JP2009031029A - On-vehicle navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform smooth and continuous guide, when switching to a guide route that have different computation condition. <P>SOLUTION: This device has a constitution equipped with the first prior processing execution means (pre-processing execution means) 1c for executing operational processings by a guide route operation means 1a, with an operation condition different from a guide route under guidance, instantly displaying a re-operated guide route (another guide route) determined thereby on a display device 3, to thereby enable guide by the re-operated guide route, and executing a processing for recording the re-operated guide route in a guide route storage means 6; and a guide route selection means 1d, capable of displaying one guide route on the display device 3 and performing guide, by selecting one guide route from among a plurality of guide routes of guide routes and the re-operated guide route recoded in the guide route storage means 6. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an in-vehicle navigation device that guides a vehicle from a departure place to a destination.

  This type of in-vehicle navigation device includes a map data storage device such as a hard disk for recording map data, a DVD-ROM, a CD-ROM, a GPS receiver, an autonomous navigation sensor, etc., and the current position and current direction of the vehicle. Vehicle position detection device (vehicle position detection means) for detecting the vehicle, guidance route calculation means for calculating the guidance route from the departure point of the vehicle (current position of the vehicle detected by the vehicle position detection device) to the destination, and the hard disk 1 And a display device (display device) that displays a map image based on the map data recorded in the map (that is, a map), a current position of the vehicle, a current direction, a guidance route, and the like. Point) It is known that information for turning such as a left turn and a right turn in I is indicated by sound or an enlarged image (for example, Patent Document 1). See 2).

When the vehicle position detection device detects that the vehicle has deviated from the guidance route, the calculation is performed again for the guidance route from the departure point to the destination set earlier with the current position of the vehicle as the departure point. (For example, paragraph number 0004 of Patent Document 1). Also, for example, when driving based on a guidance route calculated under a calculation condition that gives priority to a general road, and then switching to a guidance route calculated under another calculation condition that gives priority to an expressway, the current position of the vehicle The calculation will be performed again starting from.
JP-A-8-68656 JP 2005-17306 A

  However, in the in-vehicle navigation device, every time switching to a guidance route with different calculation conditions, the calculation is started again with the current position of the vehicle as a departure point. There was a problem that it was stopped and continuous and smooth guidance could not be performed.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an in-vehicle navigation device capable of performing continuous and smooth guidance even when switching to a guidance route having different calculation conditions.

  In order to achieve the above object, the invention according to claim 1 calculates vehicle position detection means having at least a GPS receiver for detecting the current position of the vehicle, and a guide route from the departure point of the vehicle to the destination. Guidance route computing means, guidance route storage means for recording the guidance route computed by the guidance route computation means, a map of a predetermined range is displayed, and the guidance route and the current position of the vehicle are overlaid on the map An in-vehicle navigation device including a display device that displays the screens together, wherein the calculation processing by the guide route calculation means is executed based on a calculation condition different from the guide route, and is obtained by the calculation processing. The other guide route is stored in the guide route storage so that the other guide route can be immediately displayed on the display device and guided by the other guide route. By selecting one guide route from a plurality of guide routes composed of the guide route and the other guide routes recorded in the guide route storage means and a pre-processing execution means for executing processing to be recorded in a stage And a guide route selection means for displaying the one guide route on the display device and enabling guidance by the one guide route.

  According to a second aspect of the present invention, there is provided a vehicle position detecting means having at least a GPS receiver for detecting a current position of the vehicle, a guide route calculating means for calculating a guide route from the departure point of the vehicle to a destination, A guidance route storage means for recording the guidance route calculated by the guidance route computation means, and a display device for displaying a map in a predetermined range and displaying the guidance route and the current position of the vehicle so as to overlap the map. The vehicle does not bend the branch point in a situation where guidance is given to bend a predetermined branch point based on the guidance route displayed on the display device. In addition, the calculation process by the guide route calculation means is executed based on a calculation condition different from the guide route having the current position of the vehicle as a new starting point. The other guidance route obtained by the processing is immediately displayed on the display device, and the other guidance route is recorded in the guidance route storage means so that the guidance by the other guidance route is possible. When the vehicle position detection means detects that the vehicle has deviated from the guidance route by traveling the pre-processing execution means and the vehicle without bending the branch point, the guidance route storage means And a guide route replacement unit that replaces the guide route so as to display the recorded other guide route on the display device and enables guidance by the other guide route.

  According to a third aspect of the present invention, there is provided a vehicle position detecting means having at least a GPS receiver for detecting a current position of the vehicle, a guide route calculating means for calculating a guide route from the departure point of the vehicle to a destination, A guidance route storage means for recording the guidance route calculated by the guidance route computation means, and a display device for displaying a map in a predetermined range and displaying the guidance route and the current position of the vehicle so as to overlap the map. A lane sensor capable of detecting the presence of the vehicle in any lane of a road having a plurality of lanes on one side, and a guidance route displayed on the display device In a situation where guidance is given to bend a predetermined branch point based on the When the vehicle position detecting means detects that the vehicle has reached a first position where the lane can be changed in order to bend the turning point, the vehicle is at least one from the bendable lane at the turning point. When the lane sensor detects that the vehicle is in a lane arranged at a lane interval, the vehicle does not bend the branch point and the current position of the vehicle is a new starting point. The calculation process by the guide route calculation means is executed based on a calculation condition different from that of the other guide route, and the other guide route obtained by the calculation process is immediately displayed on the display device so that the guide by the other guide route can be obtained. As possible, a pre-processing execution means for executing processing for recording the other guidance route in the guidance route storage means, a lane that is closer to the branch point than the first position, and When the lane sensor detects that the vehicle is not in a bendable lane at the branching point when the second position is determined to be dangerous, the guidance route And a guide route replacement unit that replaces the guide route so as to display the other guide route recorded in the storage unit on the display device and enables guidance by the other guide route. Yes.

  The guidance route storage means can record a plurality of guidance routes with different calculation conditions at different addresses. As an address in this case, for example, names such as a pay priority route, a general priority route, a distance priority route, a recalculation pay priority route, a recalculation general priority route, a recalculation distance priority route, and the like can be used.

  According to a fourth aspect of the present invention, there is provided a vehicle position detecting means having at least a GPS receiver for detecting a current position of the vehicle, a guide route calculating means for calculating a guide route from the departure point of the vehicle to a destination, A guidance route storage means for recording the guidance route calculated by the guidance route computation means, and a display device for displaying a map in a predetermined range and displaying the guidance route and the current position of the vehicle so as to overlap the map. A lane sensor capable of detecting the presence of the vehicle in any lane of a road having a plurality of lanes on one side, and a left side of the lane where the vehicle exists or A side object detection sensor capable of detecting an object located in the adjacent lane on the right side and the side object detection sensor detecting another vehicle as an object existing in the adjacent lane. If the estimated inter-vehicle distance is less than or equal to a predetermined inter-vehicle distance, the adjacent lane is in a congested state, and the vehicle is From a lane change determination means that determines that a lane change to an adjacent lane is impossible, and in a situation where guidance is made to bend a predetermined branch point based on the guide route displayed on the display device, The vehicle position detecting means detects that the vehicle has reached a first position that is a predetermined distance backward in the direction opposite to the traveling direction of the vehicle and that can change lanes in order to bend the branch point. At the time of detection, the lane sensor detects that the vehicle is in a lane adjacent to the bendable lane at the branch point, and the lane change determination means changes the lane to the bendable lane. When the vehicle is determined to be impossible, the vehicle does not make a turn at the branch point, and the calculation process by the guide route calculation means is based on a calculation condition different from the guide route having the current position of the vehicle as a new departure point. And the other guide route obtained by the calculation processing is immediately displayed on the display device, and the other guide route is stored in the guide route storage means so that the guide can be guided by the other guide route. Pre-processing execution means for executing processing to be recorded on the vehicle, and when reaching a second position that is closer to the branch point than the first position and is determined to be dangerous to change lanes, When the lane sensor detects that the vehicle is not present in a bendable lane at the branch point, the other guidance route recorded in the guidance route storage means is prompted to be displayed on the display device. It is characterized by comprising guide route replacement means for replacing the guide route and enabling guidance by the other guide route.

  According to the first aspect of the present invention, the guide route calculation means can calculate a plurality of guide routes based on various calculation conditions, and records the plurality of guide routes in the guide route storage means. I can keep it. For example, calculation can be performed under different calculation conditions such as toll road priority, general road priority, and distance priority, and a plurality of guide routes obtained thereby can be recorded in the guide route storage means. Such processing can be performed by executing the pre-processing execution means both before and during guidance to the vehicle.

