JP3411467B2 - Route selection method and system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route selection system, and more particularly to a system for automatically selecting an optimum route between a starting point and a destination designated on a map.

[0002]

2. Description of the Related Art In recent years, with the development of electronic technology, navigation systems for guiding and guiding a vehicle have begun to rapidly spread. By the way, in the conventional navigation system, the optimum route from the departure point to the destination point (for example, the shortest distance arrival route or the minimum time arrival route)
Some have a route selection system for automatically selecting.

In a conventional route selection system, a method for obtaining an optimum route for guiding a vehicle is, for example, an automatic vehicle guiding method disclosed in Japanese Patent Laid-Open No. 59-105113. This method obtains an optimum route between a departure point and a destination point from road network data representing a road network by using the Dijkstra method, which is one of the optimum route determination methods. The theory of the Dijkstra method is described in, for example, A. V. "Data structure and algorithm", written by Aho and translated by Yoshio Ohno, Baifukan Co., Ltd., 1990, 179-183
See page for details.

According to the above method, when searching for the optimum route between two specific points on the road network of the map data stored in advance, the same route is always selected. However, the user does not always like the chosen route. If the user wants to be guided by a route partially different from the selected route, the route needs to be modified. Conventionally, for example, as shown in FIG.
I was trying to correct the route by inputting the point I want to go through. As described above, in the conventional route selection system, since the user is required to perform an operation for correcting the route, the usability is poor.

Japanese Unexamined Patent Publication No. 8-201088 discloses a route search method having a learning function. In this route search method, when a vehicle travels on a road (Fig. 12 (A))
"), Memorize experience data indicating that the vehicle has traveled for each road unit (link), and then,
When searching for the optimum route, the road evaluation value (distance, travel time, etc.) is corrected based on the stored empirical data, and the route having the smallest evaluation value (see FIG. 12B) is searched for. ing. According to such a method, a route that reflects the road that has been driven in the past is selected, and as a result,
The route selected can be modified without user intervention.

By the way, no matter how short the shortest distance route is, a route in which a right turn or a left turn is frequently repeated is difficult to run and is not a realistic route. Therefore, when selecting a route, when making a right turn or a left turn at an intersection, this right or left turn is added as an evaluation value (passage evaluation value),
A common method is to avoid unnecessary turns. As an example, in "In-vehicle navigation system using a personal computer" Seiji Kato, et al., IPSJ 36th National Convention, 1988, Vol36, No3, pages 2291 to 2292, left turn evaluation value = 300m, straight evaluation value = 100m. , Right turn evaluation value = 700 m, and the route search for the shortest distance route is performed. Further, in the case of obtaining the shortest route in travel time, for example, the passage evaluation value at an intersection is defined by time such as 40 seconds for right turn and 20 seconds for left turn.

[0007]

As described above, in the route search method disclosed in Japanese Patent Laid-Open No. 8-201088, the evaluation value of a road that has been traveled in the past is changed to a small value to search for a route having the minimum evaluation value. There is a need to. However, in the road network as shown in FIG. 13, when an attempt is made to correct the route A from the route B, an evaluation value of 60 s (s indicates seconds) or more on the route B is obtained from the difference in the number of right and left turns. You have to make it smaller on the road. This is 50 at 30 km / h
It is equivalent to running 0 m. Therefore, on route B,
When the distance of the section to be corrected is shorter than 500 m, it becomes difficult to correct the evaluation value.

Further, in the route search method described in Japanese Patent Laid-Open No. 8-201088, for each road unit,
It only remembers the number of passages, and does not consider the traveling direction at all. Therefore, with respect to a road unit that has traveled in the past, priority is given to route selection even in a direction different from the actual traveling direction, and there is a high possibility that the route desired by the user will not be selected.

Further, in the route search method described in Japanese Patent Laid-Open No. 8-201088, if all the experience data of the roads traveled are stored, the amount of data becomes enormous. Further, there is a problem that the route cannot be corrected unless the vehicle actually travels on the road, and even if the vehicle travels by mistake, the incorrect route will be selected from the next time. Moreover, it is not possible to meet the demand of the user who wants to guide the user on the way back on the way he / she went.

Further, in a system for searching a route in consideration of traffic congestion, when the required time differs between the upper and lower lines of the road (for example, when the up lane is congested but the down lane is crowded), the up and down directions of the road. Set a different evaluation value with a line. At this time, as shown in FIG. 14, it is necessary to prevent the evaluation value of the road traveling on the way from being reflected on the evaluation value of the returning road.

Therefore, an object of the present invention is to provide a route selection method and system which can more reliably reflect the route traveled in the past when selecting a route. Another object of the present invention is to reduce the amount of stored route data. Still another object of the present invention is to allow a user to arbitrarily set and correct roads that have been mistakenly run or roads that have not been run. Still another object of the present invention is to provide a route selection method and system in which a portion where a route traveled on the way is a return route can be reflected in route selection.

[0012]

Means for Solving the Problems and Effects of the Invention The first invention is a method for selecting an optimal route between two designated arbitrary points on road network data stored in advance. Enter each intersection where the vehicle has traveled
Escape from the arrival link and the intersection where the vehicle traveled immediately before
Immediately after the combination of the escape link that the vehicle ran,
A first step of detecting as a driving route of the vehicle,
For each combination of arrival link and escape link , the second step of storing the route detected in the first step as needed
The route stored in the second step, which is the evaluation value of passage when passing through the intersection on the road network data, which is specified individually in advance.
A third step of changing the route evaluation value based on the above, and a fourth step of searching for a route having the minimum evaluation value between the two designated points by using the road network data whose passage evaluation value has been changed in the third step.
And steps.

According to the first aspect of the present invention, the route that has been traveled in the past is stored as a passage pattern for the intersection on the road network data, and when the route is searched, the route is searched on the road network data based on the stored route. Since the evaluation value when passing through the intersection is changed, it is possible to preferentially select the route that has traveled in the past. In addition, since the route that was traveled in the past is stored as a passage pattern for the intersection on the road network data, the direction of travel can be reflected in the route search, reducing the possibility of selecting an undesired route. can do.

The second invention is the same as the first invention, but the third invention is the same as the first invention.
The step of when passing each intersection on the road network data
Of the passage evaluation value of , stored as a route in the second step
The communication corresponding to the combination of the reached link and the escape link
Wherein the reducing over-evaluation value, respectively.

A third aspect of the invention is the same as the first aspect of the invention.
The step of when passing each intersection on the road network data
Of the passage evaluation value of , stored as a route in the second step
The communication corresponding to the combination of the reached link and the escape link
It is characterized in that each of the passing evaluation values other than the overestimation value is increased.

A fourth invention is the same as the first invention, but the third invention is the same as the first invention.
The step of when passing each intersection on the road network data
Of the passage evaluation value of , stored as a route in the second step
The communication corresponding to the combination of the reached link and the escape link
The over- evaluation value is reduced, and the pass-through evaluation value other than
It is characterized by increasing the overestimation value.

