JP3857531B2 - Navigation device, vehicle direction determination method and program thereof - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation device, a vehicle direction determination method, and a program thereof.
[0002]
[Prior art]
Conventionally, in a navigation device, for example, the current position of a vehicle, that is, the current location is detected by GPS (satellite navigation system), and the rotational angular velocity of the vehicle detected by a gyro sensor, that is, based on a turning angle, The direction of the vehicle, that is, the vehicle direction is detected, and the current location, the vehicle direction, and the surrounding map are displayed on the map screen set on the display of the display unit. Therefore, the driver can drive the vehicle according to the current location and the vehicle direction displayed on the map screen.
[0003]
[Problems to be solved by the invention]
However, in the conventional navigation device described above, for example, when a driver uses a parking lot equipped with a turntable, the driver himself / herself at the time of delivery depends on the orientation of the vehicle when entering the vehicle and the orientation of the vehicle when exiting. The vehicle direction cannot be accurately detected, and the reliability of the display content of the map screen is lowered.
[0004]
That is, there are two types of turntables. In the case of the first type of turntable, the turntable is disposed in front of the garage. In this case, at the time of warehousing, the driver stops the vehicle at a predetermined location in the garage, turns off the engine, and gets off. Further, when leaving the car, the driver gets on the vehicle at a predetermined location in the garage, turns on the engine, moves the vehicle backward, removes it from the garage, and stops it on the turntable. Subsequently, a parking lot manager, a driver, and the like rotate the turntable to reverse the direction of the vehicle.
[0005]
In the case of the second type of turntable, a turntable is provided in the garage. In this case, at the time of warehousing, the driver stops the vehicle at a predetermined location in the garage, turns off the engine, and gets off. In addition, when leaving the car, the manager of the parking lot, the driver, and the like rotate the turntable to reverse the direction of the vehicle. Then, the driver gets on at a predetermined location in the garage, turns on the engine, advances the vehicle, and removes the vehicle from the garage.
[0006]
By the way, in the case of the first type of turntable, normally, the state where the engine is turned on is maintained while the vehicle is reversed, so the direction of the vehicle before turning off the engine and the engine turned on are kept. The direction of the vehicle after it is done is the same. Therefore, when leaving the vehicle, it is possible to accurately detect the direction of the vehicle when the engine is turned on. However, in the case of the second type of turntable, the vehicle is reversed with the engine turned off, so the direction of the vehicle before turning off the engine and the direction of the vehicle after turning on the engine are Different. Therefore, when leaving the vehicle, the vehicle direction when the engine is turned on cannot be accurately displayed on the map screen.
[0007]
The present invention solves the problems of the conventional navigation device, and when using a parking lot equipped with a turntable, a navigation device capable of accurately displaying the vehicle direction on a map screen when leaving the vehicle, It is an object of the present invention to provide a vehicle direction determination method and a program thereof.
[0008]
[Means for Solving the Problems]
Therefore, in the navigation device of the present invention, the present location detecting means for detecting the current location, the own vehicle orientation detecting means for detecting the own vehicle orientation, and a predetermined time when the own vehicle is stopped based on the detected current location. Turntable presence / absence determination processing means for determining whether or not there is a turntable within the range, and when the turntable is within the predetermined range, when the engine is turned on and turned on, Own vehicle direction correction processing means for correcting the vehicle direction.
The vehicle direction correction processing means determines whether or not there is exit direction data. If there is exit direction data, the vehicle direction is corrected based on the exit direction data, and there is no exit direction data. Calculates the exit azimuth and corrects the vehicle azimuth based on the calculated exit azimuth.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0015]
FIG. 1 is a functional block diagram of the navigation device according to the first embodiment of the present invention.
[0016]
In the figure, 21 is GPS as current position detecting means for detecting the current position, 91 is own vehicle direction detecting means for detecting the own vehicle direction, and 92 is whether there is a turntable within a predetermined range based on the detected current position. Turntable presence / absence determination processing means 93 for determining the vehicle orientation correction processing means for correcting the vehicle orientation when there is a turntable.
[0017]
FIG. 2 is a block diagram of the navigation device in the first embodiment of the present invention, FIG. 3 is a flowchart showing an initialization process for determining the vehicle direction in the first embodiment of the present invention, and FIG. FIG. 5 is a second flowchart showing the vehicle direction determination process according to the first embodiment of the present invention. FIG. 5 is a second flowchart showing the vehicle direction determination process according to the first embodiment of the present invention.
