JP2007255919A - Route guidance device, route guidance method and road map data - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route guidance device, route guidance method and road map data, the driver of which can select a crossing, provided with right and left turn signals, as a guidance route, capable of determining the crossing provided with the right and the left turn signals, according to the skill of the driver. <P>SOLUTION: The route guidance device 10 for searching the route so as to reduce the cost up to the destination, based on the node data stored the cost at passing through of the crossing and link data stored with the cost at passing through of the road between the crossings comprises a route search means 4 for preferentially selecting the crossing as a route, where the traffic signal followed by the left or right turn signal is provided; a route search method selection means 4 for selecting whether the route is to be searched by route search means; and the display device 5 for displaying the route searched. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a route guidance device, a route guidance method, and road map data for guiding a route to a destination.

  The vehicle is equipped with a position detection device that detects the position of the host vehicle and a navigation system that stores a road map. When a road map or destination around the host vehicle is input, a route to the destination is displayed. Display on the road map to guide the driver.

  Various methods for searching for a route connecting the position of the host vehicle and the destination have been proposed. However, when the Dijkstra method is used, a route with a low passing cost under a set condition is searched. For this reason, in order to calculate the passing cost, the road map stores a link cost indicating a cost for passing the road and a node cost indicating a right / left turn cost at the intersection. Then, the passage cost of each road section is calculated for several route candidates, and after a suitable number of processing times or when a predetermined condition is satisfied, a route candidate having a low passage cost is searched for as an optimal route.

  Therefore, by adjusting the link cost of the road and the node cost of the intersection, it is possible to search for a different route even if the destination is the same. For example, in left-handed Japan, it is necessary to check the situation of the oncoming vehicle when making a right turn, so it is possible to search for a route with few right turns by setting a high right turn cost in the node cost (for example, , See Patent Document 1).

Further, in such a search, there is a possibility that the route becomes longer because the possibility of searching for a route so as to turn left or go straight at an intersection that should originally turn right is increased. Therefore, a search method has been proposed in which the node cost is increased or decreased based on the presence or absence of a right turn signal such as an arrow displayed for making a right turn in the node cost (see, for example, Patent Document 2). With such a search method, a right turn at an intersection with a right turn signal is preferentially searched even at an intersection that makes a right turn, and it is easy to achieve both ease of driving and travel distance.
JP 2004-354086 A JP 2005-321360 A

  However, the search method of Patent Document 2 only reduces the right turn cost to the same extent as the left turn cost, and does not necessarily search for a route that makes a right turn at an intersection with a right turn signal. Further, the search method described in Patent Document 2 does not consider the driver's skill. The right or wrong route including the right turn at the intersection depends on the driving skill of the driver. For example, an experienced driver often wants a route with a short distance even if there are many right turns at the intersection. .

  In the present invention, in view of the above problems, the driver can select whether or not to use an intersection with a right / left turn signal as a route, and a route that can use an intersection with a right / left turn signal as a route according to the skill of the driver. An object is to provide a guidance device, a route guidance method, and road map data.

  In view of the above problems, the present invention reduces the cost of the route to the destination based on the node data storing the cost for passing the intersection and the link data storing the cost for passing the road between the intersections. A route guidance device for searching for the route so that a route search means for preferentially selecting a right turn or a left turn at an intersection with a traffic signal accompanied by a right turn signal or a left turn signal, and a route search by the route search means. A route search method selection unit that selects whether or not to perform the search, and a display device that displays the searched route.

  According to the present invention, the driver can select whether or not an intersection with a right / left turn signal is a route, and an intersection with a right / left turn signal can be a route according to the skill of the driver.

  A driver can select whether or not to use an intersection with a right / left turn signal as a route, and can provide a route guidance device that can use an intersection with a right / left turn signal as a route according to the skill of the driver.

  The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is a system configuration diagram of the route guidance device 10. The route guidance device 10 includes a recording device 1 that stores road map data, a position detection device 2 that detects the position of the host vehicle, an input device 3 that receives input from a driver and an occupant, and a route from the current location to the destination. And a display device 5 for displaying the road map, the position of the host vehicle, and the route.

  The route guidance device 10 is mainly mounted on a vehicle and used as a navigation device. The route guidance device 10 is a mobile phone, a personal handy-phone system (PHS), a portable information terminal, a PDA (Personal Digital Assistant), a game machine, a digital television receiver. It can be applied to devices equipped with computers.