  Then, by selecting a predetermined guidance route recorded in the guidance route storage means by the guidance route selection means, the guidance route can be immediately displayed on the display device, and guidance by the guidance route is possible. Become. For example, when performing guidance with priority on general roads, by selecting a general road priority guide route already recorded in the guide route storage means, the guide route can be displayed immediately on the display device. , Guidance by the guidance route becomes possible. Also, for example, when switching to a toll road priority guidance route, for example, in the state of being guided by a general road priority guidance route, by selecting the toll road priority guidance route recorded in the guidance route storage means, The toll road priority guidance route can be immediately displayed on the display device instead of the general road priority guidance route, and guidance by the toll road priority guidance route is possible.

  Accordingly, since the target guidance route can be displayed on the display device in a very short time and the guidance can be started, continuous and smooth guidance can be performed.

  According to the second aspect of the present invention, in a situation where guidance is made to bend a branch point based on the guide route, another guide route when the relevant branch point is not bent is calculated in advance to store the guide route. Can be recorded on the means. And when the vehicle actually travels without turning along the guidance route along the guidance route, other guidance routes already recorded in the guidance route storage means can be displayed immediately on the display device. It is possible to continuously perform the guidance by the guidance route.

  That is, at a branch point, it may not be able to bend along the guidance route due to traffic congestion on the road, misunderstanding of the driver, or the like, and the vehicle may go straight. However, even in that case, other guidance routes that are assumed not to bend can be calculated and recorded in the guidance route storage means before entering the branch point, so that the vehicle deviates from the guidance route. When the vehicle position detection means detects, the other guidance route can be immediately displayed on the display device.

  Therefore, continuous and smooth guidance can be performed even when the turn point cannot be bent along the guidance route.

  According to the third aspect of the present invention, since the lane sensor is provided, it can be detected that the vehicle (own vehicle) exists in any lane of the road having a plurality of lanes on one side.

  That is, a road having a plurality of lanes on one side is demarcated by a boundary line in which each lane is formed by a white broken line, and an outer line indicating the left end of the road formed by a solid white line at the left end of the one side lane. And a central line formed by a white or yellow solid line is provided at the right end of the one-side road. However, the outermost line at the left end may or may not be present, and the center line may be constituted by a median strip. There may be an outer line formed by a white solid line along the left side of the separation band.

  Further, as a lane sensor, for example, a sensor that can recognize a lane by analyzing an image signal from a CCD camera, for example, is generally used. It is located in the front part of the vehicle and is installed in the vehicle so that it can capture the scenery including the road surface in front of the vehicle, thereby recognizing the broken line, solid line, and median strip on the one-side road In addition, it is possible to recognize the positional relationship between the broken line, the solid line, and the median strip and the vehicle (own vehicle).

  In this case, whether or not there is a left outer line on the one-side road, the left side of the left boundary line can be recognized as a so-called first lane (traveling lane). Also, whether the center line is a solid line, the center line is a median strip, or there is no outer line on the left side of the median strip, the right side of the right border is the center line. It can be recognized as a so-called central lane.

  That is, the lane sensor can accurately recognize each lane from the first lane to the central lane on one side lane, and can also accurately recognize the position of the lane where the vehicle on which the lane sensor is mounted exists. it can.

  Thus, in a situation where guidance is made to bend the turning point based on the guidance route, the lane sensor recognizes in what lane the vehicle is located with respect to the bendable lane at the turning point. be able to.

  A first position where the vehicle is a predetermined distance backward from the branch point in the opposite direction to the traveling direction of the vehicle, and the lane can be changed to bend the branch point (for example, 50 m from the branch point) When the vehicle position detecting means detects that the vehicle has reached the position, the lane sensor indicates that the vehicle is present in a lane arranged at least one lane from the bendable lane at the branch point. Is detected, the calculation of another guide route when the branch point is not bent is started, and the other guide route obtained by the calculation is recorded in the guide route storage means.

  That is, even when the vehicle is in the first position and the lane can be changed, since the first position is close to the branch point, at least from the lane where the vehicle can bend. When the vehicle is located in a lane that is spaced apart by one lane (that is, a lane far from a lane where the vehicle can bend), the lane may not be changed to the lane where the bend can be made. For this reason, when the first position is reached, the pre-processing means starts execution of calculation processing by the guidance route calculation means, and other guidance routes obtained thereby are recorded in the guidance route storage means. Therefore, prepare for the case where the turning point cannot be turned.

  Furthermore, the second position where the lane change is determined to be dangerous (ie, the position where the lane change for a turn cannot be made) that is closer to the branch point than the first position is reached. At the time, when the lane sensor detects that the vehicle does not exist in the bendable lane at the branch point, the guide route for displaying the other guide route recorded in the guide route storage means on the display device is replaced. It will be.

  That is, if the vehicle does not exist in the lane where the turn point can be bent at the second position, it is dangerous to perform guidance for further turning. For this reason, when the vehicle is not in a bendable lane when the second position is reached, switching to another guide route that does not need to bend the branch point by executing the guide route replacement means. Can lead to a safe route before it becomes dangerous.

  In addition, since other guidance routes already recorded in the guidance route storage means can be immediately displayed on the display device, continuous and smooth guidance can be performed.

  According to the invention described in claim 4, since the lane sensor is provided as in the invention described in claim 3, the vehicle (own vehicle) exists in any lane of the road having a plurality of lanes on one side. Can be detected.

  Moreover, since the side object detection sensor is provided, the object located in the adjacent lane on the left side or the right side of the lane where the vehicle (own vehicle) exists, that is, the other vehicle can be detected.

  And when a vehicle drive | works at a different speed from the some other vehicle which exists in an adjacent lane, the case where a side object detection sensor detects other vehicles arises. That is, from the detection time when the side object detection sensor detects another vehicle and the non-detection time when the other vehicle is not detected, the time corresponding to the inter-vehicle distance as the non-detection time and the detection time as You can see the relative relationship with the time corresponding to the total length of other vehicles. That is, the approximate distance between the other vehicles can be estimated with respect to the ratio of the other vehicles to the total length. That is, it can be seen whether the inter-vehicle distance is about half of the total length of other vehicles or about twice.

  Here, the lane change determination means estimates the inter-vehicle distance described above from the detection time and non-detection time obtained by the side object detection sensor, and the estimated inter-vehicle distance is a predetermined inter-vehicle distance (for example, the other vehicle If it is equal to or less than twice the total length of the vehicle, it can be determined that the adjacent lane is in a congested state, and it is impossible to change the lane to the adjacent lane.

  A first position where the vehicle is a predetermined distance backward from the branch point in the opposite direction to the traveling direction of the vehicle, and the lane can be changed to bend the branch point (for example, 50 m from the branch point) When the vehicle position detecting means detects that the vehicle has reached the position), the lane sensor detects that the vehicle is in a lane adjacent to the bendable lane at the branch point, and the lane change determination means When it is determined that the lane change to the bendable lane is impossible, the calculation of another guide route when the branch point is not bent is started, and the other guide route obtained by the calculation is stored in the guide route storage means. Will be recorded.

  That is, even when the vehicle is at the first position and the lane can be changed, the lane change determination means can be bent because the first position is close to the branch point. When it is determined that the lane change to the lane is impossible, the lane change to the bendable lane may not be possible. For this reason, when the first position is reached, the pre-processing means starts execution of calculation processing by the guidance route calculation means, and other guidance routes obtained thereby are recorded in the guidance route storage means. Therefore, prepare for the case where the turning point cannot be turned.

  Further, a second position that is closer to the branch point than the first position and in which it is determined that the lane change is dangerous (that is, a position where the lane change for turning is impossible, for example, a branch point) When the lane sensor detects that the vehicle is not in a bendable lane at the branching point when the vehicle reaches a position 20 m back from the vehicle), another guidance route recorded in the guidance route storage means is displayed. The guidance route displayed on the screen will be replaced.

  In other words, if the vehicle does not exist in the lane where the turning point can be turned at the second position, it is dangerous to further guide the turning. For this reason, when the vehicle has not reached the turnable lane when the second position is reached, by switching to another guide route that does not need to bend the branch point by executing the guide route replacement means You can be guided to a safe route before it becomes dangerous.

  In this case as well, other guidance routes already recorded in the guidance route storage means can be immediately displayed on the display device, so that continuous and smooth guidance can be performed.

