JP3009682B2 - Navigation device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION The present invention relates to a route guidance system of a navigation device that switches guidance information on a course and near a destination.

[Conventional technology]

In a vehicle navigation device that provides a course guide to a destination by designating a departure place and a destination, in order to enable a driver to drive an unfamiliar route with peace of mind, the guidance method, the information to be provided, and the information The manner of presentation is very important. In particular, it is necessary for the driver to pay close attention to traveling and not to disturb the flow of the vehicle, and the navigation device provides the driver operating in such a situation with accurate course guidance information. It is required to provide.

The present applicant tracks the current position from the speed and steering angle information of the vehicle, confirms the current position at the intersection, and displays the surrounding features on the screen about the intersection passing before the intersection,
Furthermore, a navigation device has been proposed in which a driver is instructed on the direction of travel at an intersection (for example, Japanese Patent Application No. 63-202475).
No.) This device recognizes the range of the intersection from the traveling distance, recognizes the traveling direction at the intersection from the steering angle, checks off-course, and enables correction of the course.

[Problems to be solved by the invention]

However, even with the above navigation device, for example, when the distance between intersections is long, it is difficult to confirm the course on the way, and there is a problem that the driver is anxious.

In the middle part of a long course, a main road is often set as a result of the route search. In the case of traveling in the middle of the course through such a highway, it is only necessary to head toward the destination as a direction, so that detailed guidance is not required more than near the destination. In other words, the route guidance to the vicinity of the destination is easy to understand and is not so limited, and a course guide having a certain degree of freedom is acceptable. However, if guidance is provided at intersections over the entire course, on intermediate courses with many intersections, information on the course guidance is provided more than necessary, which is troublesome for the driver and wasteful for the device. .

An object of the present invention is to solve the above-described problems, and an object of the present invention is to perform a course guide efficiently and easily by switching a guide system between a passing course and a destination. It is another object of the present invention to provide simple guidance in a passing course and provide detailed route guidance in the vicinity of a destination to efficiently and easily understand a course with an appropriate amount of information. Still another object of the present invention is to provide a more efficient and easy-to-check course guide by switching the guide system between the vicinity of the departure point, the vicinity of the destination, and the passing course.

[Means for solving the problem]

Therefore, the present invention is a navigation device that sets a route from a departure point to a destination and outputs guidance information for guiding to the destination along the route. The stored storage means, the current position detection means for detecting the current position of the vehicle, the setting means for setting a specific point, and the current position of the vehicle detected by the current position detection means based on the map information stored in the storage means Guidance information output means for outputting a guide information for drawing a map at a position and guiding to a destination; determining means for determining that the current position of the vehicle has reached a specific point set by the setting means; The guidance information output means includes an output form of guidance information that guides the vehicle from a current position to a destination along a route from a departure point to a destination as an output form of guidance information. A switching function for outputting the detailed guidance information in the vicinity of the route, and the detailed guidance information is provided on condition that the determination unit determines that the current position of the vehicle has reached the specific point. The guide information is output by switching to the output mode of (1).

Further, the map information has drawing information of a mark related to a facility such as a gas station drawn on a map, the specific point is a point of the mark related to the facility drawn on a map, and the guide information. The output unit outputs guidance information in which the mark is drawn at the point of the mark, and the determination unit includes:
When the current position of the vehicle is within a predetermined distance from the specific point, it is determined that the vehicle has reached the specific point. The map information includes drawing information of a landmark related to a facility drawn on a map, the specific point is a point and a destination of the landmark related to the facility drawn on a map, and the guidance information output unit includes: The output form of the detailed guide information for confirming the current position by the mark at the point of the mark, and the output form of the detailed guide information for guiding to the destination at the destination. And The storage unit stores map information of a road map and a map other than the road map, and the guide information output unit outputs an output form of guide information for guiding the vehicle from a current position to a destination along the route. And outputting guidance information based on different maps in an output form of detailed guidance information near the route.

[Action and effect of the invention]

In the navigation device according to the present invention, a storage unit that stores information about a map, a current position detection unit that detects a current position of a vehicle, and a guidance information output that outputs guidance information based on the information about the map and the current position of the vehicle. Means, and determining means for determining that the current position of the vehicle has reached a predetermined point set in advance, wherein the guidance information output means determines that the current position of the vehicle has reached the predetermined point by the determining means. When the judgment is made, the output information is switched and the guidance information is output. Therefore, a point where a mark is drawn on a map is set as a predetermined point, and the departure point and the destination are set in the output form using simple guidance information in the middle of the course. In the vicinity, it is possible to switch to an output mode based on detailed guidance information, and it is possible to efficiently and easily provide course guidance with an appropriate amount of information.

〔Example〕

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

FIG. 1 is a diagram showing a configuration of a navigation device according to an embodiment of the present invention, FIG. 2 is a diagram showing a configuration example of a map database, FIG. 3 is a diagram showing a configuration example of a GS database, FIG.
The figure is a diagram for explaining an example of switching the course guidance system,
FIG. 5 is a diagram showing an example of a guidance display.

In FIG. 1, reference numeral 1 denotes a CPU, 2 denotes input means, 3 denotes position detection means, 4 denotes a map database, 5 denotes a GS database, and 6 denotes output means. The CPU 1 is a navigation processing device provided with various programs required for navigation, such as a course guidance (navigation) program, a route search program, a current position tracking program, and the like, based on input information from the input means 2 and the position detection means 3. A predetermined program is started, the data stored in the map database 4 and the GS database 5 are taken and processed, and output means 6
Through this, the driver is provided with course guidance information, menus for setting the course, and other necessary information. The input unit 2 includes a touch panel, a keyboard, and the like, and a touch panel is mounted on a display screen that forms a part of the output unit 6.
Enter the destination, departure place and other information. The position detecting means 3 comprises a group of sensors for detecting the direction of the running history and the position of the vehicle, such as a distance sensor, a steering sensor, and a geomagnetic sensor, and detects the running distance and the running direction of the vehicle to track the current position of the vehicle. It is used for The map database 4 has a road network and surrounding characteristic information based on road network data and coordinate data as shown in FIG.
The GS database 5 has information on each gas station (GS) in the area to be navigated as shown in FIG. The output means 6 includes a display device such as a CRT, a liquid crystal display, and a plasma display;
It consists of audio output devices, which are installed near the driver's seat at a position where necessary information can be accurately transmitted to the driver,
Outputs information such as course guidance.

If there is a road network composed of intersection numbers I to VII and road numbers, for example, as shown in FIG. 2 (a), the map database 4 shows the intersection data in FIG. 2 (b) and the road data in FIG. 2 (c). , Node data has a data structure as shown in FIG.

As shown in FIG. 3B, the intersection data corresponds to the intersection numbers I to VII, and at least the smallest road number among the roads where the intersection is the starting point, and the road number of the road where the intersection is the ending point. The information includes the smallest road number, the position of the intersection (East longitude, north latitude), and the name of the intersection.