  The input device 3 includes a push-down keyboard, buttons, a remote controller, a cross key, a touch panel, and the like, and accepts operations from a driver and an occupant. Further, an operation may be input by providing a microphone and recognizing a voice emitted by the driver by a voice recognition circuit. As will be described later, when the route guidance apparatus 10 of the present embodiment inputs a destination, the route search from the current position to the destination is performed. The destination can be entered as an address, place name, landmark name, postal code, telephone number, or the like.

  In addition, a right / left turn signal priority setting for performing a setting for searching for a route by preferentially selecting a right / left turn at an intersection having a right turn or left turn signal from the input device 3 can be input. Information on the right / left turn signal priority setting is sent to the route search device 4. Details of the right / left turn signal priority setting will be described later.

  The position detection device 2 measures the position of the host vehicle based on radio waves from a GPS (Global Positioning System) satellite, and further estimates the position of the host vehicle by autonomous navigation or the like. The position detection device 2 preferably selects four or more GPS satellites that enter a predetermined elevation angle from the current vehicle position among a plurality of GPS satellites orbiting a predetermined orbit, and transmits radio waves transmitted from these GPS satellites. Receive. Note that a radio wave for positioning the position may be received not by the satellite but by a ground base station whose position is known.

  Since the radio wave transmitted by the GPS satellite is modulated with a pseudo-random code whose carrier wave is fixed for each satellite, the position detection device 2 generates a pseudo-random code of the selected GPS satellite and demodulates the received radio wave. Try. Then, the phase of a pseudo random code that can demodulate GPS radio waves is determined.

  Assuming that the clock of the GPS satellite and the clock held by the GPS receiving unit 11 completely match, the phase of the pseudo-random code generated by the GPS satellite and modulated by the carrier wave, and the pseudo-random code demodulated by the received radio wave The phase is shifted by the arrival time of the radio wave. The position detection device 2 calculates the arrival time of the radio wave based on the shift, and calculates the arrival time and the distance from the light speed c to the captured GPS satellite.

  The position of the host vehicle is considered to be one point on the three-dimension specified by latitude, longitude, and altitude. For this reason, the position coordinate detection device 2 calculates the distance between the three GPS satellites and the host vehicle, and one of the two points where the spherical surfaces whose radius is the distance from each GPS satellite intersects is used as the radio wave from the GPS satellite. Position as the position of the own vehicle based. More preferably, the fourth GPS satellite is captured, the error between the GPS satellite clock and the clock held by the GPS receiver 11 is corrected, and the position of the host vehicle is determined more accurately. Since the measured position is a position coordinate based on a WGS (World Geometric System) reference coordinate system, the position detection device 2 converts this into a fixed earth orthogonal coordinate system.

  Next, the position detection device 2 further estimates the position of the host vehicle with high accuracy by autonomous navigation using a vehicle speed sensor and a gyro sensor. The vehicle speed sensor measures, for example, the change in magnetic flux when the convex portions installed at regular intervals on the circumference of the rotor provided in each wheel as pulses, and based on the number of pulses per unit time. The vehicle speed is measured for each wheel. The gyro sensor is a yaw rate sensor such as an optical fiber gyroscope or a vibrating piece type gyroscope, and can be converted into an angle, that is, a traveling direction by detecting an angular velocity when the host vehicle rotates and integrating the detection result.

  The position detection device 2 accurately estimates the current position of the vehicle by autonomous navigation while accumulating the travel distance by the vehicle speed sensor and the travel direction by the gyro sensor at the position measured by the radio wave from the GPS satellite. Further, the position of the host vehicle displayed on the map is determined with high accuracy by a map matching method for associating the estimated position of the host vehicle with the road map.

  The recording device 1 includes a recording medium such as a CD-ROM, a DVD (Digital Versatile Disk), a hard disk, and a flash memory. The road map stored in the recording device 1 stores road map information such as road networks and intersections in association with latitude and longitude. The road map is configured as a table-like database by associating an actual road network with nodes (points where roads and roads intersect, ie, intersections) and links (roads connecting nodes and nodes).

  FIG. 2 shows an example of a database in which road maps are stored. FIG. 2A shows an example of link data, and FIG. 2B shows an example of node data. As shown in FIG. 2A, links in the road map data are expressed as a plurality of link data in which roads are subdivided and information is stored for each link.

