JP2653803B2 - Vehicle navigation system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a device for navigating according to a predetermined route. The present invention relates to a vehicular navigation device for guiding a new course.

[Conventional technology]

In general, when traveling on the shortest course calculated by the vehicle navigation device, there is a case where it is unavoidable to travel away from the specified shortest course due to traffic congestion or the like. In such a case, if the vehicle returns to the original shortest course again, the distance to the destination may be increased, or in some cases, a U-turn may not be possible.

As a countermeasure, when the vehicle travels a predetermined distance or more from the shortest course calculated by the vehicle navigation device, the shortest course to the destination is calculated again with the intersection ahead in the traveling direction of the vehicle as a new departure point, and route guidance is performed. [Problems to be Solved by the Invention] According to the above-mentioned conventional technology, a vehicle travels a predetermined distance from a shortest course to a destination. At times, a re-search to the destination is automatically performed. However, for example, there is a case where the course is intentionally deviated by shopping or the like while guiding the preset course, but the user does not need to change the course in particular and thinks that the original course can be displayed as it is. There is.
The preset course, that is, the course searched first is usually the optimal course, and if you deviate from that course and re-search, it depends on the search conditions, but from the original course to the destination In many cases, the course takes time to reach or is difficult to run. Therefore, when the user does not want to search, it is kind to the user not to perform the re-search. However, if the initially searched course cannot be passed due to traffic congestion or traffic restrictions, or is crowded, there is a need for the user to intentionally leave the course and search again to search for another course. obtain.

In addition, according to the above-described conventional technique, since the re-search is executed by setting the intersection ahead in the traveling direction as the re-search start position, a new course obtained as a result of the re-search is rather a circuitous course compared to the original course. Is calculated, and the user may feel unfriendly.

SUMMARY OF THE INVENTION The present invention solves the above-described problems, and provides a navigation apparatus for a vehicle that can start re-searching in response to a request of a user and can perform route guidance in accordance with a usage pattern of the user. The purpose is to:

[Means for solving the problem]

According to the present invention, in a vehicle navigation device that provides route guidance to a destination according to a preset route, a current position detection unit, an input unit, and data necessary for performing a route search process and a guidance process are stored. Information storage means, data detected by the current position detection means, data input by the input means, navigation processing means for performing route search processing and guidance processing based on the data stored in the information storage means, Output means for outputting guidance data, wherein the navigation processing means detects that the vehicle has deviated from the set route, and receives a predetermined condition for starting a re-search based on a user request. On the condition that the route from the current position detected by the current position detecting means to the destination is searched again.

Further, the present invention is characterized in that the predetermined condition is input by a user.

Further, the invention is characterized in that the predetermined condition is that the vehicle has stopped.

Further, the present invention provides a vehicle navigation device that performs route guidance to a destination according to a preset route, and includes a current position detection unit, an input unit, and data necessary for performing a route search process and a guidance process. Information storage means for storing, and navigation processing means for performing route search processing and guidance processing based on data detected by the current position detection means, data input by the input means, and data stored in the information storage means And output means for outputting guidance data, wherein the navigation processing means detects a departure from the set route, and displays a route from the current position detected by the current position detection means to the destination. Search again,
The information based on the re-searched route is compared with the information based on the route that has already been set and stored, and the route guidance is performed based on the re-searched new route according to a predetermined condition. It is characterized in that it is determined whether route guidance is to be performed based on a set and stored route, and route guidance is performed based on the determined route.

In the present invention, the predetermined condition is to compare the distance to the destination on the re-searched new route with the distance to the destination when returning to the route already set and stored, It is characterized by being based on the comparison result.

Further, the present invention disables the new system when the distance to the destination on the new route is larger than a value obtained by multiplying the distance to the destination when returning to the route already set and stored by a predetermined value. Route guidance is performed based on a route that has been set and stored.

Further, the present invention is characterized in that when a new route is invalid, a message without a route is output.

[Action and effect of the invention]

According to the present invention, the re-search is started when the vehicle goes off the preset course and a predetermined condition for starting the re-search based on the user's request is input. Can be performed, and the user does not perform re-searching that the user does not need. Further, when the predetermined condition is the stop of the vehicle, the user can request the execution of the re-search without particularly operating the navigation device, and since the vehicle is stopped, it is easy to confirm the re-search result. .