[0018]
In FIG. 2, reference numeral 14 denotes a navigation device. The navigation device 14 is arranged as a current position detection processing unit 15 for detecting the current location, a data recording unit 16 as a recording medium on which road data and the like are recorded, and a computer. The navigation processing unit 17 that functions as various processing means and performs various arithmetic processing such as navigation processing based on the input information, the input unit 34, the display unit 35, the voice input unit 36, the voice output unit 37, and A vehicle speed sensor 41 is connected to the navigation processing unit 17.
[0019]
The current position detection processing unit 15 includes a GPS 21 as a current position detection means, a geomagnetic sensor 22, a distance sensor 23, a steering sensor 24, a beacon sensor 25, a gyro sensor 26, an altimeter (not shown), and the like.
[0020]
The GPS 21 detects the present location on the earth by receiving radio waves generated by artificial satellites, the geomagnetic sensor 22 detects the vehicle direction by measuring geomagnetism, and the distance sensor 23 A distance between predetermined positions on the road is detected. Examples of the distance sensor 23 include a sensor that measures the rotational speed of a wheel (not shown) and detects a distance based on the rotational speed, a sensor that measures acceleration, integrates the acceleration twice, and detects a distance. Can be used.
[0021]
The steering sensor 24 detects a rudder angle, and the steering sensor 24 is attached to, for example, an optical rotation sensor, a rotation resistance sensor, or a wheel attached to a rotating portion of a steering wheel (not shown). An angle sensor or the like is used.
[0022]
The beacon sensor 25 receives position information from radio wave beacons, optical beacons and the like arranged along the road to detect the current location. The gyro sensor 26 detects a turning angle. As the gyro sensor 26, for example, a gas rate gyro, a vibration gyro, or the like is used. Then, by integrating the turning angle detected by the gyro sensor 26, the vehicle direction can be detected.
[0023]
The GPS 21 and the beacon sensor 25 can detect the current location independently. The current position can also be detected by combining the distance detected by the distance sensor 23 with the vehicle direction detected by the geomagnetic sensor 22 or the turning angle detected by the gyro sensor 26. Further, the current location can be detected by combining the distance detected by the distance sensor 23 and the steering angle detected by the steering sensor 24.
[0024]
The data recording unit 16 records map data files, intersection data files, node data files, road data files, photo data files, and facility information such as hotels, gas stations, parking lots, and sightseeing spots in each region. A database of facility information data files is provided. In each data file, in addition to data for searching for a route, a guide map is displayed along the searched route on a screen set on the display of the display unit 35, or at an intersection or a route. Various data for displaying characteristic photographs, frame diagrams, etc., displaying the distance to the next intersection, the traveling direction at the next intersection, etc., and displaying other guidance information are recorded. . The data recording unit 16 also records various data for outputting predetermined information by the audio output unit 37.
[0025]
By the way, intersection data relating to each intersection is recorded in the intersection data file, node data relating to node points is recorded in the node data file, and road data relating to roads are recorded in the road data file, respectively, and the intersection data, node data and road data are recorded. The road condition is expressed by. The node data constitutes at least the position and shape of the road in the map data recorded in the map data file, and includes actual branch points (including intersections and T-junctions), node points. , And data indicating a link between node points for connecting the node points.
[0026]
And according to the road data, the width of the road itself, the gradient, the cant, the bank, the road surface condition, the number of lanes of the road, the point where the number of lanes decreases, the point where the width becomes narrower, etc. Includes a radius of curvature, an intersection, a T-junction, a corner entrance, and the like, a road attribute includes a downhill road, an uphill road, and the like, and a road type includes a national road, a general road, and a highway. In addition, the road data includes a level crossing, a highway exit rampway, a highway tollgate, and the like.
[0027]
The navigation processing unit 17 includes a CPU 31 that controls the navigation device 14 as a whole, a RAM 32 that is used as a working memory when the CPU 31 performs various arithmetic processes, and a control program. It comprises a ROM 33 as a recording medium on which various programs for searching for a route, driving guidance in the route, determination of a specific section, etc. are recorded, and the navigation processing unit 17 includes the input unit 34 and the display unit 35. The audio input unit 36, the audio output unit 37, and the communication unit 38 are connected.