(First embodiment)
A first embodiment as the best mode for carrying out the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the in-vehicle navigation device 11 shown in the first embodiment uses a hard disk (map data storage device) 1 in which map data D is recorded, a GPS receiver 2a, and an autonomous navigation sensor 2b. From the vehicle position detection device (vehicle position detection means) 2 for detecting the current position and current direction of the vehicle C (see FIG. 2), and the departure point of the vehicle C (the current position of the vehicle detected by the vehicle position detection device 2) Guide route calculation means 1a for calculating a guide route to the destination, and a map image (map) A (see FIG. 3) converted based on the map data D, and the vehicle C's current position and current direction A display device (display device) 3 for displaying the vehicle mark B, a guidance route image E obtained by imaging the guidance route, and the like are provided.

  As shown in FIG. 1, the hard disk 1 is connected to the control means 4 via an interface (not shown). Hereinafter, the interface for connecting peripheral devices to the control means 4 will be described on the assumption that a predetermined interface is provided. The control means 4 is constituted by a microcomputer, reads map data D from the hard disk 1 and records it in the buffer memory 5a, and programs such as the map data D recorded in the buffer memory 5a and the guide route calculation means 1a. The guide route from the departure point of the vehicle C to the destination is calculated using various calculation conditions and the like.

  The guide route calculation unit 1 a is a program for calculating the guide route and is stored in the hard disk 1. The control means 4 temporarily loads the guidance route calculation means 1a into a RAM (not shown), executes the program of the guidance route calculation means 1a using the map data D and various calculation conditions described above, Thus, a predetermined guidance route is obtained.

  As calculation conditions, toll road priority for calculating a route using a toll road preferentially, general road priority for calculating a route using a general road preferentially, and minimizing the travel distance There is distance priority for calculating the route with priority. These calculation conditions are stored in the calculation condition storage means 1b in which a storage area is secured in the hard disk 1. Note that calculation conditions other than those described above may be set and stored in the calculation condition storage unit 1b.

  The GPS receiver 2a receives radio waves transmitted from a plurality of GPS satellites, so that the receiving position, that is, the position of the vehicle C on which the in-vehicle navigation device 11 having the GPS receiver 2a is mounted. It has come to identify. In addition, the autonomous navigation sensor 2b continues to acquire the current position of the vehicle C using a direction sensor such as a vehicle speed sensor or a gyro even if the radio wave from the GPS satellite is temporarily interrupted. . The position data of the vehicle C detected by the GPS receiver 2a and the autonomous navigation sensor 2b is output to the control means 4.

  As shown in FIG. 3, the display device 3 includes a display screen 31 configured by a liquid crystal panel, a touch panel 32 (see FIG. 1) provided on the front surface of the display screen 31, and an operation unit 33. It has become. Then, by pressing the MENU button 33a in the operation unit 33, icons that enable various inputs using the touch panel 32 are displayed on the display screen 31. By touching a predetermined icon portion, for example, The current position and the current direction of the vehicle C are displayed on the map image A by the own vehicle mark B, a destination mark (not shown) is displayed on the map image A around the destination, and calculation conditions are selected. For this purpose, a pay priority button F1 (see FIG. 5), a general priority button F2, a distance priority button F3, and the like can be displayed.

  However, for the current position and current direction of the vehicle C, the vehicle mark B can be displayed on the map image A by simply pressing the current location button 33b provided on the operation unit 33. By simply pressing the destination button 33c, the map image A and the destination mark around the destination can be displayed. For calculation conditions, the pay priority button F1, the general priority button F2, and the priority button 33d can be displayed only by pressing the priority button 33d. A distance priority button F3 or the like can be displayed.

  The map image A displayed on the display device 3 is based on the map data D recorded in the buffer memory 5a shown in FIG. 1 converted into map image data by the map drawing unit 5b. The map image data is output to the image composition unit 5c. The image composition unit 5c converts the map image data into image data such as various icons converted into image data by the operation image drawing unit 5d, the pay priority button F1, the general priority button F2, the distance priority button F3, and the vehicle mark. The vehicle mark image data converted into image data by the drawing unit 5e, the guidance route image data converted into image data by the guidance route drawing unit 5f, and the like are superimposed and output to the video RAM 34.

  The control unit 4 reads data of various operation images to be displayed on the display device 3 from a database (not shown), specifies the position where the data of each operation image is to be displayed on the display screen 31, and specifies the operation image. The data is output to the drawing unit 5d. The operation image drawing unit 5d converts the data of each operation image output from the control unit 4 into image data such as an icon, and outputs the image data and data specifying the position to the image composition unit 5c. It has become.

  The control means 4 reads the vehicle mark data from a database (not shown), and also corresponds to the map data D based on the current position and the current direction of the vehicle C detected by the vehicle position detection device 2. The current position and the current direction of C are specified, and the data of the position and direction and the vehicle mark data are output to the vehicle mark drawing unit 5e. The own vehicle mark drawing unit 5e converts the own vehicle mark data into arrow-shaped own vehicle mark image data whose position and direction can be recognized, and the own vehicle mark image data and the position and direction data are converted into an image composition unit. It outputs to 5c.

  Further, the control means 4 reads out the guidance route obtained by execution of the guidance route calculation means 1a and the like and recorded as data in the guidance route memory 6a of the guidance route storage means 6 and reads the guidance route drawing unit 5f. To output. In addition, the position with respect to the map data D is specified when the guidance route is obtained by execution of the guidance route calculation means 1a and the like. The guide route drawing unit 5f converts the guide route output from the control unit 4 into guide route image data specified as, for example, a red line, and specifies the travel locus after the vehicle C has passed as, for example, a yellow line. These are converted into trajectory image data, and these guide route image data and trajectory image data are output to the image composition unit 5c.

  The image synthesizing unit 5c synthesizes the above-described image data based on the specified position and outputs the synthesized image data to the video RAM 34. The video conversion unit 35 converts the combined image data stored in the video RAM 34 into a predetermined video signal and outputs the video signal to the display device 3. In FIG. 3, G is a trajectory image when the trajectory image data described above is displayed on the display device 3.

  On the other hand, as shown in FIG. 1, the guidance route includes a plurality of based on the calculation conditions of toll road priority, general road priority, and distance priority by execution of the first preprocessing execution means (preprocessing execution means) 1 c. After being calculated, it can be displayed on the display device 3 immediately and recorded in the guide route memory 6a in the guide route storage means 6 so that the guide control can be made immediately. It has become.

  That is, the first pre-processing execution means 1c calculates a toll priority route, a general priority route, and a distance priority route as three guide routes based on three calculation conditions of toll road priority, general road priority, and distance priority. Therefore, the guidance route calculation means 1a is executed at least three times, and each of these guidance routes is constituted by a program that is configured to record in the guidance route memory 6a of the guidance route storage means 6. The first pre-processing execution means 1c is stored in the hard disk 1 and is executed by the control means 4.

  A predetermined one of the guidance routes (paid priority route, general priority route, distance priority route) recorded in the guidance route memory 6a is associated with the execution of the guidance route selection means 1d in the control means 4 in accordance with the control means. 4 is output from the control means 4 to the guide route drawing unit 5f to be displayed as the guide route image E on the display device 3. In addition, the control means 4 starts guidance execution means (not shown), thereby performing guidance control based on a predetermined guidance route read from the guidance route memory 6a. That is, the route selection unit 1d is a unit for selecting a predetermined guidance route from the guidance route memory 6a of the guidance route storage unit 6 and starting guidance based on the guidance route.

  In this way, the guidance route selection means 1d is, for example, a guidance route calculated on the toll road priority calculation condition (toll priority route), or another guidance route calculated on the general road priority or distance priority calculation condition (general By selecting one guide route from among a plurality of guide routes composed of a priority route and a distance priority route), the one guide route is displayed as a guide route image E on the display device 3, and guidance by the guide route is performed. It is supposed to be possible. In this case, it can be said that the guide route selection unit 1d is configured by a program for selecting one guide route from the guide route storage unit 6 and the priority button 33d.

  The guidance route selection means 1d as a program is stored in the hard disk 1, and when the priority button 33d is pressed, execution by the control means 4 is started, and data for selecting various calculation conditions is displayed as an operation image. This is output to the drawing unit 5d, whereby the pay priority button F1, the general priority button F2, the distance priority button F3, and the like can be displayed on the display device 3. Calculation conditions can be selected by touching the buttons F1, F2, and F3. Further, it is possible to shift from the screen displayed by pressing the MENU button 33a to a screen displaying these buttons F1, F2, and F3. For this reason, it can be said that the guidance route selection means 1d is configured by a program and a MENU button 33a. For example, when the general priority button F2 is touched, the general priority route is read from the guidance route memory 6a to the control unit 4, and is output from the control unit 4 to the guidance route drawing unit 5f. The route is displayed on the display device 3 as a guide route image E.