Further, depending on the result of comparing the distance to the destination on the new course obtained as a result of the re-search and the distance to the destination when returning to the already set and stored course, a new course may be obtained. Is invalidated, so that a new course obtained as a result of the re-searching does not calculate a circuitous course as compared with a previously set and stored course. If the distance to the destination on the new course is larger than the value obtained by multiplying the distance to the destination when returning to the course that has already been set and stored by a predetermined value,
Since the new course is invalidated, the detour of the new course can be easily determined. further,
When a new course is invalid, a message indicating no course is output, so that the user can be prompted to return to the already set and stored course, and the new route is The search and display are not performed, and the system is not mistaken for a failure.

〔Example〕

 Hereinafter, embodiments will be described with reference to the drawings.

FIG. 1 is a diagram showing the configuration of a vehicle navigation apparatus according to the present invention, wherein 1 is a distance sensor, 3 is a serpentine angle sensor, and these constitute a current position detecting means. Reference numeral 5 denotes a current location / destination input unit, which is a data input unit for performing a route search. Reference numeral 7 denotes a navigation processing means, which includes a curve detection unit 9, a comparison / judgment unit 11, a route search unit 13,
It has a guidance processing unit 15. Angle-traveling direction conversion table 17, intersection data file 19, node data file
21, road data file 23, search route data file 2
5. The photograph data file 27 and the map data file 29 are data necessary for performing route search processing and guidance processing and are stored in the information storage means. Reference numeral 31 denotes a display unit, and 33 denotes an audio output unit, which constitute output means.

The distance sensor 1 measures the traveling distance of the vehicle, and may be, for example, a sensor that detects and counts the number of rotations of a wheel, or a sensor that detects acceleration and performs second-order integration, but other measuring means. You may. The steering angle sensor 3 detects whether or not the vehicle has turned at an intersection. For example, an optical rotation sensor or a rotation resistance volume attached to a rotating portion of a steering wheel can be used, but an angle sensor attached to a wheel portion may be used. The present location / destination input unit 5 may be a joystick, a key, or a touch panel, or may be a unit that is combined with a screen of the display unit 8 to display a key or a menu on the screen and input from the screen.

The navigation processing means 7 is the center of the navigation device, and includes a curve detection unit 9, a comparison / judgment unit 11, a route search unit 13, and a guidance processing unit 15.

When the current location and the destination are input from the input unit 5, the route search unit 13 reads intersection data, node data, and road data, which will be described later, from each file and performs a route search. Store. The curve detecting section 9 reads the detection outputs from the distance sensor 1 and the angle sensor 3 as described later, and converts the angle-traveling direction conversion table 17.
To detect a change in the direction of the vehicle. Comparison / judgment unit 11
Determines whether or not the vehicle is traveling along the course by comparing the route data searched between the guidance intersections on the course and between the guidance intersections with the traveling data from the curve detecting section 9. While traveling, the guidance processing unit 15 sequentially displays a guide intersection at the searched route, a characteristic photograph in the course of the course, displays a guidance map, displays the remaining distance to the next intersection, and other guidance information. And a voice guidance from the voice output unit 25, and when a deviation from the course is detected, a message to that effect is given, or the driver is notified by voice that the vehicle has deviated from the course, and further instructions are given as described later. give.

Next, the processing of the curve detection unit will be described with reference to FIGS.

When a detection signal is input from each of the distance sensor 1 and the angle sensor 3, the curve detector 9 calculates a change in the traveling direction of the vehicle with reference to the angle-traveling direction conversion table 17. As shown in FIG. 2, the steering angle-traveling direction conversion table 17 converts the steering angle θ into a traveling direction change Δα per unit distance. Then, as shown in FIG. 3, the curve detecting section 9 adds (integrates) Δα to the detected bending angle until the bending angle exceeds a certain threshold value a and returns to within the threshold value again. . From this added value, it is calculated how much the traveling direction of the vehicle has changed from the start of turning the steering wheel to the end of turning. In FIG. 3, L represents an intersection detection range, l represents an inspection range after angle detection, a fixed distance after returning a steering wheel in consideration of a lane change, etc., and d represents a distance from a bending point to a determination.

Next, intersection data, node data, and road data used for a route search will be described.

The intersection data is information on roads crossing the intersection, the node data is information on pedestrian crossings and tunnels that can be detected by sensors and the like at characteristic points on the course, and the road data is information on the road such as start points and end points.

FIG. 4 is a diagram showing an example of a road network, intersection data, road data, and node string data.