According to the fourth aspect of the invention, at the intersection included in the stored route, both the evaluation value of the passage pattern specified in the route and the evaluation value of the passage pattern not specified are changed. Therefore, it is possible to preferentially select the route traveled in the past.

A fifth aspect of the present invention further comprises the fifth step of forcibly inputting the route in the first aspect.
The step is characterized in that the route input in the fifth step is stored in addition to the route detected in the first step.

According to the fifth aspect of the invention, the forcibly input route is stored, so that the route can be learned without actually traveling.

A sixth invention is the fifth invention according to the fifth invention.
The step is characterized by inputting the route selected by the user on the road network data.

A seventh invention is the fifth invention according to the fifth invention.
The step is characterized in that the route is input by communication from the outside.

An eighth invention is the fifth invention based on the fifth invention.
The step is characterized in that the route stored in the portable storage medium is read and input.

A ninth aspect of the invention is the second aspect of the first aspect of the invention.
In the sixth step of displaying the route stored in the step, and in the route displayed in the sixth step, the route instructed by the user is deleted from the routes stored in the second step. And further steps.

According to the ninth aspect of the present invention, it is possible to correct a wrongly traveled route, a route that is no longer desired to pass, or the like according to the preference of the user .

In a tenth aspect of the invention, in the first aspect, the first step is to detect a point where the vehicle departs from the guide route previously obtained by the search and a point where the vehicle returns to the guide route. If, in the interval of up to a point after returning from the broken-off point, every intersection where the vehicle has traveled
At the arrival point where the vehicle traveled immediately before entering the intersection.
The vehicle ran immediately after it escaped from the intersection.
The combination of output links, and a step of detect <br/> as directions traveled by the vehicle, the second step stores the detected directions in the first step as a detour directions.

According to the tenth aspect of the invention, when the vehicle travels on the guide route obtained by the search in advance, only the route of the route detoured from the guide route is stored. Therefore, the amount of data to be stored is small. can do.

An eleventh invention is the tenth invention, wherein
The third step is to pass each intersection on the road network data .
Of passing evaluation value in that, the bypass route in the second step
The combination of the reach link and the escape link
It is characterized in that the corresponding pass evaluation value is reduced.

A twelfth invention is the tenth invention, wherein
The third step is to pass each intersection on the road network data .
Of passing evaluation value in that, the bypass route in the second step
The combination of the reach link and the escape link
It is characterized by increasing the passage evaluation value other than the corresponding passage evaluation value.

A thirteenth invention is the tenth invention, wherein
The third step is to pass each intersection on the road network data .
Of passing evaluation value in that, the bypass route in the second step
The combination of the reach link and the escape link
With reducing passage evaluation value response, the pass evaluation value
It is characterized by increasing the passage evaluation value other than .

In a fourteenth aspect of the present invention based on any one of the tenth to thirteenth aspects, the second step is that an intersection on the guide route in which the vehicle did not travel within the section from the departure point to the return point. Every time you enter the intersection,
The arrival link and the intersection where the vehicle should have traveled before
Escape phosphorus that the vehicle should have run immediately after escaping from
The third combination is stored as a non-driving route.
Is stored as a non-driving route in the second step.
The communication corresponding to the combination of the reached link and the escape link
It is characterized by increasing the overestimation value.

According to the fourteenth aspect of the present invention, the evaluation value of the portion which has not traveled in the guide route is increased, so that the detour route can be more preferentially selected.

In a fifteenth aspect of the present invention, in any one of the first to fourth aspects, the first step detects a point at which the vehicle has deviated from the guide route previously obtained by the search, and the second step departs. At the intersection of the
The arrival link that the vehicle traveled immediately before entering and the intersection
The combination of escape links where the vehicle ran immediately after escaping from
Memorize the seaweed

According to the fifteenth aspect of the invention, since only the passage pattern at the intersection at the point where the vehicle departs from the guide route is stored, the amount of data to be stored can be further reduced.

The 16th aspect of the invention is the same as the 15th aspect of the invention.
It further comprises an eighth step of newly searching for a route from the current position when the vehicle leaves the guide route.

According to the sixteenth aspect, when the vehicle departs from the guide route, a new route from the current position is searched for. Therefore, after leaving the guide route, the departure point for the new route is set. Therefore, the amount of data to be stored can be further reduced as compared with the case where the route of the entire detour route to the original guide route is stored.

In a seventeenth invention, in the first invention, the third step passes through each intersection on the road network data.
Of the passing evaluation values at the time, it is recorded as a route in the second step.
The combination of the reach link and the escape link that you remember, and the
A set in which the arrival link and the escape link of the combination are exchanged
The feature is that the pass evaluation value corresponding to the matching is reduced.

According to the seventeenth aspect of the invention, it is possible to preferentially select a route that can be traveled on the return route among the roads used on the outward route .

In an eighteenth invention, in the first invention, the second step stores the number of times of travel in addition to the route detected in the first step, and the third step is road Passage evaluation when passing through each intersection on the network data
Of the values, the arrival route stored as the route in the second step
Passing evaluation value corresponding to the combination of links and outgoing link, and wherein the be relocated in accordance with the running count.

According to the eighteenth aspect, the route that is used more frequently is preferentially selected, so that the daily behavior pattern of the user can be reflected.

In a nineteenth aspect of the invention based on the first aspect, the second step is to perform a process on the other road network data even if the previously stored road network data is exchanged with the other road network data. Remembered as directions so that you can identify the directions in
The coordinates of the intersection point corresponding to the combination of the reaching link and the exit link and the reaching link for the intersection and
It is characterized in that the connection angle of the escape link is stored.

According to the nineteenth aspect, even when the road network data stored in advance is replaced with new road network data, the already learned route is utilized for the new road network data. be able to.

A twentieth aspect of the present invention is a route selection system for selecting an optimum route between two designated arbitrary points, which is a road network data storage section for storing road network data and a vehicle.
For each intersection where both cars traveled, just before entering the intersection
The arrival link that the vehicle has traveled and
The combination of outgoing link traveled by the vehicle after the directions detector for detecting a directions traveled by the vehicle, and the directions storing unit that stores any time the detected driving directions directions detector, reaches Li
Link and escape link combinations are individually specified in advance.
Also , an evaluation value changing unit that changes the passage evaluation value when passing through the intersection on the road network data based on the route stored in the route storage unit, and the road whose passage evaluation value is changed by the evaluation value changing unit. And a route search unit that searches for a route having the minimum evaluation value between the two designated points by using the network data.

A twenty-first invention is the twentieth invention, wherein
The evaluation value changing unit is characterized in that, on the road network data, it is an intersection included in the route stored in the route storage unit, and reduces the evaluation value of the passage pattern defined in the route.

A twenty-second invention is the twentieth invention, wherein
The evaluation value changing unit passes through each intersection on the road network data.
Of the passing evaluation values at the time, it is stored as a route in the route storage unit.
Communication that corresponds to the combination of the reach link and the escape link
It is characterized by increasing the overestimation value.