  Each link data stores information of a start point node number (hereinafter simply referred to as “No.”), an end point node number, a link direction, an actual length of the link, and an attribute. The attribute information further stores information such as one-way traffic, road type (national road, highway, main local road, etc.), width, number of lanes, speed regulation, and signal information. Further, the signal information includes information on the number of signals, the start point link number, and the end point link number.

  The starting link No. represents which link is connected to the link in the route. When the start point link No. is set, when going from the start point link No. to the link through the target node, there is either a normal signal (not limited to a right / left turn signal) or a right turn / left turn signal. It represents. For example, when there is a right turn signal for making a right turn on the link No. 2 link from the link No. 1 link to the link No. 2 link, the link data of the link No. 2 includes “ Link No. 1 is set as “starting point link No.”.

  As shown in FIG. 2B, for the nodes in the road map data, connection link numbers representing a plurality of links connected to each node are stored.

  In addition to this, the road map data includes facility data, town page data, and the like for searching points such as a departure point, a destination, and a passing point. Facility data is information about restaurants such as restaurants and canteens (business days, business hours, availability of parking lots, telephone numbers, menus, prices, etc.). The town page data includes, for example, convenience stores, department stores, home centers, supermarkets, theme parks, game centers, movie theaters, theaters, and the like.

  FIG. 3 shows an example of a road map represented by link data and node data. In FIG. 3, “◎” indicates a specific node and “◯” indicates an unsearched node. The meaning and search method will be described later. The specific node is determined as a passing node, and the unsearched node is a candidate for a passing node. Further, links between the nodes are represented by “→”. Among these, a black arrow “→” indicates that a link is made from the direction indicated by the arrow to the node at the end of the arrow.

  Therefore, in FIG. 3, the link of the link No. 11 is linked to the specific node of the node No. 1, the node of the node No. 2, the node No. 3 and the node No. 4, the three nodes Are shown as unsearched nodes. The specific node to the node No. 2 are linked by the link No. 12 link, the specific node to the node No. 3 link by the link No. 13, and the specific node to the node No. 4 link The nodes are linked by the link No. 14.

  The road map of the present embodiment can be represented by the link data of FIG. 2 and the road map of FIG. FIG. 4 shows an example of link data of link Nos. 12 to 14 and its road map. 4 that are the same as those in FIG. 3 are given the same reference numerals, and descriptions thereof are omitted. As shown in the road map of FIG. 4, the link of link No. 11 is connected to a specific node, the signal exists in the direction of link No. 11 from the direction of link No. 11, and a right turn signal is attached. is doing.

  Further, according to the link data, the link No. 12 has the node No. 1 as the starting point and the node No. 2 as the end point. The link direction is “west”, the actual link length is 500 [m], and there is no signal connected to this link. The link No. 13 starts from the node No. 1 and the node No. 3 ends. Further, the link direction is “north”, the actual link length is 1000 [m], there is one signal connected to this link, and the starting link No. is 11. The link No. 14 starts from the node No. 1 and the node No. 4 ends. Further, the link direction is “east”, the actual link length is 2000 [m], there is one signal connected to this link, and the starting link No. is 11.

  Thus, in the road map data of the present embodiment, the normal signal in front of the link No. 11 is set as attribute (signal) information in the link No. 13, and the right turn signal is the link No. .14 is set as attribute (signal) information. This indicates that there is a signal when going from the link No. 11 link to the link No. 13 link, and when going from the link No. 11 link to the link No. 14 link, a right turn signal is sent. Represents something. At this time, since there is no left turn signal as shown in the road map, when going from link No. 11 to link No. 12, “start link No.” meaning that there is a signal as an attribute is not set.

  FIG. 5 shows another example of the link data of link Nos. 12 to 14 and its road map. 5 that are the same as those in FIG. 3 are given the same reference numerals, and descriptions thereof are omitted. As shown in the road map of FIG. 5, the link is connected from the link No. 11 to the specific node, and the signal is transmitted from the direction of the link No. 11 to the direction of the link No. 13 and from the direction of the link No. 13. There are two in the direction of .11. The former signal is provided with a right turn signal, and the latter signal is provided with a left turn signal.

  Therefore, the link data of the links No. 12 and 13 is the same link data as in FIG. 4, but there is a signal accompanied by a left turn signal in the direction from the link of the link No. 14 to the link of the link No. 11. In the link data of link No. 14, the number of new issues is two as attribute information, and the start link numbers 11 and 12 are recorded.