Further, the road data is represented by the next road number among the roads having at least the same starting point, the next road number among the roads having the same ending point, and the intersection number corresponding to the road numbers 1 to 3 as shown in FIG. Start point, end point, node string pointer,
Have information on road length. As is clear from the figure, the next road number among the roads having the same start point and the next road number among the roads having the same end point must be generated by searching for the same number from the start point and the end point by the intersection number. Can be. The road length can also be obtained by integrating the position information of the next node string data.

The node string data has the number of nodes at the head pointed by the node string pointer of the road data as shown in FIG. 3D, and then, for the node corresponding to the number, the node position (East longitude, North latitude) information is given. have. That is, a node sequence is configured for each road data. The illustrated example shows a node sequence with a road number.

As is clear from the above data structure, the unit of the road number is composed of a plurality of nodes. That is, the node string data is a set of data relating to one point on the road, and when a connection between nodes is called an arc, a road is represented by connecting each of the plurality of node strings with an arc. . For example, regarding the road number, it is possible to access the node string data A000 from the node string pointer of the road data. Here, it can be recognized that the road number is composed of 15 nodes.

Further, for example, when attention is paid to the intersection number V, in the course starting from this point, first, the road number is obtained from the information of the road where the intersection data appears, and then the “next road number having the same start point” of the road data related to this road number Is searched for the road number. Then, the road number and the succeeding information are searched from the same information on the road number. Here, since the road number is the first road number, it can be determined that there is no other road number as the surrounding road. This is the same for the end point. By using the intersection data and the road data in this way, it is possible to search for the road number that goes in and out of each intersection, and to determine the distance of the route connecting each intersection. Further, by adding driving conditions such as entry prohibition, right / left turn prohibition, and road width to these data, it is possible to provide, for example, information for performing a route search, which will be described later, extremely finely.

The GS database 5 includes, for example, as shown in FIG. 3, a telephone number, coordinate values of east longitude and north latitude, position information based on a connecting intersection for linking to the map database 4, identification of a gas station name, its landmark pattern, and the like. Have information. Therefore, when a course with an intersection row is set, a gas station on the course can be searched by searching for a connecting intersection in the GS database from that intersection, and the landmark pattern of that gas station according to the coordinates of the east longitude and north latitude. Etc. can be drawn on the course.

The route guidance system of the navigation device according to the present invention includes:
In the system having the above configuration, as shown in FIG. 4, guidance is provided by the gas station GS in the middle of the course, and guidance is provided by a conventional intersection near the destination.
For example, when a departure place and a destination are designated, a map including a destination position is displayed as shown in FIG. 5A, and a gas station GS is displayed thereon. And
Track the current position and display the current position. Also, on this screen, set the key of "Enter phone number" as shown in the figure,
At the location of the gas station GS, the telephone number of the gas station GS can be entered. Therefore, GS
The driver reads the information about the gas station GS from the database, displays the telephone number, name, and landmark pattern as shown in FIG. 3B, updates and corrects the current position, and allows the driver to confirm the current position. It can be carried out. When the gas station GS arrives at the gas station GS near the destination as the course guidance information in this way, the route guidance display is started from the gas station GS using the intersection as the course guidance information as shown in FIG. . In FIG. 3C, the remaining distance to the intersection is displayed on the right side of the screen, and the traveling direction of the intersection is displayed using the center from the right side of the screen. In this example, guidance for turning right at an intrusion intersection is displayed.

FIG. 6 is a diagram for explaining the overall processing flow in the navigation device according to the present invention.

In the navigation device according to the present invention, first, a destination position and a current position are input as shown in FIG. 6 (steps to).

Next, a gas station GS near the destination is selected, and a route from the gas station GS to the destination is searched (steps to).

Then, the data is read from the map database so as to include the destination and the departure point, and the map is drawn. In addition, as shown in FIG. Based on the coordinate data (drawing step ~).

Thereafter, the current position is drawn, and it is checked whether or not the drawing area of “input telephone number” is touched on the screen (steps 1 to 4).

In the case of YES, it recognizes the telephone number that is subsequently entered, searches for the corresponding gas station GS from the telephone number, sets the position of the gas station GS to the current position, and sets the current position as shown in FIG. A screen as shown is displayed for a certain time (step). If NO, the current position tracking process is performed (step).

When the current position confirmation or current position tracking process is performed, it is checked whether the vehicle has arrived at the gas station GS near the destination,
If NO, the process returns to the current position drawing and the same processing is repeated (steps to).

If YES, that is, gas station G near the destination
When the vehicle arrives at S, a route guidance as shown in FIG. 5C is displayed, and course guidance at an intersection is provided to the destination (step).

As described above, in the route guidance system of the navigation device according to the present invention, the course is guided by the gas station GS, so that the system can provide the course guidance with simple processing, and the driver can also find the current position. Confirmation can be performed easily. In other words, on major roads, gas stations GS exist at certain intervals, and can be stopped freely, and the telephone number of the gas station GS can be easily known. Therefore, the driver touches the drawing area of “input phone number” on the screen and inputs the phone number of the gas station GS,
The current position can be easily confirmed on the screens shown in FIGS. 5 (a) and 5 (b). In other words, gas station GS
It is possible to travel to the vicinity of the destination while sequentially confirming the current position using as a guide.

Next, the main subroutines of the processing described with reference to FIG. 6, (A) selection of the GS near the destination, (B) route search from the GS near the destination to the destination (C) confirmation of the current position, (D) current position An example of tracking will be described in more detail.

(A) Destination neighborhood GS selection FIG. 7 shows an example of a destination neighborhood GS selection subroutine, FIG. 8 shows an example of a search data initialization subroutine, and FIG. 9 shows a search start point and an end point. Diagram showing an example of a setting subroutine, FIG. 10 is a diagram showing an example of a route search subroutine from a departure place, FIG. 11 is a diagram showing an example of a traveling surrounding road search subroutine, and FIG. FIG. 13 is a diagram showing an example of an end condition confirmation subroutine, and FIG. 14 is a diagram showing an example of selecting a GS near the destination.

In the step of FIG. 6, first, all the data of the gas station GS within a predetermined distance from the destination is extracted as shown in FIG. This is, for example, GS data of coordinate values that fall within a certain radius around the destination.

Then, the search data is initialized. In this setting, as shown in FIG. 8, the distance L (c) from the search start point to the intersection C is set to ∞, the search state flag F (c) and the search end flag F0 (c) are set to 0, and the search has been completed. Set 0 to the number k.

Next, the search start intersections s0 and s1 are set with the connecting intersection of the departure point, and the distance L from the search start point of the intersection is set.
(S0) and L (s1) are set to the distance from the departure position, n is the number of GS within a predetermined distance, and the search end intersection e
The connecting intersection of GS within a predetermined distance is set to 0 _i and e1 _i .