A twenty-third aspect of the invention is the twentieth aspect of the invention.
The evaluation value changing unit passes through each intersection on the road network data.
Of the passing evaluation values at the time, it is stored as a route in the route storage unit.
Communication that corresponds to the combination of the reach link and the escape link
The over- evaluation value is reduced, and the pass-through evaluation value other than
It is characterized by increasing the overestimation value.

The twenty-fourth invention is the twentieth invention, wherein
The route storage unit further includes a route input unit forcibly inputting the route, and the route storage unit stores the route input from the route input unit in addition to the route detected by the route detection unit.

A twenty-fifth aspect of the invention is the twenty-fourth aspect of the invention.
The route input unit is characterized by inputting the route selected by the user on the road network data.

The twenty-sixth invention is the twenty-fourth invention, wherein
The route input unit includes a communication device for inputting a route by external communication.

The 27th invention is the 24th invention, wherein
The route input unit includes a reading device for reading and inputting a route stored in a portable storage medium.

The twenty-eighth invention is the twentieth invention, wherein
Further, a display unit that displays the directions stored in the direction storage unit and a deletion unit that deletes the directions instructed by the user out of the directions displayed on the display unit from the directions stored in the direction storage unit. I have it.

The twenty-ninth invention is the twentieth invention, wherein
The route detection unit includes a first detection unit that detects a point at which the vehicle has deviated from the guide route obtained by a search in advance and a point at which the vehicle has returned to the guide route, and a section from the departed point to the point that has returned. Inside the intersection where the vehicle traveled
Each time the vehicle traveled just before entering the intersection
The vehicle drove immediately after exiting the link and the intersection.
The combination of outgoing links, and a second detection unit for <br/> detected as driving directions traveled by the vehicle, driving directions storage unit stores the detected directions by the second detector as a bypass directions.

The 30th invention is the 29th invention, wherein
The evaluation value changing unit passes through each intersection on the road network data.
Of the passing evaluation values at the time, it is recorded as a detour route in the route storage unit.
It corresponds to the combination of the reached link and the escape link that are remembered.
It is characterized by reducing the passing evaluation value.

The 31st invention is the 29th invention, wherein
The evaluation value changing unit passes through each intersection on the road network data.
Of the passing evaluation values at the time, it is recorded as a detour route in the route storage unit.
It corresponds to the combination of the reached link and the escape link that are remembered.
It is characterized by increasing the passage evaluation value other than the passage evaluation value.

A thirty-second invention is the twenty-ninth invention, wherein
The evaluation value changing unit passes through each intersection on the road network data.
Of the passing evaluation values at the time, it is recorded as a detour route in the route storage unit.
It corresponds to the combination of the reached link and the escape link that are remembered.
The passing evaluation value is reduced, and other than the passing evaluation value
It is characterized in that the passage evaluation value of is increased.

In a thirty-third aspect of the present invention according to any one of the twenty-ninth to thirty-second aspects, the route storage section is provided for each intersection on the guide route where the vehicle did not travel within the section from the departure point to the return point. Just before entering the intersection
From the arrival link and the intersection where the vehicle should have traveled
Of the escape link that the vehicle should have run immediately after the escape
The combination is further stored as a non-traveling route, and the evaluation value changing unit causes the reaching value stored in the route storage unit as the non-driving route.
It is characterized in that the passage evaluation value corresponding to the combination of the link and the escape link is increased.

In a thirty-fourth invention according to any one of the twentieth to twenty-third inventions, the route detection unit detects a point at which the vehicle has deviated from the guide route previously obtained by the search, and the route storage unit departs from the point. Enter the intersection at the intersection
From the arrival link that the vehicle traveled immediately before and the intersection
The combination of escape links in which the vehicle traveled immediately after the escape is stored.

The thirty-fifth invention is the thirty-fourth invention, wherein
The vehicle further includes a re-search unit that newly searches for a route from the current position when the vehicle departs from the guide route.

A thirty-sixth aspect of the invention is the twentieth aspect of the invention.
The evaluation value changing unit passes through each intersection on the road network data.
Of the passing evaluation values at the time, it is stored as a route in the route storage unit.
The combination of the reached link and the exit link, and
A combination in which the arrival link and the escape link of the combination are replaced
The feature is that the pass evaluation value corresponding to the matching is reduced.

A thirty-seventh invention is the twentieth invention, wherein
The route storage unit includes, in addition to the routes detected by the route detection unit,
Storing the running count also addition, evaluation value changing unit road network
Of the passage evaluation values when passing each intersection on the data,
Reaching links and escape links stored as directions in the directions memory
Passing evaluation value corresponding to the combination of ink, characterized by be relocated in accordance with the running count.

A thirty-eighth invention is based on the twentieth invention.
The route storage unit is stored as a route so that the route can be specified on the other road network data even when the previously stored road network data is exchanged with the other road network data.
Coordinates of the intersection corresponding to the combination of the reaching link and the exiting link, the entry and the arrival at the intersection.
It is characterized in that the connection angles of the link and the escape link are stored.

[0061]

Other Embodiments of the Invention The present invention also includes the following other embodiments. That is, the first mode is a program set in a computer for selecting an optimum route between two designated arbitrary points on the road network data stored in advance, and the route traveled by the vehicle The first program step to be detected and the route detected in the first program step are stored in the second program step in which the route pattern stored in the second program step is stored as a passage pattern for the intersection on the road network data. Based on the third program step for changing the evaluation value when passing through the intersection on the road network data, and the road network data whose evaluation value has been changed in the third program step, between the two designated points And a fourth program step of searching for a route having a minimum evaluation value of.

The second aspect is the third aspect of the first aspect.
The program step is a crossing included in the route stored in the second program step on the road network data, and reduces the evaluation value of the passage pattern defined in the route.

The third aspect is the same as the first aspect.
The program step is characterized by increasing the evaluation value of a passage pattern which is an intersection included in the route stored in the second program step and is not defined in the route on the road network data.

The fourth aspect is the third aspect of the first aspect.
Program step is an intersection included in the route stored in the second program step on the road network data, reduces the evaluation value of the passage pattern defined in the route, and is defined in the route. It is characterized by increasing the evaluation value of a non-passing pattern.

A fifth aspect further comprises, in the first aspect, a fifth program step for forcibly inputting a route, and the second program step adds to the route detected in the first program step. And storing the route input in the fifth program step.

The sixth aspect is the fifth aspect of the fifth aspect.
The program step is characterized by inputting the route selected by the user on the road network data.

The seventh mode is the fifth mode of the fifth mode.
The program step of (1) is characterized by inputting a route by external communication.

The eighth aspect is the fifth aspect of the fifth aspect.
The program step of (1) is characterized by reading and inputting the route stored therein from a portable storage medium.

The ninth aspect is the second aspect of the first aspect.
Of the sixth program step displaying the directions stored in the program step and the directions displayed by the user in the sixth program step among the directions stored in the second program step. 7th to erase
And the program steps of.