In order to accurately grasp the distance from the current position of the vehicle to the target at any time, as a road network, for example, intersection numbers I to IV and road numbers to as shown in FIG.
In this case, the intersection data is constituted as shown in FIG. 6B, the road data is constituted as shown in FIG. 7C, and the node data is constituted as shown in FIG.

That is, the intersection data includes the intersection name corresponding to the intersection numbers I to IV, the road number having the smallest number among the roads starting from the intersection, as shown in FIG.
It consists of the road number with the smallest number among the roads ending at the intersection, and the presence or absence of a signal.

In addition, as shown in FIG. 3C, the road data includes a starting point, an ending point, a road having the same starting point, a next starting point and a road having the same ending point. Consists of the following, road thickness, prohibition information, guidance unnecessary information, photo number, number of nodes, head address of node string data, length, and the like.

The node data includes east longitude, north latitude, attributes, and the like as shown in FIG. 4D, and the unit of the road number is composed of a plurality of nodes, as is clear from the road data. That is, the node data is data relating to one point on the road, and if a connection between nodes is called an arc, a road is realized by connecting each of a plurality of node rows with an arc. For example, regarding the road number, since the number of nodes is 15 from the road data and the head address of the node data is 100, the road number is 100
To 114 of the node data.

According to these network data, for example, when focusing on the intersection number I, in the course starting from this point,
First, a road number is searched from the start point information of the intersection data, and then a road number is searched from "the road having the same start point has the next number" in the road data related to this road number. Then, with the same information in the road number, it can be determined that there is no other road number as the surrounding road because the road number is the reverse. This is the same for the starting point. In the road number in the road data, since the road number is prohibited, the intersection number IV of the network shown in FIG. The only roads that can be entered are road numbers. Therefore, there is no need for guidance to enter this road number.

When the current location and the destination are input, the route search unit 13 performs a route search by referring to the intersection data, road data, and node data.

FIG. 5 shows the data generated by the route search,
(A) is intersection column data, and (b) is node column data. The intersection name, the intersection number, the photograph number of the characteristic scenery of the intersection, the turning angle, the distance, and other information are included, and the node string data includes the east longitude representing the node position as shown in FIG. , North latitude, and intersection number,
It consists of information such as attributes, angles, and distances. Moreover, these data are data of only intersections requiring guidance, excluding intersections requiring no guidance. The route data generated in this way is read out by the guidance processing unit 15, and this data is sequentially read out at any time according to the traveling position. At the same time, photograph data and map data are read out as necessary and displayed on the display unit 31.

Next, the navigation processing according to the present invention will be described with reference to the flowchart of FIG.

First, a parking lot exit where the vehicle is normally parked is input as a starting point as the first position of the vehicle (step 101).
Read the values detected by the distance sensor and the angle sensor (Step 10
2, 103), and the amount of change in the detection value of the distance sensor is calculated (step 104). When it is detected that the amount of change in the detection value of the distance sensor is not 0 and the vehicle is traveling, the vehicle goes through a curve detection routine to be described later (step 106) and determines whether or not the vehicle is off the course. After the departure routine (steps 107 and 108), the advanced distance is subtracted from the remaining distance to the next guidance intersection (step 109), and the guidance guidance of the next guidance intersection is displayed. Repeat such processing,
Reach the entrance to the destination parking lot.

Next, a curve detection routine will be described with reference to FIG.

First, in a start step 201, a curve detection routine is entered, and it is determined whether or not the steering angle is larger than a predetermined value a (step 202). If it is larger, the change in the traveling direction Δα according to the current steering angle θ is added to the previous vehicle direction (step 204), and it is determined from the traveling distance data whether or not the current position is within the detection range L from the intersection at which the current position should turn ( Step 20
5) If within the range L, set the in-range / curve detection flag to O.
N (step 206).
The curve detection flag is turned off (step 207). next,
It is determined whether or not the steering angle θ is maximum (step 208). If the steering angle is maximum, a distance counter is initialized to count the distance from the steering angle maximum point (step 209). Distance d as it is not bent
Is added (step 210), and the routine proceeds to step 211. Also,
If the steering angle is smaller than the predetermined value a (not a right / left turn) in step 202, it is determined whether the added value of the change in the traveling direction calculated based on the steering angle-traveling direction conversion table is larger than the predetermined value b. Then, if there is a change in the traveling direction by a predetermined amount or more (step 203), the process jumps to step 210. If the azimuth change does not exceed a predetermined value in step 203, each parameter value is initialized and it is determined whether or not the vehicle has passed the guidance intersection range L (step 222). If not, return.