  The hard disk 1 also stores second pre-processing execution means 1e. This second pre-processing execution means 1e is guided to bend a predetermined intersection I (right turn in this embodiment) based on the guidance route displayed on the display device 3 as the guidance route image E. Under the condition that the vehicle C does not turn right at the intersection I and the calculation process by the guidance route calculation means 1a based on the condition that the current position of the vehicle C before the right turn is a new starting point, The recalculation guidance route (other guidance routes) obtained by this computation processing is immediately displayed on the display device 3 as a recalculation guidance route image E2 (see FIG. 4), and guidance by the recalculation guidance route becomes possible. Thus, it is comprised by the program which performs the process which records the said recalculation guidance path | route in the recalculation guidance path | route memory 6b of the guidance path | route memory | storage means 6. FIG.

  That is, the second pre-processing execution means 1e causes the vehicle C to turn right at the intersection I along the route where the vehicle C cannot make a right turn, that is, along the currently traveling road, to reach the destination. The recalculation guidance route to be guided is calculated in advance under the guidance of turning right at the intersection I and stored in the recalculation guidance route memory 6b of the guidance route storage means 6, and the vehicle C deviates from the guidance route being guided. When this is detected by the vehicle position detection device 2, the recalculation guidance route stored in the recalculation guidance route memory 6b is immediately output to the display device 3 as a recalculation guidance route image E2, It is intended to enable continuous guidance by an arithmetic guidance route.

  The second pre-processing execution means 1e causes the guidance route calculation means 1a to execute recalculation guidance routes for all calculation conditions, that is, toll road priority, general road priority, and distance priority. Each recalculation guidance route (recalculation toll priority route, recalculation general priority route, and recalculation distance priority route) corresponding to each of these calculation conditions is recorded in the recalculation guidance route memory 6b of the guidance route storage means 6. It has become. Then, the second pre-processing execution means 1e calculates at least all the recalculation guidance paths and detects the recalculation guidance paths before the vehicle position detection device 2 detects that the vehicle C has deviated from the guidance path being guided. In order to obtain the state recorded in the memory 6b, the execution by the control means 4 is started when a predetermined position is reached before the intersection I (for example, when it reaches 20m before the intersection I). Yes.

  It is possible to read a predetermined recalculation guidance route from the recalculation guidance route memory 6b and output the recalculation guidance route to the display device 3 as a recalculation guidance route image E2. Has been made by.

  That is, the guide path replacement unit 1 f is configured by a program stored in the hard disk 1 and is executed by the control unit 4. And this guidance route replacement means 1f is the time when the vehicle position detection device 2 detects that the vehicle C has deviated from the guidance route currently being guided by the vehicle C traveling without turning right at the intersection I. Then, the control unit 4 starts execution, reads a predetermined recalculation guide route from the recalculation guide route memory 6b to the control unit 4, and outputs the recalculation guide route from the control unit 4 to the guide route drawing unit 5f. By allowing the route to be displayed on the display device 3 as the recalculation guidance route image E2, the guidance route is replaced. At this time, the recalculation guidance route read into the control means 4 from the guidance route memory 6a is a recalculation guidance route calculated under the same calculation conditions as the calculation conditions of the previous guidance route. That is, when the previous guidance route is a general priority route, the recalculation general priority route is read out as the recalculation guidance route. Further, based on the recalculation guidance route read by the control means 4, guidance execution means (not shown) starts executing, and guidance control by the recalculation guidance route is performed. For this reason, the guidance route replacement means 1f is also a means that enables guidance using the selected predetermined recalculation guidance route.

  In FIG. 1, reference numeral 7 denotes a speaker mounted on the vehicle C, and reference numeral 71 denotes an audio output unit for outputting an induction signal based on audio output from the control means 4 to the speaker 7. Further, in FIG. 2, J1 is a one-side lane having a plurality of lanes on one side (three lanes in this embodiment), J2 is a median strip as a center line, and J3 is located at an intersection I on the one-side lane J1. Stop line J3, J4 is the outermost line at the left end of one-side road J1, J5 is a boundary line that divides each lane, and J6 is a lane change prohibition line that prohibits lane change immediately before intersection I. J6, J7 is the first lane (running lane) located at the left end of the one-side road J1, J8 is the second lane located on the right side of the first lane J7, and J9 is located on the right side of the second lane J8. It is the 3rd lane (central lane) located, and J10 is a sidewalk.

  The in-vehicle navigation device 11 configured as described above is activated by turning on the power source of the vehicle C with an engine switch, for example. After activation, it is possible to input a destination, but when the destination is not input, the process proceeds from step S1 to step S2, as shown in FIG. In step S2, it is determined whether the destination has already been input. If the destination has already been input, control for guiding to the destination is continuously performed (step S3). However, guidance control is not performed unless the destination is input (step S4). In this case, the map image A, the vehicle mark B, the trajectory image G, and the like are simply displayed on the display device 3. When not using the guidance control, the display device 3 can be turned off by pressing the power button 33e shown in FIG.

  On the other hand, when the destination is input, it is determined in step S1 shown in FIG. 6 that a new destination has been input, and first the first preprocessing execution means 1c starts executing (step S5). Then, the guidance route calculation means 1a starts execution (step S6). Thus, based on the calculation conditions of toll road priority, general road priority, and distance priority, the toll priority route, the general priority route, and the distance from the current position (departure point) of the vehicle C to the newly input destination Each guide route of the priority route is calculated, and each of these guide routes is recorded in the guide route memory 6 a of the guide route storage means 6. That is, the guidance route calculation means 1a is executed until all of the pay priority route, the general priority route, and the distance priority route are recorded in the guidance route memory 6a (step S7).

  When all of the pay priority route, the general priority route, and the distance priority route are recorded in the guide route memory 6a (step S7), the guide route selection means 1d starts executing (step S8), and is shown in FIG. A pay priority button F1, a general priority button F2, a distance priority button F3, and the like are displayed on the display device 3. Here, for example, by touching the general priority button F2 and selecting a guidance route based on the general road priority calculation condition, that is, a general priority route (step S9), the general priority route is controlled from the guidance route memory 6a. The information is read by the means 4, and guidance based on the general priority route is started (step S10).

  As a result, the general priority route is displayed on the map image A as the guidance route image E on the display device 3 as shown in FIG. As the vehicle C travels, the trajectory image G of the vehicle C (own vehicle mark B) is also displayed on the map image A.

  When the calculation condition is changed from the general road priority to another calculation condition of the toll road priority or the distance priority in the state where the guidance is performed in this way, for example, by pressing the priority button 33d, the toll shown in FIG. The priority button F1, the general priority button F2, the distance priority button F3, etc. are immediately displayed on the display device 3, and then the general priority button F2 or the distance priority button F3 is touched. Here, for example, when the pay priority button F1 is touched, it is determined in step S1 shown in FIG. 7 that the calculation condition has been changed, and the pay priority route as another guide route is the guide route memory of the guide route storage means 6. After being read from 6a to the control means 4 and immediately switched to the guidance by the pay priority route (step S2), the process proceeds to step S3. However, if the return button F4 is touched without touching the buttons F1, F2, and F3 shown in FIG. 5, it is not determined that the calculation condition has been changed (step S1 in FIG. 7), and the first step is performed first. The process proceeds to step S3 with the guidance based on the set general priority route being made. If no operation for changing the calculation condition is performed, it is not determined that the calculation condition has been changed (step S1), and the process directly proceeds to step S3.

  In addition, as the vehicle C approaches the intersection I as shown in FIG. 2, a guidance to turn right at the intersection I is output from the speaker 7 by voice, and when the vehicle I further approaches the intersection I, the intersection I expands. A guide map (not shown) is displayed on the display device 3. Before the vehicle position detection device 2 detects that the vehicle C has traveled straight along the traveling road without making a right turn at the intersection I, thereby deviating from the general priority route (guidance route). In order to be able to calculate all the recalculation guidance paths and record them in the recalculation guidance path memory 6b, it reaches a predetermined position before the intersection I (in this embodiment, 20 m before the intersection I). At that time, the execution of the second preprocessing execution means 1e is started.

  That is, in the guidance state based on the predetermined guidance route, since the position of the vehicle C is always detected by the vehicle position detection device 2, whether or not the vehicle C has reached 20m before the intersection I to be turned to the right. Can be determined (step S3 in FIG. 7).