  Since the presence or absence of the right turn signal and the left turn signal is stored in the link data, the route search device of the present embodiment searches for the route to the destination based on the presence of the right / left turn signal in addition to the normal signal at the time of route search. it can.

  Returning to FIG. 1, the display device 5 includes a liquid crystal, an organic EL, a HUD (Head Up Display), and the like, and displays a road map, a position of the host vehicle, a destination, a route to the destination, and the like. In addition, the display device 5 includes a speaker, and guides the traveling direction along the route such as an intersection where the speaker turns right and left by voice.

  In addition, the route guidance device 10 may include a communication device that communicates with an external server via a network. The network is, for example, a wired or wireless public communication line network, a mobile phone line network, the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), a satellite communication line network, or the like, or a combination thereof.

  In addition, terrestrial digital TV broadcasting, FM multiplex broadcasting, optical beacons, radio beacons, quasi-zenith satellites, etc. installed on the side of the road or on the road, etc., are used to communicate. May be.

  A search method of the route search device 4 will be described. First, the Dijkstra method will be briefly described. FIG. 6 is a diagram for explaining the Dijkstra method. In the Dijkstra method, calculation is performed while calculating the cost of all links connected to a certain node (for example, the departure point), and when the development for one stage (for one node) is completed, it is rearranged in the order of cost, and is not completed The route is divided into those that expand and those that expand are further expanded in order.

In the route diagram shown in FIG. 6A, the route having the shortest route from the node S to the node G is searched. As described in the link, the path length is, for example, SA2, SB3, SC2. This is developed in order. FIG. 6B shows the result of rearranging the development results in the short order, and FIG. 6C shows the result.
When SA2 is expanded, SAB4.5 is obtained.
When SB3 is expanded, SBG6, SBC4.5, SBD7, and SBA5.5 are obtained.
When SC2 is expanded, SCB3.5 and SCD4 are obtained.

  Further, since the route surrounded by the square including the node G is a completed route, no further development is performed. Since there are routes shorter than the completed route SBG6, these routes are developed, and the route longer than the completed route SBG6 is stopped here. Also, the route back to the starting node is not expanded.

When SCB3.5 is expanded, SCBG6.5 and SCBD7.5 are obtained.
When SCD4 is expanded, SCDB8 and SCDG5 are obtained.
When SAB4.5 is developed, SABC6.0, SABG7.5, and SABD8.5 are obtained.
When SBC4.5 is expanded, SBCD6.5 is obtained.

  FIG. 6D shows the development result. The shortest distance in the completed route is SCDG5. Also, since there is no shorter incomplete route than this, SCDG5 is searched as the shortest route. Actually, the distance (actual link length) is replaced with the link cost, and the link cost is not only the distance but also the road type (toll road, expressway), width, number of lanes, etc. stored in the link data. It has been decided.

  In addition, in order to eliminate the development in the direction that does not go to the destination, the development is terminated for the route whose estimated distance remaining to the destination is a predetermined distance or more. Thereby, the route search in the direction away from the destination can be omitted, and the route search can be performed in a short time.

  The node cost is divided into a left turn cost, a straight drive cost, and a right turn cost. Generally, the straight drive cost is the lowest, followed by the left turn cost and the right turn cost. This is because it is necessary to wait for a pedestrian to pass when making a left turn, and to wait for an oncoming vehicle to pass when making a right turn. Therefore, when the distance between the path composed of only one link and the path composed of two links connected via one node is the same, the path including the node has a higher cost. Hereinafter, link cost and node cost are simply referred to as total cost.

  In the present embodiment, when the user selects the right / left turn signal priority setting from the input device 3, an intersection with a right turn signal or a left turn signal is selected as a route to turn right or left (a right turn signal or a left turn signal is No intersection is taken as a route), and then a final route is determined based on the total cost. Thereby, an appropriate route can be guided to a driver who is not good at making a right or left turn. If the user does not select, a route is selected based on the total cost.

  FIG. 7 is a diagram showing a concept of a procedure for searching for a route. First, the types of nodes in route search will be described. In the case of the present embodiment, there are four types: a confirmed node indicated by “■”, an unconfirmed node indicated by “●”, a specific node indicated by “◎”, and an unsearched node indicated by “◯”. Node type.

  The confirmed node indicates a node that has already been searched and has a confirmed cost. An indeterminate node is a node that has already been searched but has not yet been determined for cost. The specific node is a node selected from among the unconfirmed nodes as having the lowest cost. Based on this specific node, an unsearched node that has not yet been searched and is connected to the specific node is searched.

