file as the forward guidance; After entering the next road through an intersection, based on the encoded N' received from the beacon point on the next road t+1 , compare it with the associated signal encoding data corresponding to the beacon point N in the second temporary file t+1 , or compare it with the encoding N of the next beacon point on the path in the first temporary file t+1 to verify whether the selected path is correct. If it is correct, prompt the user to continue moving forward. If it is incorrect, initiate route planning again.

7. An outdoor navigation method performed by a navigation center, characterized in that, Include the following steps: Receive the fiducial point code data and navigation requirements from the terminal device, and perform path calculation according to the fiducial point distribution stored locally. The fiducial points are set within the specified range of road intersections and at specific positions of various units, cells, or buildings, and send signals with their own unique codes. At least two fiducial points are provided along the driving direction at each intersection. The at least two fiducial points include a guiding fiducial point and a verification fiducial point. The guiding fiducial point is set on the road entering the intersection, and the verification fiducial point is set on the road leaving the intersection. Among them, performing path calculation according to the fiducial point distribution stored locally includes: overlaying a measurement cursor on the digital map containing the fiducial point distribution. Based on the navigation requirements, the cursor moves in opposite directions along all possible passing roads that meet the set conditions of the navigation request on the digital map from the starting point and the ending point respectively. When the two cursors meet, they stop running, and then add the paths formed by each cursor respectively to form a complete navigation path. The navigation path is composed of several sequentially arranged fiducial point codes. Package two temporary files according to the path calculation result and send them back to the terminal device. The first temporary file contains the navigation path for this navigation, and the second temporary file comes from the local database matching and contains the association information of the fiducial point codes in the navigation path. The association information includes several data entries, and each data entry includes the guiding fiducial point code on the current road, the verification fiducial point code on the other roads connected to the current road intersection, and the prompt information for different direction selections at the intersection. The guiding fiducial point code and the verification fiducial point code correspond to the fiducial point codes included in the navigation path.

8. The method according to claim 7, wherein Path calculation based on the locally stored distribution of beacon points further includes: Whenever the cursor encounters an intersection or a fork in the road, the cursor will automatically split into a corresponding number of avatars and continue to move along the respective roads they have chosen, forming a cursor group in a tree structure that extends towards the opposite side. The growth stops when the two tree structures on both sides come into contact, and the paths on both sides of the contact point are added together to form a complete navigation path; and among them When the cursor group formed by continuous splitting moves towards each other on the roads of the digital map, whenever it encounters an intersection where its own avatar cursor has passed, the later-arriving avatar cursor will stop moving, and the path of the road that the late-arriving avatar cursor has passed before will be invalidated.

9. A computer device, characterized in that, including: An external interface configured to communicate wirelessly with the navigation device via a wireless communication network; At least one memory; At least one processor coupled to the wireless transceiver and the at least one memory, wherein the at least one processor is configured to: Receive beacon point encoding data and navigation requirements from the terminal device, perform path calculation based on the locally stored distribution of beacon points, wherein the beacon points are set within a specified range of road intersections and at specific locations of various units, cells, or buildings and send signals with their own unique encodings, and at least two beacon points are provided along the driving direction at each intersection. The at least two beacon points include a guiding beacon point and a verification beacon point. The guiding beacon point is set on the road entering the intersection, and the verification beacon point is set on the road exiting the intersection; Among them, path calculation based on the locally stored distribution of beacon points includes: superimposing a measurement cursor on the digital map containing the beacon point distribution. Based on the navigation requirements, the cursor moves towards each other from two directions, the starting point and the ending point, along all possible passable roads on the digital map that meet the conditions set by the navigation request. When the two cursors meet, they stop running, and then the paths formed by each cursor passing through are added together to form a complete navigation path. The navigation path is composed of a number of beacon point encodings arranged in sequence; Package two temporary files according to the path calculation result. The first temporary file contains the navigation path of this navigation, and the second temporary file comes from a local database match and contains the associated information of the beacon point encoding of the navigation path. The associated information includes a number of data entries, and each data entry includes the guiding beacon point encoding on the current road, the verification beacon point encoding on other roads connected to the current road intersection in different directions, and the prompt information selected for different directions of the intersection, wherein the guiding beacon point encoding and the verification beacon point encoding correspond to the beacon point encoding included in the navigation path; Send the two temporary files back to the terminal device via the external interface.

10. An outdoor navigation system, characterized in that, including: A number of beacon points, which are signal transmitters set within a specified range of road intersections and send signals with their own unique encodings; And signal transmitters set at specific locations of various units, cells, or buildings that send signals with their own unique encodings; A navigation center that communicates wirelessly with the terminal device via a wireless communication network and is configured to execute the navigation method as described in claim 7, or is configured as the computer device as described in claim 9; A terminal device, which performs wireless communication with a navigation center via a wireless communication network and receives a wireless signal from a beacon point, and is configured to execute the method according to any one of claims 1-5, or is configured as the navigation device according to claim 6.

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