  Here, if it has not reached the position 20m before the intersection I, the process returns from step S3 to step S1, and the guidance is continued as it is. When it is determined that the position has been reached, By starting the execution of the pre-processing execution means 1e (step S4), the guidance route calculation means 1a starts executing (step S5). Thereby, based on the calculation conditions of toll road priority, general road priority and distance priority, the recalculated toll priority route from the current position (departure point) of the vehicle C when reaching 20 m before the intersection I to the destination The recalculation guidance routes of the recalculation general priority route and the recalculation distance priority route are calculated, and these recalculation guidance routes are recorded in the recalculation guidance route memory 6b of the guidance route storage means 6. become. That is, the guidance route computation means 1a is executed until all of the recalculation toll priority route, the recalculation general priority route, and the recalculation distance priority route are recorded in the recalculation guidance route memory 6b (step S6). Become.

  Then, after all of the recalculation toll priority route, the recalculation general priority route, and the recalculation distance priority route are recorded in the recalculation guidance route memory 6b (step S6), the vehicle C as the general priority route that is currently being guided A determination is made as to whether or not the vehicle has deviated from the guidance route (step S7). If the vehicle has not deviated, the process returns to step S1 to prepare for control of the next intersection.

  On the other hand, when the vehicle C goes straight without turning right at the intersection I and the vehicle position detection device 2 detects that the vehicle C deviates from the general priority route (guidance route) (step S7), the guidance route The replacement means 1f starts executing (step S8), and among the recalculation guidance routes recorded in the recalculation guidance route memory 6b, the recalculation general priority route having the same calculation condition as the previous guidance route is immediately selected. Reading and starting guidance based on this recalculation general priority route, and as shown in FIG. 4, this recalculation general priority route is displayed as a recalculation guidance route image E2 in place of the previous guidance route image E. Display on the device 3.

  Further, by performing replacement with the recalculation guidance route memory 6b as the guidance route memory 6a, a recalculation pay priority route, a recalculation general priority route, and a recalculation distance priority route are recorded in the recording area named guidance route memory 6a. Are stored as a pay priority route, a general priority route, and a distance priority route (step S9). Thus, even if the recalculated toll priority route, the recalculation general priority route, and the recalculation distance priority route obtained by recalculation at the next intersection are stored in the recalculation guidance route memory 6b, no trouble occurs.

  Then, based on the position of the vehicle C detected by the vehicle position detection device 2, it is determined whether or not the vehicle C has reached the destination (step S10). If the destination has not reached the destination, the process returns to step S1. The guidance is executed until the destination is reached, and when the destination is reached, the guidance is terminated.

  In the state where the destination has not been reached, as shown in FIG. 4, when it is noticed that the vehicle is approaching the interchange A1a of the highway A1 ahead of the traveling direction, it is better to use the highway A1. It may be considered a good idea. In such a case, when the priority button 33d is pressed, as shown in FIG. 5, the pay priority button F1, the general priority button F2, and the distance priority button F3 for switching the calculation conditions are immediately displayed. When the pay priority button F1 is touched, the pay priority route recorded in the guide route memory 6a is immediately read to start the guide by the pay priority route, and the pay priority route is displayed on the display device 3 as the guide route image E3. Will be displayed.

  Further, when the recalculation button 33f shown in FIG. 3 is pressed, the execution of the first pre-processing execution means 1c is started, and all calculations from the current position (departure point) of the vehicle C to the destination are performed. The guidance route according to the condition is calculated and recorded in the guidance route memory 6 a of the guidance route storage means 6.

  According to the in-vehicle navigation device 11 configured as described above, the execution of the first pre-processing execution unit 1c is started, whereby the execution of the guidance route calculation unit 1a is started. Based on the calculation conditions for priority and distance priority, it is possible to calculate a plurality of guide routes of a pay priority route, a general priority route, and a distance priority route, and use the plurality of guide routes as a guide route of the guide route storage means 6. It can be recorded in the memory 6a.

  Then, by selecting a predetermined guide route recorded in the guide route memory 6a of the guide route storage means 6 by the guide route selection means 1d, the guide route is immediately displayed on the display device 3 as the guide route image E. And guidance by the guidance route becomes possible. For example, when performing guidance using the guidance route of the general priority route, the general priority route recorded in the guidance route memory 6a is immediately selected by touching the general priority button F2 displayed on the display device 3, The guidance state can be set to the general priority route.

  Furthermore, when changing from the general priority route to the guidance based on the pay priority route, for example, by pressing the priority button 33d, the pay priority button F1 or the like can be displayed on the display device 3, so that the pay priority button F1 is displayed. By touching, the toll priority route recorded in the guidance route memory 6a can be immediately read out and switched to guidance by the toll priority route, and the toll priority route is displayed on the display device 3 as a guidance route image E3. be able to.

  Accordingly, since the target guidance route can be displayed on the display device 3 in a very short time and guidance by the guidance route can be started, continuous and smooth guidance can be performed even when the guidance route is changed. .

  In addition, for example, in a situation where guidance is made to turn right at the intersection I based on a general priority route, a recalculated toll priority route (other general priority routes) when the intersection I is not turned to the right is calculated and guided in advance. It can be recorded in the recalculation guidance route memory 6b of the route storage means 6. When the vehicle C travels straight without turning along the general priority route that is guiding the intersection I, the recalculated toll priority route already recorded in the recalculation guidance route memory 6b is read immediately. The guidance can be switched to the recalculation general priority route, and the recalculation general priority route can be displayed on the display device 3 as the recalculation guidance route image E2.

  That is, at the intersection I, it may not be possible to turn right as the general priority route due to traffic congestion or misunderstanding of the driver. However, even in that case, a recalculation guidance route (recalculation toll priority route, recalculation general priority route and recalculation distance priority route) that is assumed not to turn right is calculated before entering the intersection I, and guidance route storage means 6 can be recorded in the recalculation guidance route memory 6b, so that when the vehicle position detection device 2 detects that the vehicle C has deviated from the general priority route, the computation condition is determined from the recalculation guidance route. It is possible to read a recalculation general priority route having the same and to start guidance by the recalculation general priority route.

  Therefore, even if it is not possible to bend along the guidance route at the intersection I, it is possible to immediately switch from the guidance route to the recalculation guidance route to perform continuous and smooth guidance.

{Different forms for carrying out the invention}
(Second Embodiment)
Next, a second embodiment as a different mode for carrying out the present invention will be described with reference to FIGS. However, elements common to the constituent elements shown in the first embodiment are denoted by the same reference numerals, and description thereof is simplified.

  The in-vehicle navigation device 12 shown in the second embodiment is different from the in-vehicle navigation device 11 shown in the first embodiment in that a lane sensor 8 is added and the second preliminary processing is executed. The configurations of the means 1e and the guide route replacement means 1f are different.

  As shown in FIG. 9, the lane sensor 8 is configured to recognize a plurality of lanes by analyzing the image signal from the CCD camera 8a. The CCD camera 8a is disposed at the center in the left-right direction of the vehicle C and on the inner upper portion of the windshield, and is installed so as to be able to take a picture including the road surface in front of the vehicle C. The lane sensor 8 is based on the image taken by the CCD camera 8a, and the lane change prohibition of the outer line J4 made of a white solid line, the boundary line J5 made of a white broken line, and the lane change made of a yellow solid line on the one-side road J1 is prohibited. It is possible to recognize the line J6 and the median strip J2 which is a three-dimensional structure, and thereby recognize each lane (the first lane J7, the second lane J8, and the third lane J9). At the same time, it is possible to detect in which lane the vehicle C as the own vehicle is located.

  On roads with multiple lanes on one side, the left outer line J4 may or may not be present, and the center line may be formed by a solid line or a median. In addition, in the case of being constituted by a central separation band, a white solid line (outer line) may be drawn on the left side of the central separation band.

  However, the left side of the boundary line at the left end can be recognized as the first lane J7 even when there is no outer line J4 at the left end of the one-side road J1. In addition, when the center line is a solid line, when the center line is the median strip J2 or when there is no solid line on the left side of the median strip J2, the right side of the right boundary line J5 is It can be recognized as a so-called central lane (third lane J9 in this embodiment) along the line.

  That is, the lane sensor 8 can accurately recognize the lanes J7, J8, J9 from the first lane J7 to the third lane J9 as the central lane on the one-side lane J1, and the vehicle C exists. It is possible to detect lanes with high accuracy.

  The lane sensor 8 is connected to the control means 4 as shown in FIG. Based on the output signal from the lane sensor 8, the control means 4 obtains data for recognizing how many lanes the vehicle C is traveling on, which lane the vehicle C is currently on, and the like. Be able to.