  Next, the transition from the unconfirmed node to the confirmed node and the transition from the unsearched node to the unconfirmed node will be described.

In FIG. 7B, there are five unconfirmed nodes (●) connected to the confirmed node (■). Among these five, the right / left turn signal priority setting or the node with the lowest total cost is the specific node (◎)
It is said.

  In FIG. 7B, the indeterminate node indicated by I is a specific node. When a specific node is selected, the three end search nodes (◯) connected to the specific node (）) become the search target nodes of the route. FIG. 7C shows three search target nodes connected to the specific node, with the node I being a specific node.

  Then, by searching for the three search target nodes, as shown in FIG. 7D, the node I shifts to the confirmed node, and the three search nodes shift to the unconfirmed node (●). Searching means extracting link cost and node cost by referring to link data and node data from road map data.

  Thereafter, the route from the search start point node (current location) to the search end point node (destination) is set by repeating the process of selecting the unconfirmed node with the minimum total cost as the specific node.

  Returning to FIG. 1, the route search device 4 and the position detection device 2 are configured as a microcomputer in which a CPU, ROM, RAM, NV-RAM (Non-Volatile RAM), a hard disk drive, a communication unit, and the like are connected by a bus. As shown in FIG. 1, the route search device 4 preferentially selects a right / left turn at the intersection with a traffic signal accompanied by a right turn signal or a left turn signal as a route, and route search by the route search means. Route search method selection means for selecting whether or not to perform. The route search method selection means displays a screen for selection on the display device and accepts the user's selection from the input device.

  When the CPU executes a program stored in the ROM, a route search means and a route search method selection means are realized. Further, when the route guidance device 10 is mounted on a vehicle, it communicates with another onboard ECU (Electronic Control Unit) and a CAN (Controller Area Network) protocol via a bus.

  Next, the search procedure for route search will be described in more detail. FIG. 8 is a flowchart showing the entire search procedure.

  First, the user inputs from the input device 3 settings for whether to give priority to the right / left turn signal priority or the total cost (S10). FIG. 9 shows an example of a setting screen for right / left turn signal priority setting displayed by the route search method selection means. The user can select the setting screen displayed on the display device 5 with a touch panel or a selection key. Moreover, you may input a desired setting with an audio | voice. Also, since the previous setting remains as a default, nothing may be input as it is. In this embodiment, it is assumed that the right / left turn signal priority setting has been set, but the route search in the case where priority is given to the total cost will be briefly described.

  Next, the destination is set by the user from the input device 3 (S20), and the current location of the host vehicle is estimated by the position detection device 2 (S30).

  The route search device 4 performs initial route calculation based on the destination and the current location (S40). Details of the initial route calculation will be described later.

  The route search device 4 starts guidance when a route is searched (S50). Guidance is performed by displaying a road map and the current vehicle position on the display device 5 and outputting sounds such as “road”, “right turn”, and “left turn” from the speaker.

  Next, the route search device 4 determines whether or not to recalculate (S60). Details of the recalculation execution determination will be described later.

  When recalculating (Yes in S70), the route is recalculated (S80), and when not recalculating (No in S70), it is determined whether or not the guidance is ended (S90). Whether or not the guidance is finished is determined, for example, based on whether or not the destination has been reached. Until the guidance is completed, whether or not to recalculate (S60) and subsequent processes are repeated.

  Next, the initial route calculation in step S40 will be described based on the flowcharts in FIGS. For the sake of explanation, the road maps of FIGS. 4 and 7 are used.

  First, the route search device 4 determines a search start point node (S110). The search start point node is the current position of the host vehicle or the nearest node if the search is started, and is an unconfirmed node if the search is in progress.

  The route search device 4 determines the search end node (S120). The search end node is the node closest to the destination.

  Next, the route search device 4 registers the start point node as an unconfirmed node (S130). In general, the node having the smallest total cost is identified from a plurality of unconfirmed nodes (S140). The cost is calculated using a well-known Dijkstra method or an algorithm modified from it.