Next, a search start point and an end point are set. In this setting, as shown in FIG. 9, the search state flags F (s0) and F (s1) of the search start intersections s0 and s1 are set to “1” indicating that the search is in progress, and the search end intersections e0 _i and e1 _{i are set.} Search end flag F0 (e0
_i ) and “1” indicating the end of the search are set in F0 (e1 _i ).

Next, a route search from the departure place is performed. In this search,
As shown in FIG. 10, the flag F is "2" is not and distance L (c) searches for the intersection number c ₀ to the minimum.

Run the progress ambient road search subroutine searches for the surrounding roads starting from the intersection number c _0.

 Check if there is a surrounding road.

If YES, the process proceeds to the next process. If NO, the process proceeds.

An optimum route condition setting subroutine is executed to set road conditions and other conditions for searching for an optimum route.

The intersection number of the end point of the road is c ₁ , and the length of the road is l
And

 The distance P to the intersection at the end point of the road is calculated.

Calculate P = L (c ₀ ) +1.

Here L (c ₀₎ is the distance from the departure point to the intersection number c _0, P is the distance to the intersection number c ₁ endpoint through the road from the intersection number c ₀ (road being searched) .

It is checked whether P <L (c ₁ ) and F (c ₁ ) ≠ 2.

If YES, the process proceeds to the next process. If NO, the process returns.

The distance from the starting point to the intersection number c ₁ in the search L
The (c ₁₎ P, the intersection number flag F (c ₁₎ to "1" in the c _1, the intersection number c ₁ road number has been passed up to the R (c ₁₎ and a road number of the search in I do.

If NO in the processing, F (c ₀ ) is set to “2”.

 Execute the end condition confirmation subroutine.

It is determined whether or not the processing has been completed. If NO, the process returns to the process. If YES, the process is terminated.

By performing the above processing, the road numbers of the optimum course from the departure point to the intersection number are set for each intersection number in correspondence with each intersection number.

The surrounding road search subroutine of the above processing is performed in the eleventh step.
The processing shown in the figure is performed. That is, it is checked whether or not the search for the surrounding road is the first time.

In the case of YES, the processing shifts to processing. In the case of NO, the processing shifts to processing.

Intersection c ₀ which are here from the intersection data stores removed road number that is the starting point.

Retrieve the prohibition road in the road number comes to the intersection c ₀ in the search with reference to the road data.

 Check whether the road taken out is a prohibited road.

If YES, the process proceeds to the process. If NO, the process proceeds to the next process.

The road that has just been taken out is stored as the surrounding road, and the process returns.

The road number having the same starting point as the previously searched road and the next road number is extracted from the road data.

It is checked whether the road searched first and the road just taken out are the same.

If YES, the process proceeds to the next process. If NO, the process returns.

 Judge that there is no surrounding road and return.

The optimal route condition setting subroutine of the process shown in FIG. 10 performs the process shown in FIG. That is, the size W and the length 1 of the surrounding road are read from the road data.

It is checked whether or not the size W of the surrounding road is 1 or less.

If YES, the process proceeds to the next process. If NO, the process proceeds.

Let l be the length obtained by multiplying the length l by a. That is, if a road where D is larger than 1 is a normal wide road and a road where D is 1 or less is a thin road, the thin road is a
The evaluation is double the distance. Therefore, a is a number greater than one.

The guidance unnecessary data of the road that has passed to the intersection currently being searched is read from the road data.

It is checked whether there is a surrounding road that matches the guidance unnecessary data.

If YES, the process returns. If NO, the process proceeds to the next step.

Further, a value obtained by adding bm to the length l is set as a new length l, and the process returns. That is, for intersections that do not require guidance,
Intersections that require guidance such as turning left and right are converted to distances and evaluated with bm added.

Then, in the end condition confirmation subroutine of the process shown in FIG. 10, the intersection number c ₀ of the search target, as shown in FIG. 13
It is determined whether the search end flag F0 (c ₀ ) is “1” and YES
In the case of, the searched number k is incremented by one, and for example, an end flag is set on condition that k becomes n.

When the route search from the departure point in FIG. 7 is completed as described above, the intersection where the distance L (c) from the departure point becomes the minimum is searched for among the intersections in which the search end flag F0 (c) is 1. , And its intersection as C _min .

And a gas station GS with C _min as the connecting intersection
Is the GS near the destination.

The GS in the vicinity of the destination selected in this way contacts the intersection located on the shortest route from the departure point among the gas stations GS within a predetermined distance from the destination as shown in FIG. 14 (b). Gas station GS. On the other hand, as shown in FIG. 7A, the gas station GS located at the shortest distance on the coordinates may be selected from the gas stations GS located within a predetermined distance from the destination. In this case, the data of the gas station GS within a predetermined range from the destination is extracted, and the straight line distance d _di from the destination to the gas station GS, and the gas station GS from the departure point, respectively.
Determine the straight line distance d _oi up, to a destination near GS gas stations GS that d _di + d _oi is minimized.

(B) Route Search from Destination Neighboring GS to Destination First, a route end node sequence creation process for creating a node sequence from the destination to a nearby intersection and a route search process from the intersection will be described.

FIG. 15 is a diagram showing a setting of a destination and an example of a data configuration thereof,
FIG. 16 is a diagram for explaining the flow of the path end node sequence creation processing.

FIG. 15 shows an example of a case where a destination is set between an intersection and an intersection.
A node sequence from the destination to the nearest intersection is created, and node search is performed sequentially from the nearest intersection to a node closest to the position information of the destination to create a node sequence. For example, when a destination A is given as coordinate data of a position that is not directly related to a road between intersections I and II as shown in FIG. The data is represented by the intersections I and II at 135 ° east longitude and 35 ° north latitude as shown in FIG. When the destination A is given by the distance from one of the intersections I between the intersections I and II as shown in FIG. 3C, the destination data is obtained as shown in FIG. At intersections I and II, distance 50m from intersection I
Is expressed as Therefore, in the path end node sequence creation processing,
A node sequence from the connecting intersection to the node at the destination A or the nearest node is created.

With reference to FIG. 16, the flow of the route end node sequence creation processing for the input setting of the destination as shown in FIG. 15 will be described.

First, it is checked whether or not the input setting of the destination is a coordinate designation as shown in FIG. 15 (b). If YES, the next coordinate designation process is performed. Since the input setting for the distance designation is as shown in FIG.

(A) Coordinate designation processing; FIG. 16 (a) Let N be the node at the connecting intersection I.

Assuming that the destination node is N ₀ , a straight-line distance D = NN ₀ between the connecting intersection I and the destination is calculated, and the distance D is stored in the memory.

 The distance D is stored in the memory.

 It is checked whether or not the node N is the connecting intersection II.

In the case of YES, it means that the destination is the connecting intersection II, so the node N is stored and the processing is ended. This determination cannot be made in the first process, but is performed when the process to is repeated for the node up to the connecting intersection II and the end condition is not reached. If NO, the following processing is performed.

 The node next to the node N is N '.

 The division constant t is set to 0.