  On the other hand, the second pre-processing execution unit 1e is guided to turn right at the intersection I based on the general priority route (guidance route) displayed as the guidance route image E on the display device 3 as shown in FIG. The vehicle C reaches a first position M1 that is a predetermined distance backward from the intersection I in the direction opposite to the direction of travel of the vehicle C and that can change lanes to turn right at the intersection I. When the vehicle position detecting device 2 detects that the vehicle C is present, the vehicle C exists in the lane (first lane J7) arranged at least one lane from the third lane J9 capable of turning right at the intersection I. When the lane sensor 8 detects the vehicle, the calculation process by the guidance route calculation means 1a is based on the condition that the vehicle C does not turn right at the intersection I and the condition that the current position of the vehicle C before the right turn is a new starting point. While being executed, the recalculation guidance route (other guidance route) obtained by this computation processing is immediately displayed on the display device 3 as a recalculation guidance route image E2 (see FIG. 4), and guidance by the recalculation guidance route is performed. Is configured by a program that executes a process of recording the recalculation guidance route in the recalculation guidance route memory 6b of the guidance route storage means 6.

  The first position M1 is preferably set to a predetermined position where the distance L1 from the stop line J3 of the intersection I is 50 m to 100 m in consideration of the safety of lane change.

  The guide route replacement means 1f is located at a position closer to the intersection I than the first position M1 and when the vehicle C reaches the second position M2 where it is determined that the lane change is dangerous. When the lane sensor 8 detects that the vehicle does not exist in the third lane J9 in which the vehicle can turn right at I, execution is started by the control unit 4, and a predetermined recalculation guidance route is controlled from the recalculation guidance route memory 6b. 4 and output to the guidance route drawing unit 5f from the control means 4 so that the recalculation guidance route can be displayed on the display device 3 as the recalculation guidance route image E2, thereby replacing the guidance route. Is supposed to do. When the previous guidance route is a general priority route, the recalculation general priority route is read out as the recalculation guidance route. Further, based on the recalculation guidance route read by the control means 4, guidance execution means (not shown) starts executing, and guidance control by the recalculation guidance route is performed. For this reason, the guidance route replacement means 1f is also a means that enables guidance using the selected predetermined recalculation guidance route.

  The second position M2 is preferably set to a predetermined position where the distance L2 from the stop line J3 of the intersection I is 20 m to 40 m in consideration of the safety of the lane change. The second position M2 may be set to a length equal to the lane change prohibition line J6.

  In the vehicle-mounted navigation device 12 configured as described above, the control is as shown in FIG. However, since the difference from the control shown in FIG. 7 is the part of step S3a and step S7a, the description of the part other than these steps S3a and S7a is omitted.

  In step S3a, the position of the vehicle C detected by the vehicle position detection device 2 reaches the first position M1, and the position of the vehicle C detected by the lane sensor 8 is one lane from the third lane J9 that can turn right. It is determined whether or not the vehicle C is present in the far lane, that is, the first lane J7. When the vehicle C reaches the first position M1, if the vehicle C does not exist in the first lane J7, If it exists in the 2nd lane J8 or the 3rd lane J9, there is a high possibility that the vehicle can make a right turn, and the process returns to step S1 to continue the guidance.

  However, if the vehicle C is in the first lane J7 when the vehicle C reaches the first position M1, there is a possibility that the vehicle can change the lane to the third lane J9 and turn right. If it is low, the process proceeds to step S4, and the execution of the second pre-processing execution unit 1e is started.

  On the other hand, in step S7a, the position of the vehicle C detected by the vehicle position detection device 2 reaches the second position M2, and the position of the vehicle C detected by the lane sensor 8 changes to the third lane J9 that can turn right. Since it is determined whether or not the vehicle C is in the third lane J9 when the vehicle C reaches the second position M2, it is possible to make a right turn. Return to S1 and continue guidance.

  However, if the vehicle C does not exist in the third lane J9 when the vehicle C reaches the second position M2, it is not preferable in terms of safety to change the lane to the third lane J9. In order to start guidance by the recalculation guidance route, the execution of the guidance route replacement means 1f is started.

  According to the vehicle-mounted navigation device 12 configured as described above, even when the vehicle C is at the first position M1 and at a position where the lane can be changed, the first position M1 is at the intersection I. Is located at a distance of at least one lane from the third lane J9 in which the vehicle C can make a right turn, i.e., far from the third lane J9 in which the vehicle C can make a right turn. Lane), it may not be possible to change the lane to the third lane J9 that can turn right before reaching the position of the lane change prohibition line J6 where the lane change for the right turn is impossible. For this reason, when the first position M1 is reached, the second pre-processing execution unit 1e starts execution of the calculation process by the guide route calculation unit 1a, and the recalculation guide route (other By recording (guidance route) in the recalculation guidance route memory 6b, it is possible to prepare for the case where the intersection I cannot be turned to the right.

  Further, when the vehicle C reaches a second position M2 that is closer to the intersection I than the first position M1 and is determined to be dangerous for changing lanes, the vehicle C can turn right at the intersection I. When the lane sensor 8 detects that the vehicle does not exist in the 3 lane J9, the recalculation guidance route recorded in the recalculation guidance route memory 6b is displayed on the display device 3 as a recalculation guidance route image E2, It is possible to replace the guidance route that enables guidance using the recalculation guidance route.

  That is, if the vehicle C is not located in the third lane J9 at which the vehicle can turn right at the intersection I at the second position M2, it is dangerous to guide the vehicle to make a further right turn. For this reason, when the vehicle C has not reached the third lane J9 when the second position M2 is reached, the guidance route replacement means 1f executes a recalculation guidance route that does not require a right turn at the intersection I. By switching, it is possible to cancel the right turn guidance and lead to a safe route before a dangerous situation occurs.

  In addition, since the recalculation guidance route that has already been recorded in the recalculation guidance route memory 6b of the guidance route storage means 6 can be immediately read out and switched to guidance based on the recalculation guidance route, continuous and smooth guidance is possible. It can be performed.

(Third embodiment)
Next, a third embodiment as a different mode for carrying out the present invention will be described with reference to FIGS. However, the same reference numerals are given to the elements common to the constituent elements shown in the second embodiment, and the description will be simplified.

  The in-vehicle navigation device 13 shown in the third embodiment is different from the in-vehicle navigation device 12 shown in the second embodiment in that a side object detection sensor 9 and a lane change determination means 1g are added. And the configuration of the second pre-processing execution unit 1e is different.

  The side object detection sensor 9 is an object located in the adjacent lane (that is, the first lane J7 or the third lane J9) on the left side or the right side of the lane where the vehicle C exists (that is, the second lane J8 in FIG. 12). As shown in FIG. 13, the right first ultrasonic sensor 9a, the right second ultrasonic sensor 9b, and the right second ultrasonic sensor 9b, which are arranged on the right side surface of the vehicle C, are configured. The configuration includes a right third ultrasonic sensor 9c and a left first ultrasonic sensor 9d, a left second ultrasonic sensor 9e, and a left third ultrasonic sensor 9f arranged on the left side surface of the vehicle C. Yes.

  The right first ultrasonic sensor 9a is disposed at the front end of the vehicle C, the right third ultrasonic sensor 9c is disposed at the rear end of the vehicle C, and the right second ultrasonic sensor 9b is the front-rear direction of the vehicle C. In the center between the right first ultrasonic sensor 9a and the right third ultrasonic sensor 9c. Further, the right first ultrasonic sensor 9a, the right second ultrasonic sensor 9b, and the right third ultrasonic sensor 9c are arranged at the same height from the road surface. Furthermore, the distance between the right first ultrasonic sensor 9a and the right third ultrasonic sensor 9c is set to a predetermined dimension L3.

  The left first ultrasonic sensor 9d, the left second ultrasonic sensor 9e, and the left third ultrasonic sensor 9f are the same as the right first ultrasonic sensor 9a, the right second ultrasonic sensor 9b, and the right third ultrasonic sensor 9c. It is arranged at the position. The right second ultrasonic sensor 9b and the left second ultrasonic sensor 9e are provided between the right first ultrasonic sensor 9a and the right third ultrasonic sensor 9c, or between the left first ultrasonic sensor 9d and the left second ultrasonic sensor 9e. Even when a small other vehicle K such as a motor-driven bicycle enters between the three ultrasonic sensors 9f, the small other vehicle K is provided so as to be detected.

  In addition, each of the ultrasonic sensors 9a, 9b, 9c, 9d, 9e, and 9f includes a transmitter that transmits an ultrasonic wave with sufficient intensity to reach another vehicle K existing in an adjacent lane, and an ultrasonic wave reflected from the other vehicle K. A transmission / reception and reflection type ultrasonic sensor is used in which a single ultrasonic element is used as a receiver for receiving sound waves. Note that a transmission / reception separation type reflection type ultrasonic sensor provided with a transmitter and a receiver separately may be used.