In a tenth aspect based on the first aspect, the first program step detects a point where the vehicle departs from the guide route previously obtained by the search and a point where the vehicle returns to the guide route. The second program step includes a program step and a program step for detecting a route traveled by the vehicle in a section from the departure point to the return point, and the second program step bypasses the route detected in the first program step. Remember as directions.

An eleventh aspect is the same as the tenth aspect,
The third program step is characterized in that, on the road network data, it is an intersection included in the detour route stored in the second program step, and reduces the evaluation value of the passage pattern defined in the detour route. And

A twelfth aspect is the same as the tenth aspect,
The third program step is to increase, on the road network data, an evaluation value of a passing pattern which is an intersection included in the detour route stored in the second program step and which is not defined in the detour route. Characterize.

A thirteenth aspect is the same as the tenth aspect,
The third program step is an intersection included in the detour route stored in the second program step on the road network data. The third program step reduces the evaluation value of the passage pattern defined in the detour route and the detour route. It is characterized in that the evaluation value of the passage pattern not specified in the route is increased.

A fourteenth aspect is the method according to any one of the tenth to thirteenth aspects, wherein the second program step is on the guidance route in which the vehicle has not traveled within the section from the departure point to the return point. The route is further stored as a non-driving route, and the third program step is an intersection included in the non-driving route stored in the second program step, and the passing pattern defined in the non-driving route. It is characterized in that the evaluation value is increased.

A fifteenth aspect is the method according to any one of the first to fourth aspects, in which the first program step detects a point at which the vehicle has deviated from the guide route previously obtained by the search, and the second program step is , A passing pattern of a vehicle traveling at an intersection of departure points is stored.

A sixteenth aspect is the same as the fifteenth aspect,
It further comprises an eighth program step of newly searching for a route from the current position when the vehicle leaves the guide route.

In a seventeenth aspect, in the first aspect, the third program step is performed on the road network data.
It is characterized in that the evaluation value of a passage pattern which is included in the route stored in the second program step and which is defined in the route and a passage pattern in the opposite direction is reduced.

According to an eighteenth aspect, in the first aspect, the second program step stores the number of times of travel in addition to the route detected in the first program step, and the third program step. Is an intersection included in the route stored in the second program step, and the evaluation value of the traffic pattern defined in the route is changed according to the number of times of travel.

In a nineteenth aspect, in the first aspect, the second program step includes the other road network data even if the previously stored road network data is exchanged with the other road network data. It is characterized in that the coordinates of the intersection and the entry and exit angles thereof are stored so that the route can be specified above.

Another aspect is directed to a portable recording medium in which the above software program is stored.

Yet another aspect is directed to a method of supplying the above software program via a communication line.

[0082]

1 is a block diagram showing the configuration of a route selection system according to an embodiment of the present invention. In FIG. 1, the route selection system of the present embodiment includes a map data storage device 1, a position detection device 2, and a point input device 3.
, Route search device 4, output device 5, route departure determination device 6, priority route storage device 7, and priority route editing device 8
And an evaluation value changing device 9.

The map data storage device 1, the position detection device 2, the point input device 3, the route search device 4, the output device 5, the route departure determination device 6, the priority route storage device 7, the priority route editing device 8 and the evaluation. The value changing device 9 may be configured as an independent device, or a part of the functions thereof may be configured by a programmed CPU and memory. In this case, the operation program of the CPU may be installed in advance in a built-in storage device, or may be read from a portable storage medium (CD-ROM, flexible disk, MOD, DVD, etc.) and stored in the system. It may be stored in the device. Further, the operation program data sent by communication from the outside may be received and stored in the storage device in the system.

The map data storage device 1 includes a recording medium such as a CD-ROM or a DVD, and stores in advance road network data used for route search and vehicle current position detection, background data used for map display, and the like. I remember. In the following description, these road network data and background data will be collectively referred to as map data. The contents of the road network data will be described later in detail.

The position detecting device 2 obtains the approximate position and trajectory of the vehicle using the vehicle speed, the turning angle, the radio waves from the GPS (Global Positioning System) satellite, and the map data storage device 1 The current position of the vehicle and the road on which the vehicle is currently traveling are accurately determined by referring to the road network data stored in. Then, the position detection device 2 outputs the coordinates of the current position and the traveling road to the point input device 3 when the route from the current position is requested by the user. The position detection device 2 also outputs the traveling roads to the route departure determination device 6 and the priority route storage device 7 in order. Further, the position detection device 2 outputs the current position of the vehicle to the output device 5 in order to present it to the user.

The point input device 3 operates in response to the operation of the user, obtains the coordinates of the destination for which the route is to be obtained from the operation contents, and finds the corresponding road from the road network data in the map data storage device 1. elect. In addition, the point input device 3 uses the coordinates and the traveling road input from the position detection device 2 as a departure place. Then, the point input device 3 outputs these starting point and destination to the route searching device 4. If necessary, the departure place may be selected by the operation of the user similarly to the destination.

The route search device 4 is a map data storage device 1.
Using the road network data stored in, the optimum route from the starting point to the destination input from the point input device 3 is searched. Further, depending on the situation, the route search device 4 may select the optimum route between the departure point (described later) input from the route departure determination device 6 and the destination input from the point input device 3 (the optimum route obtained immediately before). The best route to get back to). This search for the optimum route is performed by using, for example, the Dijkstra method, and the route from which the evaluation value (travel time or distance) is minimized is found from the starting point to reach the destination. Perform processing to expand the search range up to. Then, the route search device 4 outputs the obtained optimum route to the output device 5 and the route departure determination device 6.

However, the route search device 4 outputs the road network data acquired from the map data storage device 1 to the evaluation value changing device 9 before (or during the search) the optimum route. . Then, the route search device 4 inputs again the road network data whose evaluation value has been changed (described later) from the evaluation value changing device 9 and searches for an optimum route using this changed road network data.

The output device 5 includes a display and a speaker, and uses the map data input from the map data storage device 1, the current position input from the position detection device 2, and the optimum route input from the route search device 4. Image data and audio information are displayed and output as audio.

The route departure judging device 6 compares the traveling road of the current position inputted from the position detecting device 2 with the optimum route inputted from the route searching device 4 to determine whether or not the current position deviates from the optimum route. To judge. Then, when the current position departs from the optimum route, the route departure determination device 6 instructs the route search device 4 to search for a route from the current position with the traveling road of the current position as a departure place. Further, the intersection left from the optimal route and the roads before and after the intersection are output to the priority route storage device 7 as route data (described later).

The priority route storage device 7 is a rewritable recording medium (S-RAM, DVD, flash memory, IC
The route including the card, MOD, etc., which is input from the position detection device 2, the route traveled by the vehicle, or the route before and after the route departure point input from the route departure determination device 6 is stored as route data. Then, the priority route storage device 7 outputs the content of the stored route data to the priority route editing device 8 and the evaluation value changing device 9 as necessary. Further, the priority route storage device 7 changes the stored route data or additionally stores new route data according to the input from the priority route editing device 8.