Coordinates N _x node N, for N _y and _{N x = (1-t)} N x + tN x 'N y = (1-t) N y + tN y'.

Distance NN using coordinates calculated by distance D
₀ , that is, whether or not the distance from the point obtained by dividing the node N and the next node N 'by the division constant t to the destination node N0 is larger than ₀ .

If YES, the following processing is performed. In this case, since the current point is closer to the destination than the previous point, the point is further shifted. If NO, the coordinates N _x , N
_y is stored in the memory and the processing is terminated. That is, in the case of NO, although the vehicle has approached the destination up to the previous point, the current point indicates that it is farther from the destination than the previous point, so the node N at this time and the next node N ′ Is the closest to the destination, and a node sequence from here to the connecting intersection may be created.

Replace the distance D to the NN _0.

The division constant t is added by 0.1. That is, if the dividing point is 10
Shift by%.

 It is checked whether or not the division constant t has exceeded 1.

If YES, the next processing is performed, the node N is replaced with the next node N ', and the processing returns. That is, since YES means that the division point has reached the node N 'by 0.1 from the node N to the next node N', the processing shifts the node by one. In the case of NO, the process returns. That is, in this case, since the division point is between the node N and the next node N ', the processing after the processing is repeated.

(B) Distance designation processing; FIG. 16 (b) Let N be the node at the connecting intersection I.

 The distance D is set to 0.

 The distance D is stored in the memory.

It is checked whether or not the node N stored in the memory is the connecting intersection II.

In the case of YES, the node N of the connecting intersection II is stored and the processing ends. If NO, the following processing is performed.

 The node next to the node N is N '.

 The division position constant t is set to 0.

The coordinates N _x ″, N _y ″ N _x ″ = (1−t) N _x + tN _x ′ N _y ″ = (1−) of the division point by the division position constant t between the node N and the next node N ′. t) Find N _y + tN _y ′.

Coordinate calculated by processing from node N to distance D
N _x ", N _y" checks greater or not than the distance from the point N destination distance obtained by adding is input to "a distance NN for" to contact the intersection I.

If YES is terminated by storing the coordinates N _x, the N _y in the memory. That is, in the case of YES, although the vehicle has approached the destination up to the previous point, the current point indicates that it is farther from the destination than the previous point, so that the node N at this time and the next node N ' Is the closest to the destination, and a node sequence from here to the connecting intersection may be created. If NO, the following processing is performed. In this case, since the current point is closer to the destination than the previous point, the point is further shifted.

The division constant t is added by 0.1. That is, if the dividing point is 10
Shift by%.

 It is checked whether or not the division constant t has exceeded 1.

If YES, the following processing is performed to replace the node N with the next node N ', and the distance obtained by adding the distance NN "to the distance D is replaced as a new distance D, and the process returns.
That is, since YES means that the division point has reached the node N 'by 0.1 from the node N to the next node N', the processing shifts the node by one. In the case of NO, the process returns. That is, in this case, since the division point is between the node N and the next node N ', the processing after the processing is repeated.

After the node sequence from the destination to the nearby intersection is created by the route end node sequence creation process in this way, a route search process from the intersection to the connected intersection near the destination GS is then performed.

In the route search processing, a surrounding road search subroutine for searching for surrounding roads from intersections except for roads that are not allowed to turn right or left is set, the width of the road, the necessity of guidance, and other conditions necessary for calculating the optimal route. It has an optimum route condition setting subroutine and an end condition subroutine for determining the end of the route search, and searches for an optimum route to the destination between the nearest intersections as a departure point of a connecting intersection near the destination.

FIG. 17 is a diagram for explaining the flow of a route search process, and FIG.
18 is a diagram showing an example of a surrounding road search subroutine, FIG. 19 is a diagram showing an example of an optimal route condition setting subroutine, FIG. 20 is a diagram showing an example of an end condition confirmation subroutine, and FIG. 21 is an intersection sequence and a node FIG. 22 is a diagram showing a configuration example of column data, and FIG. 22 is a diagram showing an example of optimum course setting data for each intersection.

Next, the flow of a process for searching for a route based on the network data will be described with reference to FIG. Where L
(C) the distance, F (c) flag, R (c) road number has been passed, s _0, s ₁ intersection number of two neighboring of departure, e
₀ and e ₁ are intersection numbers on both sides of the destination. Also, c is an intersection number, flag F (c) is “0” not yet searched, and “1”.
Indicates that the search is being performed, and “2” indicates that the search has been completed.

For all intersections, the distance L (c) is set to infinity (∞) and the flag F (c) is set to “0” (not searched). By this initial setting, all the intersections are not searched at first, and the distance from the departure point becomes infinite.

Distances from the departure place are entered in the distances L (s ₀ ) and L (s ₁ ) corresponding to the intersection numbers s ₀ and s ₁ on both sides of the departure place, and the intersection numbers s ₀ and s on both sides of the departure place _The flag F (s
₀ ) and F (s ₁ ) are each set to “1”, and the road number R (c) that has passed is set to the road number from the departure place.

The intersection number c _{0 in} which the flag F is not “2” and the distance L (c) is minimum is searched.

Execute the surrounding road search subroutine to obtain the intersection number c ₀
Search for surrounding roads starting from.

 Check if there is a surrounding road.

If YES, the process proceeds to the next process. If NO, the process proceeds.

An optimum route condition setting subroutine is executed to set road conditions and other conditions for searching for an optimum route.

The intersection number of the end point of the road is c ₁ , and the length of the road is l
And

 The distance P to the intersection at the end point of the road is calculated.

Calculate P = L (c ₀ ) +1.

Here L (c ₀₎ is the distance from the departure point to the intersection number c _0, P is the distance to the intersection number c ₁ endpoint through the road from the intersection number c ₀ (road being searched) .

It is checked whether P <L (c ₁ ) and F (c ₁ ) ≠ 2.

If YES, the process proceeds to the next process. If NO, the process returns.

The distance from the starting point to the intersection number c ₁ in the search L
The (c ₁₎ P, the intersection number flag F (c ₁₎ to "1" in the c _1, the intersection number c ₁ road number has been passed up to the R (c ₁₎ and a road number of the search in I do.

If NO in the processing, F (c ₀ ) is set to “2”.

 Execute the end condition confirmation subroutine.

It is determined whether or not the processing has been completed. If NO, the process returns to the process. If YES, the process is terminated.

By performing the above processing, the road numbers of the optimum course from the departure point to the intersection number are set for each intersection number in correspondence with each intersection number.

Note that the surrounding road search subroutine of the above processing
The processing shown in FIG. 18 is performed, and the optimal route condition setting subroutine of the processing performs the processing as shown in FIG. 19, and these are described above with reference to FIGS. 11 and 12. This performs the same processing as the subroutine.

The termination condition confirmation subroutine, checks the match of the first 20 two neighboring intersection number of purposes such as the intersection number c ₀ of the search target as shown in the figure, setting conditions, for example, the end flag that matched.

