JP4307947B2 - Navigation device and route search method - Google Patents

Description

  The present invention relates to a navigation device, and more particularly to a route search technique for an in-vehicle navigation device.

  Patent Document 1 describes an in-vehicle navigation device that searches for a recommended route from a departure point to a destination based on map data, in particular, a recommended route in consideration of road time restrictions.

  In this in-vehicle navigation device, first, an estimated arrival time to a road with a time restriction is calculated. Then, at the expected arrival time, it is checked whether or not the road can pass. If the road can pass, the road is adopted as a route search target. On the other hand, if the vehicle cannot pass, it is excluded from the route search target. Such a process is performed in the route search process to search for a recommended route in consideration of time restrictions.

Japanese Patent Laid-Open No. 11-132776

  However, if the route search is performed by determining whether the road is allowed to pass while calculating the expected arrival time to the road with time restriction, the processing load of the navigation device increases.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a technique for searching for a recommended route in consideration of time regulation while reducing the processing load.

  In order to solve the above-described problem, the route search method of the navigation device according to the present invention obtains a time restriction considering route by excluding a link that is time restricted at the current time, and connects to a link constituting the time restriction considering route. In addition, the start point of the link whose time is restricted at the current time is determined as a branch point, and after passing through the branch point, the route restriction considering time restriction is performed again.

  Also, a link that is time-regulated starting from the branch point is defined as a time-regulated monitoring link, and it is monitored whether or not the time regulation of the time-regulated monitoring link is released. Again.

  The route search method of the navigation device of the present invention is configured as follows, for example. The navigation device includes a storage device that stores link data including information related to time regulation of each link constituting a road on a map. The navigation device uses the link data to set a destination, and excludes a link that is time-restricted at the current time, and determines a recommended route between the current location and the destination as a time-restricted route. Branching a connection point between a time restriction considering route search step, a link that is connected to a link that constitutes the time restriction consideration route and is time restricted at a current time, and a link that constitutes the time restriction consideration route A branch point calculation step determined as a point, and after the current location detected by the current location detection device passes through the branch point, the time restriction considering route search step is performed again.

  Further, instead of the branch point calculating step, a time restriction monitoring link setting step for defining, as a time restriction monitoring link, a link that is connected to a link constituting the time restriction consideration route and is time-restricted at the current time, and the link You may make it perform the time regulation monitoring link cancellation | release determination step which determines whether the time regulation of the said time regulation monitoring link was cancelled | released based on the time regulation information of the said link contained in data, and the present | current time. Then, after the time restriction monitoring link release determination step determines that the time restriction of the time restriction monitoring link has been released, the time restriction consideration route search step may be performed again.

  In addition, the navigation device uses the link data to search for a recommended route between the current location and the destination as a time-regulated ignore route including a time-regulated link, and a time-regulated ignore route search step, A branch point calculating step for obtaining a branch point between the time restriction considering route and the time restriction disregarding route may be performed. Then, after the current location detected by the current location detection device passes the branch point, the time restriction considering route search step may be performed again.

  The navigation device includes a time restriction monitoring link setting step that defines a link that constitutes the time restriction ignorance path and that starts from the branch point as a time restriction monitoring link, and the link data includes the link You may make it perform the time regulation monitoring link cancellation | release determination step which determines whether the time regulation of the said time regulation monitoring link was cancelled | released based on the time regulation information and current time of a link. Then, after the time restriction monitoring link release determination step determines that the time restriction of the time restriction monitoring link has been released, the time restriction consideration route search step may be performed again.

  Further, the branch point calculating step compares the link constituting the time restriction consideration path and the link constituting the time restriction ignore path in order from the start link, and the link constituting the time restriction consideration path and the time The starting point of the first link that is different from the links constituting the restriction ignoring route may be determined as a branch point.

  In addition, the navigation device performs a route guidance using the time restriction considering route search searched in the time restriction considering route search step, and based on the time restriction information and the current time of the link included in the link data. It is determined that the time restriction of the time restriction monitoring link is released by the time restriction monitoring link release determination step for determining whether or not the time restriction of the time restriction monitoring link is released, and the time restriction monitoring link release determination step. In this case, the route guidance may be performed by switching to route guidance using the time regulation ignoring route searched in the time regulation considering route searching step.

  According to the present invention, it is possible to reduce the processing load when searching for a recommended route in consideration of time restrictions.