The priority route editing device 8 operates in response to the operation of the user, obtains the route that the user wants to travel, and selects the corresponding route from the road network data input from the map data storage device 1. Is output to the priority route storage device 7 as route data. In addition, the priority route editing device 8
The route data stored in the priority route storage device 7 is displayed, the user is allowed to designate a route that he / she does not want to pass, and an instruction to delete or change the designated route data is output to the priority route storage device 7.

The evaluation value changing device 9 inputs the related route data from the priority route storage device 7 for the road network data portion used for the search input from the route search device 4.
Then, the evaluation value changing device 9 changes the road evaluation value and the passage evaluation value at the passing intersection included in the route data to small values. After this change, the evaluation value changing device 9
The road network data with the changed evaluation value is output to the route search device 4.

The evaluation value changing device 9 reduces the evaluation values of roads and intersections included in the route data, and increases the evaluation values of roads and intersections related to the portions other than the stored route data. You may do it.

Next, the contents of road network data in the map data stored in the map data storage device 1 in advance will be described.

First, the concept of the road network will be described with reference to FIG. The road network is one of the road shape information, the intersection position information, the road connection relationship information, and the coast and river and facility shape information included in the map data. It means parts such as connection relationships, road shapes, and intersection positions.

The road network data is obtained by converting the above road network into data that can be used for position detection and route search. As shown in FIG. 3, intersections (nodes) and roads (links connecting the intersections) are linked. ), An evaluation value of the link (or information for calculating the evaluation value), and an evaluation value (passing evaluation value: described later) required for a right turn or a left turn at the intersection. Here, the evaluation value (cost) is expressed by distance or time.

Even if the links are links between the same nodes, they are regarded as different depending on the traveling direction of the road, and evaluation values are set for the respective links. This is, for example, when there is congestion in the direction of passing from node A to node B, the evaluation value of the link of node A → node B (link AB) and the evaluation value of the link of node B → node A (link BA). This is because there may be a case where and are significantly different. However, in the case of a system in which traffic congestion is not particularly considered, the link AB and the link BA may be collectively recorded as one link.

As the passage evaluation value, for example, for the link reaching the node, how much the evaluation value is required for each of the exit links is recorded. For example, in FIG.
As shown in (A), a link M whose destination is the node N
For N, the passage evaluation value for going to each link when exiting from the node N is stored in advance. Further, as another example, as shown in FIG. 4B, the right-left turn relationship with each escape link is stored in advance for the reaching link. Then, at the time of search, a predetermined evaluation value is added, such as 40 s for a right turn. As yet another example, FIG.
As shown in, the angle at which the link is connected to the node may be stored, and the right or left turn may be determined by finding the angle difference during the search (for example, if the forward direction of the reaching link is ± 30 degrees, 0 s is straight ahead, Right turn 30 degrees-150 degrees, turn right 40 seconds etc.)
In the following description, it is assumed that the method of FIG. 4A is used for simplification.

Next, with reference to FIG. 5, the operation of the route departure determining device 6 for determining the point where the current position has deviated from the optimum route will be described.

The optimum route obtained by the route search device 4 is expressed as a sequence of links, for example. Now, it is assumed that the optimum route is link AB → link BC → link CD → link DE ... As shown in FIG. At this time,
The current traveling road input from the position detection device 2 is the link A
If it is B, the link AB is present in the link row on the optimum route, and therefore the route departure determination device 6 determines that the traveling route has not left the optimal route.

However, as shown in FIG. 5B, when the traveling road input from the position detecting device 2 changes to the link CX after the link AB and the link BC, the link CX becomes the link string of the optimum route. Since it does not exist, the route departure determination device 6 determines that the travel route has departed from the optimum route. Then, the route departure determination device 6 detects the traveling link (link BC) immediately before the departure and the node (node C) that has left the route.
The travel link (link CX) immediately after the departure is output to the priority route storage device 7 as route data.

Further, the route departure judgment device 6 outputs the departed link CX to the route search device 4, and searches for a new optimum route (see FIG. 5C) obtained with the link CX as a departure place. Input from the device 4 and using this new optimum route, the judgment of whether or not the traveling road deviates from the optimum route is started again.

Next, the route data stored in the priority route storage device 7 will be described with reference to FIG. The route data output from the route departure determination device 6 is stored for each route that has left. For example, in the case of FIG. 5B, the reaching link is BC, the leaving node is C, and the leaving link is CX (hereinafter,
(Direction BC → C → CX)). Further, after that, for example, when leaving the link ZE at the node Z, it is stored as the route YZ → Z → ZE similarly to the previous route data. If the same route data is already stored, the number of inputs (the number of passages) is counted. Furthermore, if the same leaving node passes through the link in the opposite direction (for example, if the reaching link is the link XC and the leaving link is the link CB), the return pass is set to YES and the same route data is stored together. . Hereinafter, including these, the route data is described as, for example, route BC → C → CX-nY. Here, n indicates the number of passages and Y indicates that the return passage is YES.

In the route data, if the leaving node can be identified from the link data, the node information is redundant, so that the leaving node does not have to be stored. It is not necessary to output the leaving node.

Next, the operation of the evaluation value changing device 9 will be described with reference to the example of the route data of FIG. 6 and FIG. When the evaluation value changing device 9 receives the road network data to be used for the search from the route searching device 4, the evaluation value changing device 9 acquires the relevant route data in the road network data from the priority route storage device 7.

As an example, the link evaluation value and the node passage evaluation value included in the route data are multiplied by K / n (0 ≦
When changing to a smaller value by K <1), the route BC → C →
In the direction data of CX-2Y, link BC, link CX
Each evaluation value and the passage evaluation value of the link BC in the CX direction are multiplied by K / 2. Also, in the route data,
Since the return pass is YES, the respective evaluation values of the link XC and the link CB and the passage evaluation value of the link XC in the CB direction are multiplied by K / 2.

Similarly, if the route data is the route YZ → Z → ZE-1N, the evaluation values of the link YZ and the link ZE, and the passage evaluation value of the link YZ in the ZE direction are calculated as follows.
K / 1 times. In this case, since the return pass is NO, the return pass evaluation value is not changed.

The evaluation value changing device 9 outputs the changed road network data to the route searching device 4 when the evaluation value is changed as described above.

In the above description, the evaluation values of the links and nodes included in the route data are changed to small values, but the evaluation values of the links and nodes not included in the route data are set to large values. You may change to. Moreover, the magnitude of these evaluation values may be changed at the same time.

Next, an example of the operation of the priority route editing device 8 will be described with reference to FIG. The priority route editing device 8 acquires the map data of the area that the user wants to display from the map data storage device 1 and displays it on the output device 5. Then, the priority route editing device 8 acquires the route data related to the map data from the priority route storage device 7 and displays it on the map data. In this state, the user
If there is stored data that you want to delete, specify the displayed route data. For example, consider the case of operating with a remote control. In this case, when the user specifies the next item with the remote controller, the priority route editing device 8 changes the blinking route data one after another to clarify which data is currently designated. Then, when the user selects the delete menu in the designated route data, the priority route editing device 8 outputs an instruction to that effect to the priority route storage device 7 so as to delete the contents of the route data.