As described above, in the route search of the present invention, the shortest route is searched by weighting the distance between the intersections in consideration of the driving conditions such as the size of the surrounding road and the necessity / unnecessity of guiding the road. As a result, as shown in FIG. 22, road number information along the optimum course at each intersection is obtained.

As described above, when the optimum route is searched for by the route search process, the intersection line and the node line data between the nearest intersections from the departure point to the destination are created along the route. Therefore, intersection data and node sequence data are obtained by connecting the node sequence created by the route end node sequence creation process to both ends of the data at the both ends, and FIG. 21 shows an example of the data configuration. For example, as shown in FIG. 21 (a), the intersection string data includes information such as an intersection name, an intersection number, a photograph number photographing a characteristic scenery of the intersection, a turning angle, a distance, and the like. , FIG.
As shown in the figure, the information includes the east longitude, north latitude, and intersection number, attribute, angle, distance, and the like representing the node position. Moreover, these data are data of only intersections requiring guidance, excluding intersections requiring no guidance. Therefore, in the navigation, this data may be sequentially read out and output corresponding to a predetermined position.

(C) Current position confirmation (correction) FIG. 23 is a diagram showing an example of a current position confirmation subroutine.

As described with reference to FIG. 6, the current position confirmation subroutine uses the key of "input telephone number" set on the right side of the screen on the screen displaying the current position, destination, and GS shown in FIG. It is activated on condition that it is touched. In this process, the phone number input menu is displayed, and when the phone number is input from the screen or by operating the keys, the GS data corresponding to the input phone number is searched from the GS database, and the current position is determined. The east longitude
While updating and correcting based on the north latitude coordinate value, a confirmation screen as shown in FIG. 5B is displayed for several seconds.

(D) Current Position Tracking As the current position tracking method, a method which has already been separately filed by the present applicant (Japanese Patent Application No. 63-202475) can be applied. The processing will be described below.

FIG. 24 is a diagram showing an example of a processing routine for current position tracking,
FIG. 25 is a diagram showing an example of a processing routine for initial position setting,
FIG. 26 is a diagram showing an example of a processing routine for sensor detection, FIG. 27 is a diagram showing an example of a processing routine for remaining distance calculation, FIG. 28 is a diagram for explaining a calculation process of a vehicle direction and a trajectory, FIG. FIG. 30 is a diagram showing an example of a processing routine for detecting a bending point, FIG. 30 is a diagram showing an example of a processing routine for selecting a road, FIG. 31 is a diagram showing an example of a processing routine for distance error correction, and FIG. It is a figure for explaining processing content of distance error correction.

As shown in FIG. 24, the current position tracking processing routine first checks whether or not the “current position tracking initialization flag” is turned on (S411). If the current position is input and initial data for tracking the current position is not set, it is on, so the initial position setting shown in FIG. 25 is performed. When this setting is performed, the “current position tracking initialization flag” is turned off, and thereafter, the process proceeds directly to the next step.

In the initial position setting, as shown in FIG. 25, the road length, the end point intersection, and the node column are read from the road data and the node column data according to the “road number of the current position road”, and these are read as “the current position road length”. , "The end point intersection of the current position road", and "the node sequence of the current position road". Further, the signal of the distance sensor is read, and the value is set to the “current distance sensor value”. Here, the “current position tracking initialization flag”, “error range flag”, “error range passing flag”, “bending end wait flag”, “bending point detection flag”, “bending detection flag” and the like are turned off. And set the "current road length" to "the remaining distance to the intersection".

(S412) Next, sensor detection processing shown in FIG. 26 is performed. In this processing, first, the current sensor value is set as the previous sensor value for each of the distance and the steering angle, and then the sensor value is read and set as the current sensor value. Then, a change in the steering angle corresponding to the distance traveled is obtained, and the steering angle at the current position is obtained.
Ask for Sta.

(S413) After setting the loop counter i to 0, the processing from the calculation of the remaining distance is repeatedly performed while incrementing the loop counter i until the loop counter i reaches the advanced distance. In the remaining distance calculation, as shown in FIG. 27, it is determined whether or not the remaining distance to the intersection is within the intersection error range while sequentially subtracting and updating the remaining distance to the intersection. Until the distance is within the range, the “error range flag” is turned off, and the remaining distance calculation is repeated. When the remaining distance to the intersection falls within the intersection error range distance, the "error range flag" is turned on. Then, if the vehicle goes out of the intersection error range distance after turning on the "error range flag", the "error range passage flag" is turned on.

(S414) When the “error range flag” is turned on, the vehicle direction and the trajectory are calculated, and the bending point shown in FIG. 29 is detected.

The calculation of the vehicle azimuth and the trajectory is performed by sampling the travel distance and the steering angle Sta every time the vehicle travels at a certain distance d as shown in FIG. The trajectory is calculated and stored in the memory. For example, the vehicle azimuth Ang (i) is obtained from Ang (i) = θ (Sta (i) based on the steering angle Sta (i) read from the sensor for each fixed distance and the vehicle rotation angle θ (st) with respect to the previously stored steering angle. ) + Ang (i-1) Further, the vehicle trajectory (X (i), Y (i)) is (X (i), Y (i)) = (X (i-1) + dx, Y (i-1) ) + Dy) dx = d × cos (π−Ang (i)) dy = d × sin (π−Ang (i))

In the bending point detection, as shown in FIG. 29, <S421>
First, it is determined whether the "bending end waiting flag" and the "bending detection flag" are off and the steering angle is larger than a threshold value, and if YES (the vehicle has begun to turn), the "bending start point" Is set to the current distance (“previous distance sensor value” + i), and the “bending detection flag” is turned on. That is, for the first time, the steering angle becomes larger than the threshold value, so that the process enters the bending detection processing state. However, in the case of NO (during bending detection or during so-called deemed straight running with a steering angle equal to or smaller than a threshold), <S422> is followed by whether the "bending detection flag" is on and the steering angle is smaller than the threshold. In the case of YES (the last time the bending was detected and the current turning was completed), the rotation angle is set to the difference between the current direction and the direction at the bending start point. And
Check whether the rotation angle is larger than a predetermined minimum detection rotation error.If the rotation angle is equal to or smaller than the predetermined minimum detection rotation error, it is not possible to judge that the vehicle has turned the intersection, so the `` bending detection flag '' is set. Return to off, but if the rotation angle is larger than the predetermined minimum detected rotation error, it can be determined that the intersection has been bent, so here, the "bending point detection flag" is turned off and the "bending end wait flag" is turned on. To set the “bending end waiting position” to the current distance. This is used to calculate the inflection point position. In the case of NO (end of bending, still detecting bending, or running straight), <S423> Further, the "bending point end waiting flag" is turned on,
("Bend point end waiting position" + 10m) is smaller than the current distance, YES (run 10m from the end of bend)
In this case, the rotation angle is set to the difference between the current azimuth and the azimuth at the bending start point. Then, it is checked whether the rotation angle is larger than a predetermined minimum detection rotation error, and when the rotation angle is equal to or smaller than the predetermined minimum detection rotation error, the `` bending point end wait flag '' is turned off, Rotation angle
If it is larger than 20 °, the “bending point detection flag” is turned on, the “bending end waiting flag” is turned off, and the “bending end point” is set to the current distance, and the bending point position is calculated.