[0028]
The data recording unit 16 and the ROM 33 are configured by a magnetic core, a semiconductor memory, etc. (not shown). Further, as the data recording unit 16 and the ROM 33, various recording media such as a magnetic tape, a magnetic disk, a floppy disk, a magnetic drum, a CD, an MD, a DVD, an optical disk, an MO, an IC card, and an optical card can be used. .
[0029]
In the present embodiment, various programs are recorded in the ROM 33 and various data are recorded in the data recording unit 16, but the programs, data, and the like are recorded on the same external recording medium. You can also. In this case, for example, a flash memory (not shown) may be provided in the navigation processing unit 17, and the program, data, and the like may be read from the external recording medium and written to the flash memory. Therefore, the program, data, etc. can be updated by exchanging an external recording medium. In addition, a program for controlling an automatic transmission control device (not shown) can be recorded on the external recording medium. As described above, it is possible to start programs recorded in various recording media and perform various processes based on the data.
[0030]
Further, the communication unit 38 is for transmitting and receiving various programs, data, and the like to and from an FM multiplex transmission device, a telephone line, a communication line, and the like. In addition to traffic information composed of information such as traffic jam information, regulation information, and parking lot information received by the device, various data such as traffic accident information and D-GPS information for detecting detection errors of GPS 21 are received.
[0031]
Further, a program for realizing the functions of the present invention, other programs for operating the navigation device 14, data, etc. are transferred from an information center (Internet server, navigation server, etc.) to a plurality of base stations (Internet provider terminals). The communication unit 38 is connected to the communication unit 38 via a telephone line, a communication line, or the like), and can be transmitted from each base station to the communication unit 38. In that case, when at least a part of the program and data transmitted from each base station is received, the CPU 31 downloads the data to a readable / writable memory, for example, a RAM 32, a flash memory, a hard disk or the like, The said program is started and various processes can be performed based on data. Note that the program and data may be recorded on different recording media, or may be recorded on the same recording medium.
[0032]
Also, using a personal computer at home, download the program, data, etc. sent from the information center to a recording medium such as a memory stick, floppy disk, etc. that can be attached to and detached from the personal computer, start the program, and Various processing can also be performed based on the above.
[0033]
The input unit 34 is for correcting the current location at the start of traveling or inputting a destination, and includes operation keys, operation menus, and the like displayed on the screen set in the display. The operation switch. Therefore, input can be performed by pressing (touching) the operation switch. As the input unit 34, a keyboard, a mouse, a barcode reader, a light pen, a remote control device for remote operation, etc. arranged separately from the display unit 35 can be used.
[0034]
The screen set on the display displays operation guidance, an operation menu, operation key guidance, a route from the current location to the destination, guidance information along the route, and the like. As the display unit 35, a display such as a CRT display, a liquid crystal display, or a plasma display can be used, and a hologram device that projects a hologram on a windshield can be used.
[0035]
The voice input unit 36 includes a microphone (not shown) and the like, and can input necessary information by voice. Further, the voice output unit 37 includes a voice synthesizer and a speaker (not shown), and outputs sound information, for example, guidance information composed of voice synthesized by the voice synthesizer, shift information, and the like from the speaker. In addition to the voice synthesized by the voice synthesizer, various kinds of sound and various kinds of guidance information recorded in advance on a tape, a memory or the like can be output from the speaker.
[0036]
Next, the operation of the navigation device 14 configured as described above will be described.
[0037]
First, when the input unit 34 is operated by an operator such as a driver and the navigation device 14 is activated, a navigation initialization processing unit (not shown) of the CPU 31 performs navigation initialization processing, and in the navigation initialization processing, The initialization processing means of the navigation initialization processing means performs initialization processing for determining the vehicle direction.
[0038]
Subsequently, the matching processing means (not shown) of the CPU 31 performs matching processing and reads matching data such as the current location, own vehicle direction, node data, and map data, and in the matching processing, the own vehicle direction determination processing unit of the matching processing unit. Performs vehicle direction determination processing. For this purpose, the vehicle direction detection means 91 of the CPU 31 integrates the turning angle detected by the gyro sensor 26 and detects the vehicle direction. In the present embodiment, the matching processing means reads node data, map data, and the like from the data recording unit 16, but can read them via the communication unit 38.