When the user wants to add the route data, the priority route editing device 8 causes the links on the map data to blink in order, for example. Then, when the user specifies a certain reaching link, the priority route editing device 8 sequentially blinks and displays the exit links which can be passed from the reaching link,
Let the user select the escape link. Further, the priority route editing apparatus 8 sets the number of passages as a priority degree (a larger value has a higher priority), and selects YES / NO as to whether or not to use it as a return path. After that, the priority route editing device 8 outputs the route thus obtained to the priority route storage device 7 as route data and additionally stores it.

Next, referring to FIG. 9, a route changing operation when the vehicle actually travels will be described. First, the user operates the point input device 3 to input a destination for which a route is desired. At this time, the departure place is the current position of the vehicle (see FIG. 9A). Next, the route search device 4
The map data necessary for obtaining the optimum route from the departure place to the destination is acquired from the map data storage device 1.
Then, the route search device 4 outputs the input map data to the evaluation value change device 9. However, in the evaluation value changing device 9, since the route data is not yet stored in the priority route storage device 7, the received map data is returned to the route search device 4 as it is.

The route searching device 4 uses the map data returned from the evaluation value changing device 9 to search for the optimum route from the starting point to the destination. Then, the route search device 4 outputs the obtained optimum route to the route departure determination device 6 and the output device 5. As shown in FIG. 9 (B), the user drives the vehicle based on the optimum route and guidance information displayed on the output device 5.

When the user travels in a vehicle and finds a road that is easier to drive than the presented optimum route,
As shown in FIG. 9C, the vehicle runs off the route. At this time, the route departure determination device 6 determines that the vehicle has departed from the optimum route, and the route before and after the departure point (M1).
Is output to the priority route storage device 7. Priority route storage device 7
Stores the route (M1) received from the route departure determination device 6. Further, the route departure determination device 6 outputs the road on which the vehicle after the departure is currently traveling to the route search device 4 so as to be the starting point of the new optimum route.

The route search device 4 acquires necessary map data from the map data storage device 1 in order to obtain the optimum route from the new departure point input from the route departure determination device 6, and evaluates the map data. Is output to the evaluation value changing device 9 and changed. However, at this time, the evaluation value in M1 has been changed, but since it has already passed, the effect does not appear at this point. Then, the route search device 4 searches for a new optimum route, and outputs the search result to the route leaving device 6 and the output device 5 again. In response, the user is shown in FIG.
As shown in, a guidance for a new optimum route is received from the output device 5.

Further, as shown in FIG. 9 (E), when the traveling route of the vehicle also departs from the new optimum route even at the next intersection, the route departing device 6 causes the route (M2) in the same manner as above.
Is output, and the priority route storage device 7 stores the route (M2). At the same time, the route departure judgment device 6 outputs the current road on which the vehicle is traveling, and in response thereto, the route search device 4 obtains and outputs a new optimum route (FIG. 9).
(See (F)).

As described above, the directions M1 and M2
Is stored in the priority route storage device 7. After that, when the user passes this vicinity on another occasion, and when the optimum route of the destination from the departure place is obtained, the evaluation value changing device 9
Changes the evaluation value of the link and / or node of the corresponding map data based on the route data M1 and M2 stored in the priority route storage device 7. Therefore, in the search operation in the route search device 4, the route (M1),
(M2) will be prioritized. Then, as shown in FIG. 9 (G), the route search device 4 preferentially selects the route that the user has already traveled as the optimum route, rather than the shortest time route (or the shortest time route). Therefore, the user can receive guidance guidance according to the route traveled in the past.

FIG. 10 is a flow chart showing the operation of the route selection system shown in FIG. Hereinafter, with reference to FIG. 10, the operation of the acquisition of priority route data by traveling of the vehicle in the route selection system of FIG. 1 will be described.

First, the user uses the point input device 3 to input a starting point and a destination (step S10).
1, S102). It should be noted that the departure place may be automatically set as the departure place by inputting the current position of the vehicle from the position detection device 2 without the user inputting it.

Next, the route search device 4 acquires the map data used for searching the optimum route between the input departure point and destination from the map data storage device 1 (step S103). Then, the route search device 4 outputs the map data to the evaluation value change device 9.

Next, the evaluation value changing device 9 acquires the route data associated with the map data received from the route searching device 4 from the priority route storage device 7. Then, the evaluation value changing device 9 changes the evaluation value of the link and / or the passage evaluation value of the node related to the route data acquired from the priority route storage device 7 in the map data received from the route search device 4. (Step S104). After that, the evaluation value changing device 9 outputs the map data with the changed evaluation value to the route search device 4.

Next, the route search device 4 searches for the optimum route having the minimum evaluation value between the starting point and the destination, using the map data with the changed evaluation value (step S10).
5). Then, the route search device 4 outputs the obtained optimum route to the route departure determination device 6 and the output device 5. In addition,
When the departure point is input from the route departure determining apparatus 6 (step 110), the route search device 4 may search for a route to return to the already obtained optimum route instead of the route to the destination.

Next, the output device 5 guides the route guidance to the user based on the optimum route received from the route search device 4 (step 106). And the output device 5
When the position detection device 2 detects that the current position of the vehicle has reached the destination (step S107), the guide guidance operation is ended. Here, when the current position of the vehicle has not reached the destination, the route departure determination device 6 checks whether or not the current position of the vehicle has departed from the optimum route (step S108). When the vehicle has not left, the operation of the route selection system returns to step S106 to continue the guidance guidance for the optimum route. On the other hand, when the current position of the vehicle deviates from the optimum route, the route departure determination device 6
The point where the vehicle departs from the optimum route and the traveling roads before and after the point are checked, and the route data is output to and stored in the priority route storage device 7 (step S109). Then, the route departure determination device 6 sets the current position of the vehicle as a new departure point in order to obtain a new optimum route from the current position that is not on the optimum route (step S110). Then, the operation of the route selection system returns to step S103.

In the above embodiment, the map data is read from the map data storage device 1 before the route search device 4 searches, but the map data may be read during the search.

The priority route storage device 7 stores only the routes before and after the departure point determined by the route departure determination device 6, but the traveling road output from the position detection device 2 in real time is stored as the route. It doesn't matter. However, in this case, the amount of data to be stored increases, so care must be taken in managing the memory capacity. Further, in order to allow the user to change the route without actually traveling in the vehicle, as described above, the priority route editing device 8 is provided, and the route data created and changed by the priority route editing device 8 is provided. May be stored in the priority route storage device 7. Furthermore, a portable recording medium (IC card, flexible disk, M
It is also possible to newly provide an input device such as a reading device for OD or the like, a communication device, or the like, and input the route data obtained by another system by the input device and store the route data in the priority route storage device 7.