  Then, when the vehicle C travels at a speed different from that of the plurality of other vehicles K existing in the adjacent lane, the side object detection sensor 9 is detected by the ultrasonic sensors 9a, 9b, 9c, 9d, 9e, and 9f. There are cases where a car is detected and not detected. Here, when the speed of the vehicle C is larger than the speed of the other vehicle K in the adjacent lane, for example, the right first ultrasonic sensor 9a or the left first ultrasonic sensor 9d continues to detect each other vehicle K. Corresponding to the distance corresponding to the inter-vehicle distance as the non-detection time and the total length of the other vehicle K as the detection time from the respective detection times between and the respective non-detection times when the other vehicles K cannot be detected You can see the relative relationship with time. For this reason, by using such a simple method of comparing the detection time and the non-detection time, the approximate inter-vehicle distance between each other vehicle K is approximately what percentage of the total length of the other vehicle K. I have a clue. That is, it is possible to estimate whether the inter-vehicle distance is approximately half of the total length of the other vehicle K or about twice.

  When the speed of the vehicle C is smaller than the speed of the other vehicle K in the adjacent lane, for example, while the right third ultrasonic sensor 9c or the left third ultrasonic sensor 9f continues to detect each other vehicle K. Corresponding to the inter-vehicle distance as the non-detection time and the total length of the other vehicle K as the detection time. You can see the relative relationship with time. Accordingly, in this case as well, the approximate distance between the other vehicles K is approximately what percentage of the total length of the other vehicle K is.

  On the other hand, when the speed of the vehicle C is larger than the speed of the other vehicle K in the adjacent lane, the right third ultrasonic sensor 9c further detects the other vehicle K after the right first ultrasonic sensor 9a detects the other vehicle K, for example. The relative speed between the vehicle C and the other vehicle K can be found from the time until and the dimension L3 between them. Then, by multiplying (multiplying) the above-described non-detection time by this relative speed, the absolute inter-vehicle distance between the other vehicles K can be accurately known to some extent. On the other hand, when the speed of the vehicle C is smaller than the speed of the other vehicle K in the adjacent lane, the right first ultrasonic sensor 9a further detects the other vehicle K after the right third ultrasonic sensor 9c detects the other vehicle K, for example. The relative speed between the vehicle C and the other vehicle K can be found from the time until and the dimension L3 between them. Therefore, in this case as well, the absolute inter-vehicle distance between the other vehicles K can be detected with a certain degree of accuracy.

  The lane change determination means 1g is configured by a program stored in the hard disk 1, and the detection time and non-detection time of the other vehicle K in the predetermined adjacent lane detected by the side object detection sensor 9 are used in the adjacent lane. If a calculation for estimating the inter-vehicle distance between the other vehicles K is performed and the estimated inter-vehicle distance is equal to or less than the predetermined inter-vehicle distance, the adjacent lane is in a congested state, and the vehicle C cannot move to the adjacent lane. It comes to judge.

  The second pre-processing execution means 1e is a vehicle from the intersection I under the situation where the intersection I is guided to turn right based on the general priority route (guidance route) displayed as the guidance route image E on the display device 3. The vehicle position detection device 2 indicates that the vehicle C has reached a first position M1 that is a predetermined distance backward in the opposite direction to the traveling direction of C and that can change lanes to turn right at the intersection I. At the time of detection, the lane sensor 8 detects that the vehicle C exists in the second lane J8 adjacent to the third lane J9 that can turn right at the intersection I, and the lane change determination means 1g can turn right. When it is determined that the lane change to J9 is impossible, the guidance route calculation means 1 is based on the condition that the vehicle C does not turn right at the intersection I and the condition that the current position of the vehicle C before the right turn is a new starting point. The recalculation guidance route (other guidance route) obtained by this calculation processing is immediately displayed on the display device 3 as the recalculation guidance route image E2 (see FIG. 4), and the recalculation is performed. It is configured by a program that executes processing for recording the recalculation guidance route in the recalculation guidance route memory 6b of the guidance route storage means 6 so that guidance by the guidance route is possible.

  In the in-vehicle navigation device 13 configured as described above, the control is as shown in FIG. However, since the difference from the control in the second embodiment shown in FIG. 10 is the part of step S3b, the description of the part other than step S3b is omitted.

  In step S3b, the position of the vehicle C detected by the vehicle position detection device 2 reaches the first position M1, and the position of the vehicle C detected by the lane sensor 8 is adjacent to the third lane J9 that can turn right. At the time when the vehicle C has reached the first position M1, it is determined whether or not it is present in the second lane J8 and the lane change determination means 1g determines that the lane change to the third lane J9 is impossible. If the vehicle C is located in the second lane J8 and it is not determined that the lane change to the third lane J9 is impossible, it is highly possible that the vehicle C can safely turn right, and the process returns to step S1. Continue guiding.

  However, when the vehicle C reaches the first position M1, it is determined that the lane change to the third lane J9 is impossible even though the vehicle C is positioned in the second lane J8. In such a case, the third lane J9 is congested, and it is unlikely that the third lane J9 can change lanes and turn right, so that the process proceeds to step S4 and the second pre-processing execution means 1e is executed. Let it begin.

  According to the vehicle-mounted navigation device 13 configured as described above, the inter-vehicle distance between the other vehicles K in the adjacent lane can be determined by the simple method using the side object detection sensor 9. It is possible to estimate an approximate value such as whether it is almost half or twice. In addition, by using, for example, the right first ultrasonic sensor 9a and the right third ultrasonic sensor 9c arranged in front and rear of the vehicle C, the relative speed between the vehicle C and the other vehicle K can be detected, By multiplying the relative speed by the non-detection time, the absolute inter-vehicle distance between the other vehicles K can be estimated more accurately.

  The lane change determining means 1g simply estimates the inter-vehicle distance between the other vehicles K described above, so that the estimated inter-vehicle distance is less than a predetermined inter-vehicle distance (for example, twice the total length of the other vehicle K). If so, it is possible to determine that the adjacent lane is in a traffic jam state and that it is impossible to change the lane to the adjacent lane. In addition, by estimating the inter-vehicle distance between the other vehicles K as an absolute distance, if the estimated inter-vehicle distance is less than the inter-vehicle distance that can be stopped to some extent safely with respect to the traveling speed of the vehicle C, the adjacent lane is congested, It becomes possible to determine that the lane change to the adjacent lane is impossible.

  Then, when the vehicle position detection device 2 detects that the vehicle C has reached the first position M1 with respect to the intersection I, the second adjacent to the third lane J9 in which the vehicle C can turn right at the intersection I. When the lane sensor 8 detects that the vehicle is in the lane J8, and the lane change determination means 1g determines that the lane change to the third lane J9 is impossible, it is necessary to restart the vehicle without going right at the intersection I. It is possible to calculate a calculation guidance route (another guidance route) and record the recalculation guidance route in the recalculation guidance route memory 6 b of the guidance route storage means 6.

  That is, even when the vehicle C is at the first position M1 and at a position where the lane can be changed, the first position M1 is a position close to the intersection I. If it is determined that the lane change to the third lane J9 that can turn right is impossible, there is a possibility that the lane change to the third lane J9 cannot be made before reaching the position where the lane change for the right turn is impossible . For this reason, when the first position M1 is reached, the second pre-processing execution unit 1e starts the execution of the calculation process by the guide route calculation unit 1a, and the recalculation guide routes obtained thereby are re-executed. By recording in the calculation guide route memory 6b, it is possible to prepare for the case where the intersection I cannot be turned.

  Further, when the vehicle C reaches a second position M2 that is closer to the intersection I than the first position M1 and is determined to be dangerous for changing lanes, the vehicle C can turn right at the intersection I. When the lane sensor 8 detects that the vehicle does not exist in the 3 lane J9, the recalculation guidance route recorded in the recalculation guidance route memory 6b is displayed on the display device 3 as a recalculation guidance route image E2, It is possible to replace the guidance route that enables guidance using the recalculation guidance route.

  That is, if the vehicle C is not located in the third lane J9 at which the vehicle can turn right at the intersection I at the second position M2, it is dangerous to guide the vehicle to make a further right turn. For this reason, when the vehicle C has not reached the third lane J9 when the second position M2 is reached, the guidance route replacement means 1f executes a recalculation guidance route that does not require a right turn at the intersection I. By switching, it is possible to be guided to a safe route before becoming dangerous.

  In addition, since the recalculation guidance route recorded in the recalculation guidance route memory 6b can be immediately read out and switched to guidance based on the recalculation guidance route, continuous and smooth guidance can be performed.