  An embodiment of the present invention will be described below with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of an in-vehicle navigation device to which an embodiment of the present invention is applied.

  As shown in the figure, the in-vehicle navigation device 1000 of this embodiment includes an arithmetic processing unit 1, a display 2, a map data storage device 3, a voice input / output device 4, an input device 5, and a wheel speed sensor 6. , A geomagnetic sensor 7, a gyro sensor 8, a GPS (Ground Positioning System) receiver 9, and an in-vehicle LAN device 11.

  The arithmetic processing unit 1 is a central unit that performs various processes. For example, the current location is detected based on information output from the various sensors 6 to 8 and the GPS receiver 9, and map data necessary for display is read from the map data storage device 3 based on the obtained current location information. Further, the read map data 310 is developed in graphics, and a mark indicating the current location is superimposed on the displayed map 2 and displayed on the display 2, or the map data 310 stored in the map data storage device 3 is used to instruct the user. The optimum route (recommended route) connecting the destination and the departure point (for example, the current location) is searched, and the user is guided using the voice input / output device 4 or the display 2.

  The display 2 is a unit that displays graphics information generated by the arithmetic processing unit 1, and is configured by a CRT, a liquid crystal display, or the like. The signal S1 between the arithmetic processing unit 1 and the display 2 is generally connected by an RGB signal or an NTSC (National Television System Committee) signal.

  The map data storage device 3 is composed of a storage medium such as a CD-ROM, DVD-ROM, HDD, or IC card. This storage medium stores map data.

  FIG. 2 is a diagram illustrating a configuration example of map data stored in the map data storage device 3. As shown in the figure, map data 310 is stored for each mesh region obtained by dividing the map into a plurality of parts. The map data 310 includes a mesh area identification code (mesh ID) 311 and link data 312 of each link constituting a road included in the mesh area. The link data 312 includes a link identification code (link ID) 3121, coordinate information 3122 of two nodes (start node and end node) constituting the link, road type information 3123 including the link, and a link indicating the link length. Long information 3124, link travel time (or moving speed) information 3125, time regulation information 3127, link ID (connection link ID) 3126 of a link connected to each of the two nodes, and the like.

  The time restriction information 3127 includes a time zone in which passage of the link is restricted (prohibited). Moreover, when the time regulation time zone differs depending on the date, the information is also included.

  Here, by distinguishing the start node and the end node for the two nodes constituting the link, the upward direction and the downward direction of the same road are managed as different links. The map data 310 also includes information (name, type, coordinate information, etc.) of map components other than roads included in the corresponding mesh area.

  Returning to FIG. 1, the description will be continued. The voice input / output device 4 converts the message to the user generated by the arithmetic processing unit 1 into a voice signal and outputs it, and recognizes the voice uttered by the user and transfers the content to the arithmetic processing unit 1.

  The input device 5 is a unit that receives an instruction from a user, and includes a hardware switch such as a scroll key and a scale change key, a joystick, a touch panel pasted on a display, and the like.

  The sensors 6 to 8 and the GPS receiver 9 are used for detecting the current location (vehicle position) by the vehicle-mounted navigation device 1000. The wheel speed sensor 6 measures the distance from the product of the wheel circumference and the measured number of rotations of the wheel, and further measures the angle at which the moving body is bent from the difference in the number of rotations of the paired wheels. The geomagnetic sensor 7 detects the magnetic field held by the earth and detects the direction in which the moving body is facing. The gyro 8 is configured by an optical fiber gyro, a vibration gyro, or the like, and detects an angle at which the moving body rotates. The GPS receiver 9 receives a signal from a GPS satellite and measures the distance between the mobile body and the GPS satellite and the rate of change of the distance with respect to three or more satellites, so that the current location, travel direction, and travel direction of the mobile body Measure.

  FIG. 3 is a diagram illustrating a hardware configuration of the arithmetic processing unit 1.

  As illustrated, the arithmetic processing unit 1 has a configuration in which devices are connected by a bus 32. The arithmetic processing unit 1 includes a CPU (Central Processing Unit) 21 that executes various processes such as numerical calculation and control of each device, and a RAM (Random Access) that stores map data and arithmetic data read from the map data storage device 3. Memory) 22, ROM (Read Only Memory) 23 for storing programs and data, DMA (Direct Memory Access) 24 for executing data transfer between the memories and between the memory and each device, and graphics drawing In addition, a drawing controller 25 that performs display control, a video random access memory (VRAM) 26 that stores graphics image data, a color palette 27 that converts image data into RGB signals, and an A / A that converts analog signals into digital signals. D converter 28 and SCI (Serial Communicati) which converts serial signals into parallel signals synchronized with the bus on Interface) 29, a PIO (Parallel Input / Output) 30 that puts a parallel signal on the bus in synchronization with the bus, and a counter 31 that integrates the pulse signal.