When it is determined by the route departure determination device 6 that the current position of the vehicle has departed from the optimum route,
The road that the vehicle has passed through is created as route data in the section until the vehicle returns to the optimal route again without finding a new optimal route with the current position as the departure point, and the priority route storage device 7
May be stored in.

In the evaluation value changing device 9, the evaluation values of the links and the passage evaluation values of the nodes related to the route data are changed to be small, but the evaluation values of the other links and nodes are increased. It doesn't matter. Further, instead of storing only the traveled route as the route data, the route of the original route is stored, and in the evaluation value changing device 9, the link evaluation value and the node passage evaluation value of this route data part are stored. May be increased. Further, the evaluation value changing device 9 simultaneously makes both changes to reduce the evaluation value of the route traveled and increase the evaluation value of the route of the original route, thereby ensuring more correct route correction. It doesn't matter.

Further, the priority route storage device 7 counts the number of times the same route data is stored, and the evaluation value changing device 9
May be set to be smaller as the evaluation value of the route having the larger number of times.

Further, the priority route storage device 7 may store the coordinates corresponding to the transit node and the connection angles of the ingress link and the egress link for the transit node together as the route data. In this case, even if the map data stored in the map data storage device 1 is changed to new map data, the nodes and links included in the route data are specified on the new map data by the coordinates and the connection angles. Therefore, it is possible to effectively utilize the new map data without discarding the already accumulated route data.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a route selection system according to an embodiment of the present invention.

FIG. 2 is a diagram for explaining a road network used in the present invention.

FIG. 3 is a diagram showing an example of road network data.

FIG. 4 is a diagram showing the contents of evaluation value data when passing through an intersection.

FIG. 5 is a diagram for explaining an operation when leaving the optimum route.

FIG. 6 is a diagram for explaining the contents of route data.

FIG. 7 is a diagram showing an example of changing an evaluation value of road network data.

FIG. 8 is a diagram showing an example of an operation of a device for editing a priority route.

FIG. 9 is a diagram for explaining the operation regarding the change of the route data and the optimum route when the vehicle travels.

10 is a flowchart for explaining the operation of the route selection system of FIG.

FIG. 11 is a diagram showing a conventional example in which an optimum route is corrected by waypoint setting.

FIG. 12 is a diagram showing a conventional example in which a route is corrected based on a traveling locus.

FIG. 13 is a diagram showing an increase in evaluation value due to a right / left turn.

FIG. 14 is a diagram for explaining that different evaluation value settings are required for a round trip.

[Explanation of symbols]

1 ... Map data storage device 2 ... Position detection device 3 ... Point input device 4 ... Route search device 5 ... Output device 6 ... Route departure determination device 7 ... Priority route storage device 8 ... Priority route editing device 9 ... Evaluation value changing device

─────────────────────────────────────────────────── ───Continued from the front page (56) Reference JP-A-8-201088 (JP, A) JP-A-8-271273 (JP, A) JP-A-8-278154 (JP, A) JP-A-4- 93000 (JP, A) JP-A-8-210864 (JP, A) JP-A-2-51014 (JP, A) JP-A-6-150189 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01C 21/00 G08G 1/0969 G09B 29/10

Claims (38)