Next, in step 211, it is determined whether or not the vehicle has traveled 1 or more since the snake becomes smaller than a. If the vehicle has not traveled 1 or more, the process jumps to step 224 and returns. Also l
If the vehicle is traveling as described above, it is determined that the turning of the steering wheel has been completed and the right / left turn has been completed, and the added value of the change in the traveling direction calculated based on the steering angle-traveling direction conversion table is a predetermined value b.
It is determined whether or not there has been a change in the traveling direction that is greater than a predetermined value (step 212). If the value is smaller than the predetermined value b, each parameter value is initialized (step 221), and it is determined whether or not the vehicle has passed the guidance intersection range L (step 222).
If it has passed, the off-course flag is turned on, and if it has not passed the range L, the routine returns. In step 212, if there is a change in the traveling direction by a predetermined amount or more, it is determined whether the in-range / curve detection flag is ON (step 213). If ON, the road intersection angle at the intersection to be turned is detected. It is determined whether or not the difference from the turned corner is equal to or smaller than a predetermined value c (step 214). If the difference is equal to or larger than the predetermined value, it is determined that the vehicle has turned off the course by turning in a different direction,
ON (step 220), if it is within a certain value, it is determined that the intersection to be turned is correctly turned (step 225), and the distance d from the maximum point of the horn is subtracted from the distance to the next intersection as the remaining distance. (Step 226), each parameter value is initialized (Step 221), and the process returns because the vehicle does not pass through the range L of the guidance intersection.

If the in-range / curve detection flag is not ON in step 213 and not in the vicinity of the guidance intersection, all the nodes within the remaining distance ± α are checked (step 217), and the nodes whose azimuth addition value and angle difference are equal to or smaller than a certain value are checked. It is checked whether or not there is (Step 218). If there is, the curve is determined not to be off the course but to a curve that is not a right or left turn at an intersection, and the routine returns. Is judged to be out of the course (step 219).

With the above processing, the deviation of the course can be detected by detecting the guidance intersection and the curve between the guidance intersections.

Next, the off-course routine will be described with reference to FIG.

First, in a start step 301, an off-course routine is entered, and it is determined whether the vehicle has passed an intersection to be turned, turned at a different intersection, or turned in a different direction (step 302). If it is determined that the vehicle has passed the intersection to be turned (see step 223 in FIG. 7), the ninth
As shown in FIG. 7A, an off-course screen indicating that the vehicle has passed the course is displayed, and the fact that the vehicle has passed the course has been notified by voice (steps 303 and 304). If it is determined that the vehicle has turned at a different intersection (see step 219 in FIG. 7), the user is notified by voice that the vehicle has turned off the course at a different intersection (steps 305 and 306). If it is determined that the vehicle has turned in a different direction (see step 220 in FIG. 7), an off-course screen indicating that the vehicle has turned in a different direction is displayed, and a voice that the vehicle has turned off the course in a different direction is given by voice (step 220). 307, 308).

If any of these courses is off the course, stop is displayed to determine whether the vehicle has stopped (step 30).
9) Add the distance from the point off the course while the vehicle is not stopped (step 310), and when the vehicle is stopped, determine whether there is intersection data near it (step 310).
311). In this way, when the predetermined condition of stopping is input, if there is intersection data, a display indicating that the route is being searched is displayed on the screen as shown in FIG. 312, 313), it is determined whether there is a new course (step 314). If there is a course, the remaining distance to the destination on the new course is compared with the remaining distance to the destination on the previous course multiplied by a coefficient, for example, 1.5 (step 317). If it is not longer, a message screen indicating that there is a course is displayed as shown in FIG. 9D (step 318), and traveling is started (step 319). If there is no intersection in step 311, if there is no course in step 314, or if the new course is invalid in step 317 because it is longer than the value obtained by multiplying the remaining distance by a coefficient, FIG. 9 (c) The message of no course and the instruction message of returning to the off-course point and touching “Resume” are displayed as shown in
315) Return to the off-course point and use the touch panel.
Resume is input (step 316). By this measure, it is possible to return to the navigation in the original course (the course already set and stored in the file 25 as the search route data).