  Taking FIG. 7B as an example, since the unconfirmed nodes are C, F, I, G, and H, the cost from the node S to each unconfirmed node, SAC, SBDF, SBDG, SBEF, and SBDI is calculated. To do. In more detail, in consideration of each of these routes and the remaining routes, the route with the remaining high total cost is excluded, and the route with the minimum total cost is determined from each route. In this embodiment, assuming that the direction of the destination is the direction of the node K, for example, SBDI, SBDF, and SBDG are selected, and the development of SBDF and SBDG that requires a right / left turn cost as the node cost is terminated. . This minimizes the cost of SBDI and selects node I as the specific node.

  Next, it is determined whether or not the specific node matches the end node (S150). If the specific node matches the end point node via the node having the smallest total cost, the route search ends (Yes in S150).

  If the specific node does not match the end node (No in S150), the process proceeds to step S200.

  In step S200, the route search means first sets the signal flag to OFF (S200). The signal flag is a flag for determining whether there is a right / left turn signal on a link connected to a specific node, as will be described later. Turning the flag off corresponds to no signal (initialization). The state of the signal flag is stored in the NV-RAM.

  Next, the route search means searches for all links connected to the specific node (S210). That is, the link data of all links connected to the specific node are referred to. In the link data, the start point link number is recorded as the presence / absence of a right / left turn signal.

  Next, the route search means determines whether or not the right / left turn signal priority setting has been made by the user (S230). As a result of this determination, a route that passes through an intersection with a right / left turn signal is searched for a user who wants to preferentially pass an intersection with a right / left turn signal, and a distance or arrival time is determined for a user who wants to give priority to the total cost to the destination. It is possible to search for a short route.

  When there is a right / left turn signal priority setting (Yes in S220), the route search means determines whether there is a traffic signal accompanied by a right / left turn signal on any link (S230). For example, as illustrated in FIG. 4, when the node No. 1 is a specific node, the presence / absence of a traffic signal is determined from the link data of link Nos. 12 to 14. In FIG. 4, there are traffic lights at links Nos. 13 and 14.

  If there is a traffic light for a left / right turn signal (Yes in S230), the signal flag is set to ON (S240). On the other hand, when there is no right / left turn signal (No in S230), the signal flag is not turned ON, and the process proceeds to Step S250.

Next, the route search device 4 calculates costs in order for the links Nos. 12 to 14 connected to the specific node.
(When there is priority setting for right / left turn signal)
First, it is determined whether or not the signal flag is ON (S250). If the signal flag is ON (Yes in S250), it is determined in turn for each link whether there is a signal on the link (S260).

  In the case of the link of link No. 12, since there is no traffic light, the process proceeds to step S290. In step S290, it is determined whether all connection links connected to the specific node have been completed (S290).

  Since links No. 13 and No. 14 still remain, the route search means 4 repeats the processing from step S250.

  Since there is a traffic light for the link of link No. 13 (Yes in S260), the route search device 4 calculates the cost to the node of node No. 3 via the link of link No. 13 to be connected (S270). ). Node No. 3. Are registered as unconfirmed nodes (S280).

  Similarly, since there is a traffic light for the link of link No. 14 (Yes in S260), the route search device 4 calculates the cost to the node of node No. 4 via the link of link No. 14 to be connected. To do. Node No. 4. Is registered as an indeterminate node.

  Since all the links connected to the specific node have been processed (Yes in S290), the process returns to step S140.

(When there is no right / left turn signal priority setting)
When there is no right / left turn signal priority setting, the determinations in step S220 and step S250 are No, so the cost is calculated (S270) for the link data of link Nos. 12 to 14, and each node of node Nos. 2 to 4 is displayed. It is registered as an indeterminate node (S280).

  When the processing is completed for all the links connected to the specific node (Yes in S290), the process returns to step S140.

The above processing results are organized.
(A1) When there is a priority setting for a right / left turn traffic signal, the link to the node of node No. 2 has no traffic signal, so the cost is not calculated and it is not registered as an indeterminate node, so it may be selected as a route. Absent.
(A2) When there is a priority setting for a right / left turn traffic signal, the link to the node of node No. 3 has a traffic signal, so the cost is calculated and registered as an indeterminate node.
(A3) When there is a priority setting for a right / left turn signal, the link to the node of node No. 4 has a signal, so the cost is calculated and registered as an indeterminate node.
(A4) When there is no priority setting for the right / left turn signal, the cost is calculated for all links to the nodes of node Nos. 2 to 4 and registered as unconfirmed nodes.

  In step S140, as described above, the costs of all the routes including the indeterminate node are compared, and the specific node having the minimum total cost is determined.