(57) [Claims] 1. A method for selecting an optimum route between two designated arbitrary points on road network data stored in advance, for each intersection where a vehicle has run, immediately before entering the intersection.
The vehicle has traveled to the arrival link and escaped from the intersection
Immediately after, a first step of detecting a combination of escape links traveled by the vehicle as a route traveled by the vehicle, a second step of storing the route detected in the first step at any time , an arrival link and an escape Pre-specified individually for each link combination
When passing the specified intersection on the road network data
The pass evaluation value is based on the route stored in the second step.
A third step of changing by Zui, using the third road network data passing evaluation value is changed in steps, the fourth of searching the minimum evaluation value becomes the path between the designated two points A route selection method comprising: 2. In the third step, among the passage evaluation values when passing through each intersection on the road network data, the arrival link and the escape that are stored as the route in the second step.
The route selection method according to claim 1, wherein the pass evaluation values corresponding to the combinations of links are reduced. 3. In the third step, among the passage evaluation values at the time of passing each intersection on the road network data, the arrival link and the escape which are stored as the route in the second step.
The passage evaluation value other than the passage evaluation value corresponding to the combination of links is increased, respectively.
Route selection method described in. 4. In the third step, among the passage evaluation values when passing through each intersection on the road network data, the arrival link and the escape that are stored as the route in the second step.
The route selecting method according to claim 1, wherein the passage evaluation value corresponding to the combination of links is reduced and the passage evaluation values other than the passage evaluation value are increased. 5. The method further comprises a fifth step of forcibly inputting a route, wherein the second step is input in the fifth step in addition to the route detected in the first step. The route selection method according to claim 1, wherein the route is stored. 6. The route selection method according to claim 5, wherein in the fifth step, the route selected by the user is input on the road network data. 7. The route selection method according to claim 5, wherein in the fifth step, a route is input by external communication. 8. The route selection method according to claim 5, wherein in the fifth step, a route stored in a portable storage medium is read and input. 9. A sixth step of displaying the route stored in the second step, and a route instructed by a user among the routes displayed in the sixth step in the second step. The route selection method according to claim 1, further comprising a seventh step of deleting from the stored directions. 10. The first step comprises: detecting a point at which a vehicle departs from a guide route obtained by a search in advance and a point at which a vehicle returns to the guide route; and returning from the departed point. Enter the intersection at each intersection where the vehicle traveled within the section up to
From the arrival link that the vehicle traveled immediately before and the intersection
A combination of escape links that the vehicle ran immediately after the escape
And and detecting a directions traveled by the vehicle, the second step stores the detected directions in the first step as a detour directions, route selection method according to claim 1. 11. The arrival link stored in the second step as a detour route among the passage evaluation values when passing through each intersection on the road network data in the third step.
11. The route selection method according to claim 10, wherein the passage evaluation value corresponding to the combination of the escape link and the escape link is reduced. 12. The third step is a reaching link stored as a detour route in the second step among passage evaluation values when passing through each intersection on the road network data.
Other than the passage evaluation value corresponding to the combination of the escape link
11. The passage evaluation value is increased, according to claim 10.
Route selection method described in. 13. The arrival link stored in the second step as a detour route among the passage evaluation values when passing through each intersection on the road network data, in the third step.
11. The route selection method according to claim 10, wherein the passage evaluation value corresponding to the combination of the exit link and the escape link is reduced and the passage evaluation values other than the passage evaluation value are increased. 14. The second step comprises, in the section from the departure point to the return point, for each intersection on the guide route in which a vehicle did not travel ,
The arrival time that the vehicle should have traveled just before entering the difference
The vehicle will run immediately after it escapes from the intersection.
The combination of the escape links that were left is further stored as a non-driving route,
Combination of arrival link and escape link stored in order
Is characterized by increasing the passage evaluation value corresponding to
The route selection method according to claim 10. 15. The first step detects a point at which a vehicle has departed from a guide route obtained by a search in advance, and the second step immediately before entering the intersection at the intersection of the departed points. When the vehicle has traveled
The vehicle ran immediately after it escaped from the intersection.
The route selection method according to claim 1, wherein a combination of outgoing links is stored. 16. The route selection method according to claim 15, further comprising an eighth step of newly searching for a route from the current position when the vehicle departs from the guide route. 17. In the third step, among the passage evaluation values when passing through each intersection on the road network data, the arrival link and the departure link stored as the route in the second step are deselected.
The combination of outgoing links and the arrival
Link and escape link
The route selection method according to claim 1, wherein the overestimation value is reduced. 18. The second step stores the number of times of travel in addition to the route detected in the first step, and the third step stores each intersection on the road network data. Communication
Of the passing evaluation values when passing , the road in the second step
Combination of arrival link and escape link stored in order
Passing evaluation value corresponding to, and said <br/> be relocated in accordance with the travel times, the route selection method according to claim 1. 19. The route is provided so that the route can be specified on the other road network data even if the previously stored road network data is exchanged with the other road network data. Of reach links and escape links stored as
The coordinates and the intersection of the intersection corresponding to the combination
The route selection method according to claim 1, wherein the connection angles of the arrival link and the escape link for the same are stored. 20. A route selection system for selecting an optimum route between any two designated points, wherein a road network data storage unit for storing road network data and an intersection where a vehicle travels are provided. Immediately before entering the intersection
The vehicle has traveled to the arrival link and escaped from the intersection
Immediately afterwards, a combination of the escape links that the vehicle has traveled is detected as a route that the vehicle has traveled, a direction storage unit that constantly stores the directions detected by the route detection unit, and a combination of arrival links and escape links. Pre-specified individually for each
When passing the specified intersection on the road network data
The passage evaluation value is based on the route stored in the route storage unit.
And a route search unit that searches for a route having the minimum evaluation value between the two designated points by using the road network data whose passage evaluation value has been changed by the evaluation value changing unit. A route selection system. 21. The evaluation value changing unit, among the passage evaluation values when passing through each intersection on the road network data, the arrival link and the escape route stored as the route in the route storage unit.
21. The route selection system according to claim 20, wherein the passage evaluation value corresponding to the combination of links is reduced. 22. The evaluation value changing unit, out of the passage evaluation value when passing through each intersection on the road network data, escape Li and the arrival link stored as directions to the directions storage unit
21. The route selection system according to claim 20, wherein passage evaluation values other than the passage evaluation values corresponding to the combination of links are increased. 23. The evaluation value changing unit includes an arrival link and an escape route stored as a route in the route storage unit out of the passage evaluation values when passing through each intersection on the road network data.
21. The route selection system according to claim 20, wherein a passage evaluation value corresponding to a combination of links is reduced and passage evaluation values other than the passage evaluation value are increased. 24. A route input unit for forcibly inputting a route is further provided, wherein the route storage unit stores the route input from the route input unit in addition to the route detected by the route detection unit. The route selection system according to claim 20, wherein: 25. The route selection system according to claim 24, wherein the route input unit inputs a route selected by a user on the road network data. 26. The route input unit includes a communication device for inputting a route by external communication.
The route selection system described in 4. 27. The route selection system according to claim 24, wherein the route input unit includes a reading device for reading and inputting a route stored in a portable storage medium. 28. A display unit that displays the route stored in the route storage unit; and among the routes displayed on the display unit, the route instructed by the user among the routes stored in the route storage unit. The route selection system according to claim 20, further comprising: an erasing unit for erasing from the route. 29. The route detection unit includes a first detection unit that detects a point at which a vehicle departs from a guide route obtained by a search in advance and a point at which the vehicle returns to the guide route; and the depart point. From the intersection to the point where the vehicle has returned , enter the intersection at each intersection where the vehicle has traveled.
From the arrival link that the vehicle traveled immediately before and the intersection
A combination of escape links that the vehicle ran immediately after the escape
A and a second detector for detecting a directions traveled by the vehicle, the directions storage unit stores the detour directions the directions detected by said second detection section, the path of claim 20 Election system. 30. The evaluation value changing unit is configured to select , from among the passage evaluation values when passing through each intersection on the road network data, an arrival link and a departure route stored as a detour route in the route storage unit.
30. The route selection system according to claim 29, wherein a passage evaluation value corresponding to a combination of outgoing links is reduced. 31. The evaluation value changing unit is configured to select an arrival link and a departure link stored as a detour route in the route storage unit from among the passage evaluation values when passing through each intersection on the road network data.
The route selection system according to claim 29, wherein a passage evaluation value other than a passage evaluation value corresponding to a combination of outgoing links is increased. 32. The evaluation value changing unit is configured to select , from among the passage evaluation values when passing through each intersection on the road network data, an arrival link and a departure route stored as a detour route in the route storage unit.
30. The route selection system according to claim 29, wherein a passage evaluation value corresponding to a combination of outgoing links is reduced and passage evaluation values other than the passage evaluation value are increased. 33. The route storage unit, for each intersection on the guide route in which a vehicle did not travel, within the section from the point of departure to the point of return , the intersection.
The arrival link that the vehicle should have traveled just before entering
And the vehicle should drive immediately after exiting the intersection
The combination of escape links that have been stored is further stored as a non-traveling route, and the evaluation value changing unit stores the non-traveling route in the route storage unit.
The combination of the reach link and the escape link stored
33. The route selection system according to claim 29, wherein a corresponding pass evaluation value is increased. 34. The route detection unit detects a point at which a vehicle has departed from a guide route obtained by a search in advance, and the route storage unit at an intersection of the departed point.
Arrival link that the vehicle traveled immediately before entering the intersection
And the escape route that the vehicle ran immediately after the vehicle escaped from the intersection.
The route selection system according to any one of claims 20 to 23, which stores a combination of links. 35. The route selection system according to claim 34, further comprising a re-search unit that newly searches for a route from a current position when a vehicle departs from the guide route. 36. The evaluation value changing unit, among the passage evaluation values when passing through each intersection on the road network data, the arrival link and the escape route stored as the route in the route storage unit.
Combination of links and arrival links of the combination
The route selection system according to claim 20, wherein the passage evaluation value corresponding to a combination in which the escape links are replaced with each other is reduced. 37. The route storage unit stores the number of times of travel in addition to the route detected by the route detection unit, and the evaluation value change unit passes through each intersection on the road network data.
Of passing evaluation value when, and directions to the directions storage unit
The combination of the reach link and the escape link stored
Passing evaluation value response, characterized by be relocated in accordance with the travel times, the route selection system according to claim 20. 38. The route storage unit stores the route as a route so that the route can be specified on the other road network data even when the previously stored road network data is exchanged with the other road network data. Set of memorized arrival link and escape link
Pair coordinates and the intersection of the intersection corresponding to the mating viewed
21. The route selection system according to claim 20, wherein the connection angles of the reaching link and the exit link are stored.