[0039]
Next, the display processing means (not shown) of the CPU 31 performs display processing to set a map screen on the display, and displays a map of the surroundings according to the map data on the map screen, and also detects the detected current location. And the determined vehicle direction is displayed.
[0040]
When the navigation device 14 is used as a route search device, when a destination is input by operating the input unit 34 by an operator such as a driver, the destination setting processing means (not shown) of the CPU 31 Perform destination setting processing and set the destination. The current location update processing means (not shown) of the CPU 31 performs current location update processing and updates the current location as the vehicle travels. Subsequently, a route search processing unit (not shown) of the CPU 31 performs route search processing to search for a route from the current location to the destination.
[0041]
When the route is searched, the display processing means performs display processing, sets a map screen on the display, and displays the searched route in addition to the current location, the vehicle direction, and the surrounding map on the map screen. indicate. Therefore, the driver can drive the vehicle according to the route guidance.
[0042]
Next, an initialization process when determining the vehicle direction will be described.
[0043]
In this case, the initialization processing means performs initialization processing and turns off the turntable processed flag. The turntable processed flag is a flag indicating whether or not the turntable processing is performed when the driver uses the parking lot equipped with the turntable. When the turntable processed flag is on, Table processing is performed, and the direction of the vehicle is appropriately corrected according to the type of parking lot.
[0044]
Next, a flowchart will be described.
Step S1: The turntable processed flag is turned off, and the process ends.
[0045]
Next, the vehicle direction determination process will be described.
[0046]
In this case, in the node data file, the node point is set in all parking lots having a turntable in addition to a predetermined portion of the road, and the node data has a turntable flag indicating that there is a turntable. Is provided. Also, in the facility information data file, the turntable detailed information including the turntable type data, the exit direction data indicating the exit direction of the turntable, etc. is recorded as the turntable data in correspondence with the node data of the turntable. The
[0047]
When the vehicle direction determination processing unit starts the vehicle direction determination processing, the vehicle direction determination processing unit determines whether or not the turntable processed flag is on. If the turntable processed flag is on, the processing ends. If not, it is determined whether matching data has already been read. When the matching data has already been read, the turntable presence / absence determination processing unit 92 of the vehicle direction determination processing unit determines whether the turntable flag is on or off according to the node data of the matching data, and determines the predetermined value from the current location. Determine if there is a turntable within the distance. When there is a turntable within a predetermined distance, it is determined whether or not the vehicle is stopped on the turntable.
[0048]
And when a vehicle is stopped in the said turntable, it turns out that a parking lot is utilized. Therefore, the vehicle direction determination processing unit refers to the data recording unit 16 and determines whether there is turntable data. When there is turntable data, data reading processing means (not shown) of the vehicle direction determination processing means reads the turntable data. In the present embodiment, the vehicle direction determination processing means refers to the data recording unit 16 to determine whether there is turntable data. However, the turntable data is determined via the communication unit 38. You can also determine if there is any.
[0049]
By the way, there are two types of turntables, and in the case of the first type of turntable, the turntable is disposed in front of the garage. In this case, at the time of warehousing, the driver stops the vehicle at a predetermined location in the garage, turns off the engine, and gets off. Further, when leaving the car, the driver gets on the vehicle at a predetermined location in the garage, turns on the engine, moves the vehicle backward, removes it from the garage, and stops it on the turntable. Subsequently, a parking lot manager, a driver, and the like rotate the turntable to reverse the direction of the vehicle.
[0050]
In the case of the second type of turntable, a turntable is provided in the garage. In this case, at the time of warehousing, the driver stops the vehicle at a predetermined location in the garage, turns off the engine, and gets off. In addition, when leaving the car, the manager of the parking lot, the driver, and the like rotate the turntable to reverse the direction of the vehicle. Then, the driver gets on at a predetermined location in the garage, turns on the engine, advances the vehicle, and removes the vehicle from the garage.