(S415) It is checked whether or not the "bend point detection flag" is on. If it is off, the counter i is incremented and the same processing is repeated. If it is on, a road is selected.

Also, the "in-error flag" is turned on once within the intersection error range distance, but the inflection point is not detected, and the vehicle exits the intersection error range distance while the "bend point detection flag" remains off. As described above in S413, the "error range flag" is turned off and the "error range passage flag" is turned off.
Turns on. Since this includes a case where the vehicle passes through an intersection without making a turn, the next road is similarly selected in this case.

In selecting a road, first, the bending angle of the vehicle is calculated as shown in FIG. Then, the road that exits from the intersection is read, the bending angle of each connecting road is calculated, and the difference between the connecting road bending angle and the vehicle bending angle is determined to be the minimum value. And
If the minimum value is smaller than the predetermined maximum allowable angle difference, the road number is referred to as “the road number of the current position road”.
If the minimum value is equal to or larger than the predetermined maximum allowable angle difference, it is determined that the corresponding road has not been detected, and the “current position tracking failure flag” is turned on. In other words, the road closest to the bending angle of the vehicle is selected as the traveling road for all the connecting roads, but if the error between them is large, the current position cannot be calculated and the current position is reset. ing.

(S416) Check whether the "current position tracking failure flag" is on, and if it is on, return first because it is necessary to reset the current position tracking, and if it remains off, Subsequently, the distance error is corrected.

In the distance error correction, as shown in FIG. 31, first, in the same manner as in the case of the initial position setting, the road length, the end point intersection, the node string are obtained from the road data and the node string data according to the "road number of the current position road". These are read, and these are set in "length of the current position road", "end point intersection of the current position road", and "node row of the current position road". Then, it is checked whether or not the "bending point detection flag" is ON, and a difference D between the current distance ("the previous distance sensor value" + i) and the bending point position is obtained. And set the result to "remaining distance to intersection". In other words, in this case, a process of correcting the error up to that time with a new road by performing a turn at an intersection and entering the next road is performed. However, when the “flexion point detection flag” is off, the value obtained by adding the “remaining distance to the intersection” to the “current road length” is updated as a new “remaining distance to the intersection”. This is a process corresponding to a case where the vehicle passes through the intersection without making a turn. For example, if the “remaining distance to the intersection” is 0 at the intersection, the “current position road length”
Is set as a new “remaining distance to the intersection”. FIG. 32 shows the results of error correction when a bending point is detected and when it is not detected.
Assuming that the difference between the distance between the inflection point position and the intersection position is ed as shown in FIG. 7A, the remaining distance to the next intersection is set as the inflection point position as shown in FIG. Is corrected.

(S417) The "intersection arrival flag" is turned on, the loop counter i is incremented, and the same processing is repeated.

Next, a calculation process of a bending point at an intersection will be described.

FIG. 33 is a diagram showing an example of a processing routine for bending position calculation,
FIG. 34 is a diagram showing an example of a processing routine for calculating a vehicle bending angle, FIG. 35 is a diagram showing a steering angle and a bending start point, a bending point position, and a bending end point, and FIG. 36 is a road reading processing routine exiting from an intersection. FIG. 37 is a diagram showing an example of a processing routine for calculating a connecting road bending angle, and FIG. 38 is a diagram for explaining how to obtain a connecting road bending angle.

In the bending point position calculation processing in the bending point detection processing (FIG. 29), an intermediate distance B ₀ between the bending start point A and the bending end point C and an intermediate direction d of the vehicle direction Ang are obtained as shown in FIG. Set the loop counter j to 1 and B to the average distance B ₀ ,
The vehicle direction Ang (B) at the distance B and the vehicle direction Ang (B) when B ₀ ± j is set to B while incrementing the loop counter j are searched for a point that matches the intermediate direction d. Is set at the bending point position.
And the distance from the bending start point A to the bending point position B
D _up and the distance D _down from the bending point position B to the bending end point C are obtained. FIG. 35 shows these relationships. The bending start point A and the bending end point C are set as the bending start point A when the steering angle exceeds the threshold value as shown in FIG. The point is set at the bending end waiting position C ′, and a point traveling 10 m from that point is set as the bending end point C.

In the vehicle bending angle calculation process in the road selection process (FIG. 30), it is checked whether or not the “bending point detection flag” is off as shown in FIG. 34. The point, the inflection point position, and the inflection start point are obtained in the inflection point detection process (FIG. 29).
Since these values have not been determined, the following values are set. That is, the current distance (“the previous distance sensor value” + i) is used as the bending end point, the intersection distance error distance is subtracted from the current distance as the bending point position, and the intersection error is calculated using the current distance as the bending start point. A value obtained by subtracting twice the range distance is used. Then, the coordinates of these three points are shown in FIG. Is determined as the vehicle bending angle.

When the calculation of the vehicle bending angle is completed, the road from the next intersection is read. In this process, as shown in FIG. 36, first, the road number at the end intersection of the current position road is read from the intersection data, and the road is read. The numbers are set to "road number" and "first road number", respectively. Then, 0 is set in the loop counter j. Next, all the road numbers are read out by sequentially reading the next road number having the same starting point from the road data while incrementing the loop counter j until the “first road number” is reached. Set to

In the process of calculating the connecting road bending angle in the process of selecting a road (FIG. 30), as shown in FIG. 37, first, a node sequence of the road number of the current position road is read from the road data and the node sequence data, and the end point thereof is obtained. Coordinates of point A at distance D _up (x
_A , y _A ) is calculated. Then, the end point B of Node Example coordinates (x _A, y _A) and. Next, read the node series of road exiting from the intersection road data from node series data, C coordinate point distance D _down from the starting point (x _A, y _A) is calculated. Further, from these coordinates, points A ′ and C ′ on circles inscribed on the straight lines AB and BC and inscribed on these straight lines are formed into arcs (A ′
C ′) Assuming an inscribed circle such that the length is D _up + D _down , calculate the coordinates of points A ′ and C ′, and Is determined as a point B 'at the intersection with a straight line bisecting. The result is Is set to “Connected road bending angle”. FIG. 38 shows these relationships.

As described above, in the navigation device having the current position calculation function, various flags are used for processing information. The main ones are as follows.

"Intersection arrival flag": When turned on, guidance output for the next intersection is performed. It is turned off when the current position is input and turned on when passing through the intersection.

"Destination guidance flag": If it is on when arriving at an intersection, it is determined that it has arrived at the destination, and the main routine is returned to the beginning (destination input processing). Turn on if the next intersection is the destination at the time of guidance output.