  In the third embodiment, the example in which the ultrasonic sensors 9a, 9b,... 9f are used as the side object detection sensors 9 has been described, but instead of the ultrasonic sensors 9a, 9b,. An object detection sensor such as a radar or an infrared sensor may be used.

It is a block diagram which shows the structure of the vehicle-mounted navigation apparatus shown as the 1st Embodiment of this invention. It is a top view which shows the relationship between the one side roadway of the road induced | guided | derived by the same vehicle-mounted navigation apparatus, and a vehicle, another vehicle, an intersection, etc. It is a display apparatus in the same vehicle-mounted navigation device, and is a front view showing an example in which a guide route is displayed as a guide route image E. It is a display apparatus in the same vehicle-mounted navigation device, and is a front view showing an example in which a recalculation guidance route is displayed as a recalculation guidance route image E2. It is a display apparatus in the same vehicle-mounted navigation device, and is a front view showing an example in which a pay priority route that is one guide route is displayed as a guide route image E3. It is a 1st flowchart which shows control of the same vehicle-mounted navigation apparatus. It is a 2nd flowchart which shows control of the same vehicle-mounted navigation apparatus. It is a block diagram which shows the structure of the vehicle-mounted navigation apparatus shown as the 2nd Embodiment of this invention. It is a top view which shows the relationship between the one side roadway of the road induced | guided | derived by the same vehicle-mounted navigation apparatus, and a vehicle, another vehicle, an intersection, etc. It is a flowchart which shows control of the same vehicle-mounted navigation apparatus. It is a block diagram which shows the structure of the vehicle-mounted navigation apparatus shown as the 3rd Embodiment of this invention. It is a top view which shows the relationship between the one side roadway of the road induced | guided | derived by the same vehicle-mounted navigation apparatus, and a vehicle, another vehicle, an intersection, etc. It is a vehicle carrying the same vehicle-mounted navigation device, and is a plan view showing a position where each ultrasonic sensor of the side object detection sensor is installed. It is a flowchart which shows control of the same vehicle-mounted navigation apparatus.

Explanation of symbols

1a Guide route calculation means 1b Calculation condition storage means 1c First pre-processing execution means (pre-processing execution means)
1d Guide route selection means 1e Second pre-processing execution means (pre-processing execution means)
1f Guidance path replacement means 1g Lane change determination means 2 Vehicle position detection device (vehicle position detection means)
2a GPS receiver 3 Display device (display device)
6 Guidance route storage means 6a Guidance route memory 6b Recalculation guidance route memory 8 Lane sensor 9 Side object detection sensor 11, 12, 13 Car navigation device A Map image (map)
B Vehicle mark C Vehicle E Guide route image E2 Recalculation guide route image M1 First position M2 Second position

Claims (4)

Vehicle position detection means having at least a GPS receiver for detecting the current position of the vehicle, guide route calculation means for calculating a guide route from the departure point of the vehicle to the destination, and a guide route calculated by the guide route calculation means An in-vehicle navigation device comprising: a guide route storage means for recording the map; and a display device that displays a map of a predetermined range and displays the guide route and the current position of the vehicle so as to overlap the map. There,
The calculation process by the guide route calculation means is executed based on a calculation condition different from that of the guide route, and the other guide route obtained by the calculation process is immediately displayed on the display device. Pre-processing execution means for executing processing for recording the other guidance route in the guidance route storage means so that guidance by
By selecting one guide route from a plurality of guide routes composed of the guide route and the other guide route recorded in the guide route storage means, the one guide route is displayed on the display device. A vehicle-mounted navigation device comprising: guidance route selection means that enables guidance by the one guidance route. Vehicle position detection means having at least a GPS receiver for detecting the current position of the vehicle, guide route calculation means for calculating a guide route from the departure point of the vehicle to the destination, and a guide route calculated by the guide route calculation means An in-vehicle navigation device comprising: a guide route storage means for recording the map; and a display device that displays a map of a predetermined range and displays the guide route and the current position of the vehicle so as to overlap the map. There,
In a situation where guidance is made to bend a predetermined branch point based on the guidance route displayed on the display device, the vehicle does not bend the branch point and the current position of the vehicle is set as a new starting point. The calculation process by the guide route calculation means is executed based on a calculation condition different from the guide route to be performed, and the other guide route obtained by the calculation process is immediately displayed on the display device. Pre-processing execution means for executing processing for recording the other guidance route in the guidance route storage means so that guidance by a route is possible;
When the vehicle has detected that the vehicle has deviated from the guide route by traveling without turning the branch point, the other position recorded in the guide route storage unit is detected. An in-vehicle navigation device comprising: a guide route replacement means for replacing a guide route so as to display the guide route on the display device and enabling guidance by the other guide route. Vehicle position detection means having at least a GPS receiver for detecting the current position of the vehicle, guide route calculation means for calculating a guide route from the departure point of the vehicle to the destination, and a guide route calculated by the guide route calculation means An in-vehicle navigation device comprising: a guide route storage means for recording the map; and a display device that displays a map of a predetermined range and displays the guide route and the current position of the vehicle so as to overlap the map. There,
A lane sensor capable of detecting the presence of the vehicle in any lane of a road having a plurality of lanes on one side;
In a situation where guidance is given to bend a predetermined branch point based on the guidance route displayed on the display device, the position is a position that is a predetermined distance backward from the branch point in the direction opposite to the traveling direction of the vehicle. When the vehicle position detecting means detects that the vehicle has reached a first position where the lane can be changed to bend at the branch point, the vehicle is at least from the bendable lane at the branch point. When the lane sensor detects that the vehicle is in a lane that is spaced apart by one lane, the vehicle does not bend the branch point and the current position of the vehicle is a new starting point. The calculation processing by the guidance route calculation means is executed based on calculation conditions different from the route, and another guidance route obtained by the calculation processing is immediately displayed on the display device. Induction by guiding path so capable, the pre-processing execution means for executing the process of recording the other guidance route to the guide route storage means,
When the vehicle reaches a second position that is closer to the branch point than the first position and is determined to be dangerous to change lanes, the vehicle is present in a bendable lane at the branch point. When the lane sensor detects that it is not, the guide route is replaced so that the other guide route recorded in the guide route storage means is displayed on the display device, and guidance by the other guide route is performed. An in-vehicle navigation device comprising guidance route replacement means for enabling the vehicle. Vehicle position detection means having at least a GPS receiver for detecting the current position of the vehicle, guide route calculation means for calculating a guide route from the departure point of the vehicle to the destination, and a guide route calculated by the guide route calculation means An in-vehicle navigation device comprising: a guide route storage means for recording the map; and a display device that displays a map of a predetermined range and displays the guide route and the current position of the vehicle so as to overlap the map. There,
A lane sensor capable of detecting the presence of the vehicle in any lane of a road having a plurality of lanes on one side;
A side object detection sensor capable of detecting an object located in an adjacent lane on the left side or the right side of the lane in which the vehicle exists;
The inter-vehicle distance between the other vehicles is estimated from the detection time when the side object detection sensor detects the other vehicle as an object existing in the adjacent lane and the non-detection time when the other vehicle is not detected, and the estimated inter-vehicle distance is A lane change determination means for determining that the adjacent lane is in a traffic jam condition and the vehicle cannot change the lane to the adjacent lane if the distance is equal to or less than a predetermined inter-vehicle distance;
In a situation where guidance is given to bend a predetermined branch point based on the guidance route displayed on the display device, the position is a position that is a predetermined distance backward from the branch point in the direction opposite to the traveling direction of the vehicle. When the vehicle position detecting means detects that the vehicle has reached a first position where the lane can be changed to bend the turn point, the vehicle is adjacent to the turnable lane at the turn point. When the lane sensor detects that the vehicle is present in the lane to be turned and the lane change determination means determines that the lane change to the bendable lane is impossible, the vehicle does not turn the branch point and The calculation process by the guide route calculation means is executed based on a calculation condition different from that of the guide route with the current position of the vehicle as a new starting point, and other guidance obtained by the calculation process is also obtained. So as to allow induction by the other guidance route the route by displaying in real on the display device, a pre-processing execution means for executing the process of recording the other guidance route to the guide route storage means,
When the vehicle reaches a second position that is closer to the branch point than the first position and is determined to be dangerous to change lanes, the vehicle is present in a bendable lane at the branch point. When the lane sensor detects that it is not, the guide route is replaced so that the other guide route recorded in the guide route storage means is displayed on the display device, and guidance by the other guide route is performed. An in-vehicle navigation device comprising guidance route replacement means for enabling the vehicle.

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