[0051]
By the way, in the case of the first type of turntable, normally, the state where the engine is turned on is maintained while the vehicle is reversed, so the direction of the vehicle before turning off the engine and the engine turned on are kept. The direction of the vehicle after it is done is the same. Therefore, when leaving the vehicle, it is possible to accurately detect the direction of the vehicle when the engine is turned on. Also, in the case of the second type of turntable, the vehicle is reversed with the engine turned off, so the direction of the vehicle before turning off the engine and the direction of the vehicle after turning on the engine Different. Therefore, if the vehicle direction detected before turning off the engine is determined as the vehicle direction in the matching process when leaving the vehicle, the vehicle direction is erroneously displayed on the map screen.
[0052]
Therefore, the turntable type determination processing means of the vehicle direction determination processing means determines whether the turntable is the first type based on the turntable data corresponding to the current location in the turntable data. In the case of the first type of turntable, the vehicle direction determination processing means determines the vehicle direction detected before turning off the engine as the vehicle direction in the matching process, and sets the turntable processed flag. Turn it on and finish the process. In the case of the second type of turntable, the vehicle direction correction processing unit 93 of the vehicle direction determination processing unit determines whether or not the exit direction data is present. The exit direction of the turntable is calculated based on the link connecting the node point adjacent to the turntable, and the vehicle direction is corrected based on the calculated exit direction. The exit azimuth is calculated based on the coordinates of the turntable node data and the coordinates of the node point at the other end of the link.
[0053]
Further, when there is exit azimuth data, the own vehicle azimuth correction processing means 93 determines whether or not there are a plurality of exit azimuth data. The processing means performs selection processing, and when route guidance based on route search processing, route guidance based on VICS data, or the like is performed, exit direction data is selected according to the route guidance, and based on the selected exit direction data Correct the direction of the vehicle. And when there is only one exit azimuth data, the vehicle direction correction processing means 93 corrects the vehicle direction based on the exit direction data.
[0054]
When the vehicle direction is corrected in this way, the vehicle direction determination processing means determines the corrected vehicle direction as the vehicle direction in the matching process, and turns on the turntable processed flag.
[0055]
Therefore, when using a parking lot equipped with a turntable, the direction of the vehicle at the time of entering and the direction of the vehicle at the time of leaving the vehicle are accurately displayed on the map screen. Can do. As a result, the reliability of the display content of the map screen can be improved.
[0056]
By the way, when using a parking lot that is personally installed and equipped with a turntable, the detailed information of the turntable is not recorded as turntable data in the facility information data file of the data recording unit 16. In this case, when an operator such as a driver registers a memory location on a recording medium such as a memory stick that is detachably attached to the RAM 32 and the navigation device 14, a turntable processed flag, a turntable Type, exit direction data, etc. can be registered together. Therefore, not only can the destination be set based on the information of the memory point, but also the direction of the vehicle can be corrected.
[0057]
Next, a flowchart will be described.
Step S11: It is determined whether or not the turntable processed flag is on. If the turntable processed flag is on, the process ends. If not (on), the process proceeds to step S12.
Step S12: It is determined whether the matching data has already been read. If the matching data has already been read, the process proceeds to step S13. If the matching data has not been read, the process ends.
Step S13: It is determined whether or not there is a turntable within a predetermined distance. If there is a turntable within a predetermined distance, the process proceeds to step S14, and if not, the process ends.
Step S14: Determine whether the vehicle has been stopped. If the vehicle is stopped, the process proceeds to step S15. If the vehicle is not stopped, the process ends.
Step S15: It is determined whether there is turntable data. If there is turntable data, the process proceeds to step S16; otherwise, the process proceeds to step S17. Step S16: Read the turntable data.
Step S17: Determine whether the turntable is the first type. If the turntable is the first type, the process proceeds to step S18. If the turntable is not the first type (the second type), the process proceeds to step S19.
Step S18: Turn on the turntable processed flag and end the processing.
Step S19: Determine whether there is exit direction data. If there is exit direction data, the process proceeds to step S21, and if not, the process proceeds to step S20.
Step S20: Calculate an exit direction based on a link connecting the turntable and a node point adjacent to the turntable.
Step S21: It is determined whether there are a plurality of exit direction data. If there are a plurality of exit azimuth data, the process proceeds to step S22; otherwise, the process proceeds to step S23. Step S22 A selection process is performed.
Step S23: The own vehicle direction is corrected.