"Current position tracking failure flag": If ON, return in the current position tracking process, branch in the main routine to input the current position again, turn off during the current position input process, and select the road. When there is no road to be selected, turn on.

"Current position tracking initialization flag"; if ON, calls an initial position setting routine. It is turned OFF when the initial position is set and ON when the current position is input.

"Flag in error range": When ON, calculation of a trajectory, detection of a bending point, and the like are performed. If it is within the error range of the intersection, it is turned ON; otherwise, it is turned OFF.

"Error range passing flag": When ON, a road is selected. When the vehicle passes through the intersection error range, the flag is turned on; otherwise, the road is turned off.

"Bending point detection flag": When ON, the road is selected by tracking the current position, the current position is reset by correcting the distance error, and when OFF, the bending start point and bending are calculated by calculating the vehicle bending angle. The end point and the inflection point position are set, and are turned off when the initial position is set, turned on when the inflection point is detected, and turned off after correcting the distance error.

"Bending detection flag" and "bending end waiting flag", which perform bending detection and detection of the bending end point, and are turned off at the initial position setting. The "bending detection flag" controls on / off of the turning angle to be turned on when the steering angle exceeds the threshold value, depending on whether or not the turning angle exceeds the minimum detected turning angle.

 Next, another embodiment of the present invention will be described.

FIG. 39 is a diagram showing an example of a current position tracking processing routine in another embodiment of a navigation device having a current position calculation function, and FIG. 40 is a diagram for explaining a bending point detection.

In the above embodiment, the current position is tracked by the road number and the remaining distance from the end point intersection of the road number.In the embodiment shown in FIG. 39, the intersection is recognized by coordinates and the current position is tracked. Things. Therefore, in the processing of the current position tracking, the processing up to the detection of the inflection point is the same as that of the above-described embodiment. The processing for the intersection approach azimuth, the bending angle comparison, and the current position correction processing are performed.

According to the example shown in FIG. 40, when the vehicle enters a circle having a certain radius from the intersection, it is recognized that the vehicle has entered the error range of the intersection. For example, if the intersection coordinates (x _c, y _c) a distance within the error range of the r, the current position of the (vehicle position) coordinates (x _o, y _o) is ^{_{(x c -x o) 2 +}} (y c - y _o ) When reaching a position satisfying the condition of ² <r ² , it is assumed that the vehicle has entered the circle shown in FIG. 39 (a). Then, as shown in FIG. 7B, the bending detection is performed, the bending start position and the bending end position are detected, and the azimuths of these positions are -20 ° and -100 °, respectively. Bending end position azimuth)-(Bending start position azimuth) = -100 °-(-20 °) = -80 °, further detecting the bending point position, and D _up = | Bending point position-Bending start position | D _down = | bending end position−bending point position |

41 is a diagram for explaining an intersection approach azimuth and bending angle comparison process, FIG. 42 is a diagram showing an example of a processing routine corresponding to the process of FIG. 41, and FIG. 43 is a process of reading a road entering an intersection FIG. 44 is a view showing an example of a routine, FIG. 44 is a view for explaining the current position correction processing, and FIG. 45 is a view showing an example of a processing routine corresponding to the processing of FIG.

In the intersection approach azimuth and bending angle comparison processing, as shown in FIG. 41 (a), the road entering the intersection number IV is read out from the road having the intersection data and the road having the same end point in the road data, and the approach is made from these roads. Is obtained from the intersection point on the node sequence with respect to the road as the direction of the position D _up . As shown in FIG. In the example shown in FIG. 41 (b), the road number having the approach direction closest to the bending start position direction (−20 °) is set as the approach road.

When the approach road is determined, the road having the same starting point is read out from the road and the road data coming out from the intersection number IV next,
The azimuth change when the vehicle advances from these approach roads from the approach road is obtained. In this process, it is obtained as a change between the azimuth at the position of D _down from the intersection position on the node row of the outgoing road and the bending start position azimuth on the approach road. Therefore, when looking at the relationship between the approach road and each exit road, Becomes Accordingly, in the example shown in FIG. 41 (b), since the locus bending angle is −80 °, the road → having the closest bending angle to this is determined as the traveling direction.

FIG. 42 shows a processing routine of the above-described intersection approach azimuth and bending angle comparison. In the processing routine shown in FIG. 42, first, processing for reading a road entering an intersection is performed.

In this process, as shown in FIG. 43, the road number where the end intersection of the current position road enters is read from the intersection data,
These numbers are called "road number" and "first road number" respectively.
Set to. Then, 0 is set in the loop counter j. Next, while incrementing the loop counter j, all the road numbers are read out by sequentially reading the next road number having the same end point from the road data until the first road number becomes the “first road number”. Set to That is, a process corresponding to the process of reading the road number from the intersection described earlier with reference to FIG. 36 is performed.

Similarly, the process of reading the road number from the intersection described with reference to FIG. 36 is performed, and the loop counter j is set to 0.

First, the approach road shown in FIG. 41 (b) is determined while incrementing the loop counter j up to the number of roads entering, and then the loop counter k is set to 0 and incremented to the number of roads exiting this. While calculating the bending angle, the traveling direction road shown in FIG. 41 (c) is determined.
Then, the traveling direction road obtained here is set as the road number of the current position road.

The current position correction is performed after obtaining the road number of the current position road. In this process, as shown in FIG. 44 (a), the current position coordinate is set as the bending end coordinate on the road node sequence, and The position direction is defined as the bending end position direction (−120 °) on the node train. Then, as shown in FIG. 7B, the end point intersection V of the road number is read from the road data as the next intersection, the intersection coordinates are read from the intersection data, and the vehicle enters the error range of the intersection V. To monitor.

The processing routine for the current position correction described above is shown in FIG.
FIG. In the processing routine shown in FIG. 45, first, the end point intersection and the node sequence of the road number of the current position road are read from the road data, and these are respectively referred to as “end point intersection of the current position road” and “node sequence”.

Also, the coordinates of the east longitude and north latitude of the “end point intersection of the current position road” are read from the intersection data, and are set as “the coordinates of the next intersection east longitude and north latitude”.

Then, the coordinates on the node row at a distance of D _down from the start point of the “node row” are set as the coordinates of the current position (X [“previous distance sensor value” + i], Y [“previous distance sensor value” + i]). ,
The azimuth between nodes at a distance of D _down from the start point of the “node row” is defined as the azimuth of the current position.

After arriving at the GS near the destination, the current position tracking can be performed when the process proceeds to the route guidance (FIG. 6) and the course is guided to the destination at an intersection.

It should be noted that the present invention is not limited to the above embodiment, and various modifications are possible. For example, in the above-described embodiment, the course guidance to the gas station near the destination is performed by displaying the gas station, and the route to the destination is performed at the intersection, but the departure point is input by the coordinate value or the telephone number. Alternatively, course guidance from a departure point to a nearby gas station may be performed at an intersection. Further, as described above, the navigation device basically performs a route search for each intersection between the departure point and the destination, and has the information. It is also possible to make a selection as appropriate.