As described above, according to the present invention, when it is determined that the vehicle deviates from the scheduled route based on the intersection data and the node data, the vehicle deviates from the course and gives an instruction thereafter, and a new route is provided as necessary. Guidance or instructions to return to the point where you left off, so you can immediately know that you have left the course, and you do not always need to return to the point you were traveling before, so the appropriate instructions are given, so driving By following the instruction, the person can quickly reach the destination, and can travel with peace of mind.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a vehicle navigation apparatus having a guide means when the vehicle is off the course according to the present invention, FIG. 2 is a diagram showing a change in a traveling direction per unit distance with respect to a steering angle, and FIG. 4 (a) is a road network, (b) is intersection data, (c) is road data, (d) is a diagram showing node string data, and FIG. 5 (a) Fig. 6 shows the searched intersection data, and Fig. 6 (b) shows the searched course node sequence data.
FIG. 8 is a diagram for explaining a navigation process according to the present invention, and FIG. 9 is a diagram for explaining a guidance instruction when the vehicle goes off the course. 1 ... distance sensor, 3 ... angle sensor, 5 ... current location
Destination input unit 7, navigation processing unit 9, curve detection unit 11, comparison / judgment unit 13, route search unit 13,
15 ... Guide processing unit, 17 ... Converted angle-traveling direction conversion table, 19 ... Intersection data file, 21 ... Node data file, 23 ... Road data file, 25 ... Search route data file, 27 ... Is a photo data file, 29 ……
Map data file, 31 ... Display unit, 33 ... Sound output unit.

Continuation of the front page (56) References JP-A-61-216100 (JP, A) JP-A-61-100609 (JP, A) JP-A-63-163210 (JP, A) JP-A-58-223017 (JP) JP-A-61-212718 (JP, A) JP-A-61-220100 (JP, A) JP-A-58-52516 (JP, A) JP-A-59-105113 (JP, A) 61-38518 (JP, A) JP-A-62-37800 (JP, A) JP-A-62-95423 (JP, A) JP-A-62-243029 (JP, A) JP-A-56-42900 (JP, A) A) JP-A-61-115298 (JP, A) JP-A-63-3400 (JP, A) JP-A-61-9977 (JP, A) JP-A-60-41200 (JP, A) No. 163309 (JP, U) Japanese Utility Model Application Sho 62-66400 (JP, U) Otmar Pilsak, "EVA-An Electronic Trafic Pilot for Motorists" SP-SAE, No. SP-654, p. 99-106, 1986

Claims (7)

(57) [Claims] 1. A vehicle navigation device for performing route guidance to a destination according to a preset route, wherein a current position detecting means, an input means, and data necessary for performing a route searching process and a guiding process are stored. Information processing means for performing route search processing and guidance processing based on data detected by the current position detection means, data input by the input means, and data stored in the information storage means; Output means for outputting guidance data, wherein the navigation processing means detects a deviation from a set route and inputs a predetermined condition for starting a re-search based on a user request. The route from the current position detected by the current position detecting means to the destination is searched again on condition that the current position is detected. Dual-use navigation device. 2. The vehicle navigation device according to claim 1, wherein said predetermined condition is input by a user. 3. The vehicle navigation device according to claim 1, wherein said predetermined condition is that the vehicle has stopped. 4. A vehicle navigation device for performing route guidance to a destination according to a preset route, wherein a current position detecting means, an input means, and data necessary for performing a route search process and a guide process are stored. Information processing means for performing route search processing and guidance processing based on data detected by the current position detection means, data input by the input means, and data stored in the information storage means; Output means for outputting guidance data, wherein the navigation processing means detects that the route has deviated from the set route, and reproduces the route from the current position detected by the current position detection means to the destination. Searching, comparing the information based on the re-searched route with the information based on the route already set and stored, and Determining whether to perform route guidance based on the re-searched new route or route guidance based on a route that has been set and stored, and performs route guidance based on the determined route. Vehicle navigation device. 5. The predetermined condition is to compare a distance to a destination in a re-searched new route with a distance to a destination when returning to a route which has been set and stored. 5. The vehicle navigation device according to claim 4, wherein the navigation device is based on a comparison result. 6. The distance to a destination on a new route,
When the distance to the destination when returning to the route already set and stored is larger than a predetermined multiple, a new route is invalidated and route guidance is performed based on the route already set and stored. Claim 5 characterized by the following.
The vehicle navigation device according to any one of the preceding claims. 7. The vehicular navigation device according to claim 6, wherein a message indicating no route is output when the new route is invalid.