[0058]
By the way, in the first embodiment, the node points in the node data file are set not only at predetermined locations on the road but also in all parking lots equipped with turntables. A turntable flag indicating something is provided.
[0059]
In this case, since the node data includes the turntable flag regardless of the type of the first or second type of turntable, the vehicle direction determination process becomes complicated.
[0060]
Next, a second embodiment of the present invention that can simplify the vehicle position determination process will be described.
[0061]
FIG. 6 is a first flowchart showing own vehicle direction determination processing in the second embodiment of the present invention, and FIG. 7 is a second flowchart showing own vehicle direction determination processing in the second embodiment of the present invention. is there.
[0062]
In this case, in the node data file, the node point is set in all parking lots having the second type of turntable in addition to the predetermined part of the road, and the node data has the turntable. Is provided with a turntable flag.
[0063]
Then, when the vehicle direction determination processing means (not shown) of the CPU 31 (FIG. 2) starts the vehicle direction determination processing, it determines whether or not the turntable processed flag is on, and the turntable processed flag is on. If there is, the process ends. If not, it is determined whether the matching data has already been read. When the matching data has already been read, the turntable presence / absence determination processing unit 92 of the vehicle direction determination processing unit determines whether the turntable flag is on or off according to the node data of the matching data, and determines the predetermined value from the current location. Determine if there is a turntable within the distance. When there is a turntable within a predetermined distance, it is determined whether or not the vehicle is stopped on the turntable.
[0064]
And when a vehicle is stopped in the said turntable, it turns out that a vehicle uses a parking lot. Therefore, the data reading processing unit (not shown) of the vehicle direction determination processing unit refers to the data recording unit 16 and reads the turntable data. In the present embodiment, the vehicle direction determination processing means refers to the data recording unit 16 and reads the turntable data, but can also read the turntable data via the communication unit 38. .
[0065]
Then, the vehicle direction correction processing unit 93 of the vehicle direction determination processing unit determines whether there is exit direction data, and if there is no exit direction data, connects the turntable and a node point adjacent to the turntable. The exit direction of the turntable is calculated based on the link to be corrected, and the vehicle direction is corrected based on the calculated exit direction. The exit azimuth is calculated based on the coordinates of the turntable node data and the coordinates of the node point at the other end of the link.
[0066]
Further, when there is exit azimuth data, the own vehicle azimuth correction processing means 93 determines whether or not there are a plurality of exit azimuth data. The processing means performs selection processing, and when route guidance based on route search processing, route guidance based on VICS data, or the like is performed, exit direction data is selected according to the route guidance, and based on the selected exit direction data Correct the direction of the vehicle. And when there is only one exit azimuth data, the vehicle direction correction processing means 93 corrects the vehicle direction based on the exit direction data.
[0067]
When the vehicle direction is corrected in this way, the vehicle direction determination processing means determines the corrected vehicle direction as the vehicle direction in the matching process, and turns on the turntable processed flag.
[0068]
Therefore, when using a parking lot equipped with a turntable, the direction of the vehicle at the time of entering and the direction of the vehicle at the time of leaving the vehicle are accurately displayed on the map screen. Can do. As a result, the reliability of the display content of the map screen can be improved.
[0069]
Further, since the node point having the turntable flag is set and recorded only at the point where the second type of turntable exists, it is not necessary to determine the type of the turntable. Therefore, the own vehicle position determination process can be simplified.
[0070]
Next, a flowchart will be described.
Step S31: It is determined whether or not the turntable processed flag is on. If the turntable processed flag is on, the process ends. If not, the process ends.
Step S32: It is determined whether the matching data has already been read. If the matching data has already been read, the process proceeds to step S33. If the matching data has not been read, the process ends.
Step S33: It is determined whether there is a turntable within a predetermined distance. If there is a turntable within the predetermined distance, the process proceeds to step S34, and if not, the process ends.
Step S34: Determine whether the vehicle has been stopped. If the vehicle is stopped, the process proceeds to step S35. If the vehicle is not stopped, the process ends.
Step S35: It is determined whether there is turntable data. If there is turntable data, the process proceeds to step S36; otherwise, the process proceeds to step S37. Step S36: Read the turntable data.
Step S37: Determine whether there is exit direction data. If there is exit direction data, the process proceeds to step S39, and if not, the process proceeds to step S38.