As is apparent from the above description, according to the present invention, a gas station familiar to the driver, that is, a daily-accessible and familiar gas station is used as the information for providing course guidance.
The driver can confirm the course with information familiar to the driver, rather than confirming the course based on the features of the intersection and the surrounding features on a course that is not geographically known. In the vicinity of the destination, the course guidance is performed by switching to the intersection, so that the course guidance information can be provided more finely than at the gas station. In addition, since the gas station is used as the basis for course guidance, for example, even if you lose track and cannot find the current position and it is different from the current position on the navigation device, you need to find a gas station and stop there. By inputting the telephone number of the gas station, the current position can be easily confirmed and corrected.
That is, it is possible to start again from an arbitrary gas station as the departure place.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a navigation device according to an embodiment of the present invention, FIG. 2 is a diagram showing a configuration example of a map database, FIG. 3 is a diagram showing a configuration example of a GS database, and FIG. FIG. 5 is a diagram illustrating an example of guidance display, FIG. 6 is a diagram illustrating an overall processing flow in the navigation device according to the present invention, and FIG. FIG. 8 shows an example of a subroutine for selecting a GS near the destination, FIG. 8 shows an example of a subroutine for initializing search data, FIG. 9 shows an example of a subroutine for setting a search start point and an end point, and FIG. FIG. 11 shows an example of a route search subroutine from the departure place, FIG. 11 shows an example of a subroutine for searching for a surrounding road, FIG. 12 shows an example of an optimal route condition setting subroutine, and FIG. Diagram showing an example of a subroutine, FIG. 14 FIG. 15 is a diagram for explaining an example of selection of the vicinity GS of the destination, FIG. 15 is a diagram showing an example of the setting of the destination and its data configuration, FIG. FIG. 17 is a diagram for explaining the flow of a route search process, FIG. 18 is a diagram showing an example of a surrounding road search subroutine, FIG. 19 is a diagram showing an example of an optimal route condition setting subroutine, and FIG. FIG. 21 is a diagram showing an example of a condition confirmation subroutine, FIG. 21 is a diagram showing a configuration example of intersection row and node row data, FIG. 22 is a view showing an example of optimal course setting data for each intersection, and FIG. FIG. 24 shows an example of a subroutine, FIG. 24 shows an example of a current position tracking processing routine, FIG. 25 shows an example of an initial position setting processing routine, and FIG. 26 shows an example of a sensor detection processing routine. Figure showing
FIG. 27 is a diagram showing an example of a processing routine for calculating the remaining distance.
The figure is a diagram for explaining the calculation process of the vehicle direction and the trajectory,
FIG. 29 is a diagram showing an example of a processing routine for detecting a bending point, and FIG.
FIG. 31 is a diagram showing an example of a processing routine for selecting a road, FIG. 31 is a diagram showing an example of a processing routine for distance error correction, FIG. 32 is a diagram for explaining processing details of distance error correction, and FIG. Is a diagram showing an example of a processing routine for calculating a bending position, FIG. 34 is a diagram showing an example of a processing routine for calculating a vehicle bending angle, and FIG. 35 is a diagram showing a steering angle, a bending start point, a bending point position, and a bending end point. Figure, No.
FIG. 36 is a diagram showing an example of a road reading process routine that exits from an intersection, FIG. 37 is a diagram showing an example of a process routine for calculating a connecting road bending angle, and FIG. 38 is a diagram for explaining how to obtain a connecting road bending angle. FIG. 39 is a diagram showing an example of a processing routine of current position tracking in another embodiment of a navigation device having a current position calculation function, FIG. 40 is a diagram for explaining inflection point detection, FIG. FIG. 42 illustrates an example of a processing routine corresponding to the processing of FIG. 41, and FIG. 43 illustrates an example of a processing routine of road reading that enters an intersection. FIG. 44 is a view for explaining the current position correction processing, and FIG. 45 is a view showing an example of a processing routine corresponding to the processing of FIG. 1 ... CPU, 2 ... input means, 3 ... position detecting means, 4 ... map database, 5 ... GS database, 6 ... output means.

──────────────────────────────────────────────────の Continuing on the front page (72) Koji Kadoya 10th Takane, Fujii-machi, Anjo, Aichi Prefecture Inside Aisin AW Co., Ltd.・ AW Co., Ltd. (56) References JP-A-59-206710 (JP, A) JP-A-59-197817 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G08G 1/0969 G01C 21/00 G09B 29/00

Claims (10)

(57) [Claims] 1. A navigation device for setting a route from a departure point to a destination and outputting guidance information for guiding to the destination along the route, storing map information including guidance information of the route. Storage means, a current position detection means for detecting a current position of the vehicle, a specific point setting means for setting as a specific point by inputting a point, and the current position detection means based on map information stored in the storage means. Guidance information output means for outputting guidance information for guiding the vehicle from the detected current position to the destination, and determination means for determining that the current position of the vehicle has reached the specific point set by the specific point setting means And a guide information output unit, at least on the condition that the determination unit determines that the current position of the vehicle has reached the specific point, at least an output form of the guide information. Navigation apparatus and outputting switching from one to the other type of output forms. 2. The method according to claim 1, wherein the map information includes drawing information of a mark related to the facility drawn on the map, and the specific point is a point of the mark related to the facility drawn on the map. The navigation device according to claim 1. 3. The navigation device according to claim 2, wherein the facility is a gas station. 4. The navigation apparatus according to claim 2, wherein said guide information output means outputs guide information in which said mark is drawn at the position of said mark. 5. The navigation device according to claim 1, wherein said determining means determines that the vehicle has reached the specific point when the current position of the vehicle is within a predetermined distance from the specific point. 6. The map information includes drawing information of a landmark related to a facility drawn on a map, wherein the specific point is a point and a destination of the landmark related to the facility drawn on a map. The guide information output means switches to an output form of detailed guide information for confirming the current position by the mark at the point of the mark, and outputs a detailed guide information for guiding to the destination at the destination. The navigation device according to claim 1, wherein the navigation device is switched. 7. The storage means stores map information of a road map and a map other than the road map, and the guidance information output means determines that the current position of the vehicle has reached the specific point. The condition is switched from the output form of the guide information for guiding the vehicle from the current position to the destination along the route to the output form of the detailed guide information near the route by a different map at the specific point, and the guide information is changed. The navigation device according to claim 1, wherein the navigation device outputs the information. 8. The guide information output means performs route guidance based on a preset route from an output form of the guide information of the current position on condition that it is determined that the current position of the vehicle has reached the specific point. 2. The navigation device according to claim 1, wherein the guidance information is output by switching to an output form of the guidance information to be performed. 9. The navigation system according to claim 8, wherein the output form of the guide information of the current position is an output form in which a map around the current position is displayed together with the current position based on the tracked current position. apparatus. 10. The navigation apparatus according to claim 8, wherein the output form of the guidance information for performing the route guidance is an output form for guiding a traveling direction at a guidance intersection on a route.