  When the specific node matches the end node (Yes in S150), the route search device 4 proceeds to step S300.

  That is, the route link is stored in a storage area such as a RAM or a hard disk drive (S300). The route links are all links indicating the route from the current position to the destination, from the node S to the end node.

  The route search device 4 creates route display data based on the route link (S310). The route display data is data for displaying a route link on the road map of the display device 5. For example, the route is displayed in a highly visible color different from the road portion of the road map.

  Further, the route search device 4 creates route guidance data based on the route link (S320). The route guidance data is data for guiding a route by voice from a speaker.

  Then, the route search device 4 displays the route using the route display data (S330), and performs guidance based on the route guidance data at a predetermined timing.

  With the above processing, if the user sets the right / left turn signal as a route preferentially, it is possible to search for the route with the lowest total cost among the intersections with the right / left turn signal. Even those who are not good at driving can search for routes that are easy to drive and have a relatively low total cost. In addition, a driver who is good at making a right turn or a left turn can search for a route that minimizes the total cost, and thus does not feel bothersome.

[Recalculation execution judgment]
Subsequently, the recalculation execution determination in step S60 will be described. In the present embodiment, since the route changes depending on whether there is a right / left turn signal priority setting, recalculation is performed when there is a change in the right / left turn signal priority setting.

  FIG. 13 is a flowchart showing a processing procedure for recalculation execution determination. First, the route search device 4 determines whether the vehicle has stopped (S410). When the vehicle stops, the position of the host vehicle is fixed, so that the route search becomes easy. Whether or not the vehicle has stopped is determined by, for example, a detection value of a vehicle speed sensor.

  When the vehicle stops (Yes in S410), it is determined whether or not there is a change in the right / left turn signal priority setting (S420). If there is a change in the setting that preferentially uses the right / left turn signal (Yes in S420), the route is recalculated (S430). When the route recalculation is executed, the process of step S40 is executed.

  As described above, the route guidance device 10 according to the present embodiment does not select a route for turning right or left at an intersection without a right / left turn signal when there is a right / left turn signal priority setting. Thus, a driver who is not good at turning right or left can travel with peace of mind. In addition, when there is no right / left turn signal priority setting, it is possible to search for a route that minimizes the total cost.

It is a system configuration figure of a route guidance device. It is a figure which shows an example of the database in which the road map was stored. It is an example of the road map represented by link data and node data. It is an example of link data of link No. 12-14 and its road map. It is an example of link data of link No. 12-14 and its road map. It is a figure for demonstrating the Dijkstra method. It is a figure which shows the concept of the procedure which searches a path | route. It is a flowchart figure which shows the whole search procedure. It is an example of a setting screen of right / left turn signal priority setting. It is a flowchart figure which shows the process sequence of initial route calculation. It is a flowchart figure which shows the process sequence of initial route calculation. It is a flowchart figure which shows the process sequence of initial route calculation. It is a flowchart figure which shows the process sequence of recalculation execution determination.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Recording device 2 Position detection device 3 Input device 4 Route search device 5 Display device 6 Right / left turn signal priority setting 10 Route guidance device

Claims (4)

The route is searched so that the cost of the route to the destination is reduced based on the node data storing the cost when passing the intersection and the link data storing the cost when passing the road between the intersections. A route guidance device,
Route search means for preferentially selecting a right or left turn of the intersection with a traffic light accompanied by a right turn signal or a left turn signal as a route;
A route search method selection means for selecting whether or not to perform a route search by the route search means;
A display device for displaying the searched route;
A route guidance device comprising: In the link data, a link number of a link to be connected via a right turn signal or a left turn signal is set.
The route guidance apparatus according to claim 1. A route for searching for the route so that the cost of the route to the destination is reduced based on the node data storing the cost when passing the intersection and the link data storing the cost when passing the road between the intersections A route guidance method for a search device,
Input to search for a route to turn right and left at the intersection with a traffic light accompanied by a right turn signal or a left turn signal;
Extracting from the link data a link number of a link connected via a right turn signal or a left turn signal;
Searching for a route that reduces the cost of the route from the link connected via a right turn signal or a left turn signal;
Displaying the searched route; and
A route guidance method characterized by comprising: In road map data having node data storing costs when passing an intersection and link data storing costs when passing a road between the intersections,
When connecting from the first link to the second link via a right turn signal or a left turn signal, the link number of the first link is set in the link data of the second link.
Road map data characterized by that.

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