Step S38: Exit direction is calculated based on the link connecting the turntable and the node point adjacent to the turntable.
Step S39: It is determined whether there are a plurality of exit direction data. If there are a plurality of exit orientation data, the process proceeds to step S40, and if there are not, the process proceeds to step S41. Step S40 A selection process is performed.
Step S41 The own vehicle direction is corrected.
Step S42: Turn on the turntable processed flag and end the processing.
[0071]
In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.
[0072]
【The invention's effect】
As described above in detail, according to the present invention, when the turntable is within a predetermined range when the vehicle is stopped, the vehicle is turned on when the engine is turned on after the engine is turned off. Since the vehicle direction is corrected, it is possible to accurately display the direction of the vehicle when leaving the vehicle on the map screen regardless of the direction of the vehicle when entering the vehicle and the direction of the vehicle when leaving the vehicle.
[Brief description of the drawings]
FIG. 1 is a functional block diagram of a navigation device according to a first embodiment of the present invention.
FIG. 2 is a block diagram of the navigation device according to the first embodiment of the present invention.
FIG. 3 is a flowchart showing an initialization process for determining the vehicle direction according to the first embodiment of the present invention.
FIG. 4 is a first flowchart showing own vehicle direction determination processing in the first embodiment of the present invention.
FIG. 5 is a second flowchart showing own vehicle direction determination processing in the first embodiment of the present invention.
FIG. 6 is a first flowchart showing own vehicle direction determination processing in the second embodiment of the present invention.
FIG. 7 is a second flowchart showing own vehicle direction determination processing according to the second embodiment of the present invention.
[Explanation of symbols]
14 Navigation device 17 Navigation processing unit 21 GPS
31 CPU
91 Self-vehicle direction detection means 92 Turntable presence / absence determination processing means 93 Self-vehicle direction correction processing means

Claims (6)

Based on the detected current position, the current position detecting means for detecting the current position, the current position detecting means for detecting the own vehicle direction, and whether or not the turntable is within a predetermined range when the own vehicle is stopped. Turntable presence / absence determination processing means for determining, and if there is a turntable within the predetermined range, the vehicle direction correction processing means for correcting the vehicle direction when the engine is turned on after being turned off And the vehicle direction correction processing means determines whether there is exit direction data, and if there is exit direction data, corrects the vehicle direction based on the exit direction data, and outputs exit direction data. When there is not, the navigation apparatus characterized by calculating an exit azimuth and correcting the own vehicle azimuth based on the calculated exit azimuth . The vehicle direction correction processing means calculates an exit direction based on a link connecting a turntable and a node point adjacent to the turntable, and corrects the vehicle direction based on the calculated exit direction. The navigation device according to 1. The vehicle direction correction processing means, when there are a plurality of exit direction data, selects exit direction data according to route guidance, and corrects the own vehicle direction based on the selected exit direction data. Navigation device. Based on the turntable data representing the type of turntable, the vehicle direction correction processing means depends on the relationship between the direction of the vehicle before turning off the engine and the direction of the vehicle after turning on the engine. The navigation device according to any one of claims 1 to 3, wherein the vehicle direction is corrected . Or the Hometown detected by current position detection means, the vehicle direction detected by the vehicle direction detecting means, based on the detected current location, there is a turntable within a predetermined range when stopping the vehicle The turn table presence / absence determination processing means determines whether the turn table is within the predetermined range. When the engine is turned on after the engine is turned off, the vehicle direction correction processing means performs the vehicle direction correction. If there is exit azimuth data, the vehicle direction is corrected based on the exit azimuth data. If there is no exit azimuth data, the exit azimuth is calculated. And correcting the vehicle direction based on the calculated exit direction . Based on the detected current location, the turntable presence / absence determination processing means for determining whether or not the turntable is within a predetermined range when the host vehicle is stopped , and the turntable within the predetermined range. In some cases, when the engine is turned off and then turned on, the vehicle functions as a vehicle direction correction processing unit that corrects the vehicle direction, and the vehicle direction correction processing unit has exit direction data. If there is exit azimuth data, the vehicle azimuth is corrected based on the exit azimuth data. If there is no exit azimuth data, the exit azimuth is calculated, and based on the calculated exit azimuth A program of a method for determining a direction of a vehicle characterized by correcting a vehicle direction.

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