  FIG. 4 is a diagram illustrating a functional configuration of the arithmetic processing unit 1.

  As shown in the figure, the calculation processing unit 1 includes a user operation analysis unit 41, a route search unit 42, a route storage unit 43, a route guidance unit 44, a map display processing unit 45, a current position calculation unit 46, A map match processing unit 47, a data reading unit 48, a trajectory storage unit 49, a menu display processing unit 50, and a graphics processing unit 51 are provided.

  The current position calculation unit 46 uses distance data and angle data obtained as a result of integrating the distance pulse data S5 measured by the wheel speed sensor 6 and the angular acceleration data S7 measured by the gyro 8, respectively. The current position (X ′, Y ′), which is the position after the vehicle travels, is periodically calculated from the initial position (X, Y) and is output to the map match processing unit 47. . Here, in order to make the relationship between the rotation angle of the host vehicle and the traveling direction coincide, reference is made to the direction data S6 obtained from the geomagnetic sensor 7 and the angle data obtained by integrating the angular acceleration data S7 obtained from the gyro 8. Estimate the absolute direction of the direction in which the vehicle is traveling. In addition, since the error accumulates when the data of the wheel speed sensor 6 and the data of the gyro 8 are respectively integrated, the error accumulated based on the position data S8 obtained from the GPS receiver 9 in a certain time period is calculated. Processing for canceling is performed, and information on the current location is output to the map match processing unit 47.

  The map match processing unit 47 compares the map data around the current location read by the data reading unit 48 with the travel locus stored in the locus storage unit 49 described later, and the road (link) having the highest shape correlation. ) A map matching process is performed in which the current location output from the current position calculation unit 46 is matched. Since the current position information obtained by the current position calculation unit 46 includes a sensor error, map matching processing is performed for the purpose of further improving the position accuracy. As a result, the current location often coincides with the traveling road.

  The trajectory storage unit 49 stores information on the current location on which the map match processing has been performed by the map match processing unit 47 as trajectory data every time the vehicle travels a predetermined distance. The trajectory data is used to draw a trajectory mark on the road on the map corresponding to the road that has been traveled so far.

  The user operation analysis unit 41 receives a request from the user input to the input device 5, analyzes the request content, and controls each unit of the arithmetic processing unit 1 so that processing corresponding to the request content is executed. To do. For example, when the user requests a search for a recommended route, the map display unit 45 is requested to display a map on the display 2 in order to set a departure point and a destination, and further, from the departure point to the destination. Requests the route search unit 42 to calculate a route.

  The route search unit 42 uses the Dijkstra method or the like to reach the destination at a low cost (for example, travel time, travel distance, etc.) among the routes connecting the two specified points (departure location (current location), destination). A reachable route is searched from map data, and the route obtained as a result is stored in the route storage unit 43 as a recommended route.

  The route guidance unit 44 compares the recommended route information stored in the route storage unit 43 with the current location information output from the map match processing unit 47 and determines whether the vehicle should go straight before passing an intersection or the like. The voice input / output device 4 is used to inform the user by voice, or the direction to travel is displayed on the map displayed on the display 2 to notify the user of the recommended route.

  Further, the route guiding unit 44 calculates an estimated travel time from the current location to the destination output from the map match processing unit 47 using the current time and the map data stored in the map data storage device 3. Then, by adding the calculated estimated travel time to the current time, an expected arrival time at the destination is calculated and notified to the user.

  The data reading unit 48 reads, from the map data storage device 3, map data in an area that is required to be displayed on the display 2 or an area that is required for route search (an area that includes a departure place and a destination). Works to prepare.

  The map display processing unit 45 receives the map data in the area where display on the display 2 is requested from the data reading unit 48, and the graphic processing unit 51 uses the designated scale and drawing method, roads, and other map configurations. A map drawing command is generated so as to draw a mark such as an object, a current location, a destination, an arrow for a guide route.

  Upon receiving a command output from the user operation analysis unit 41, the menu display processing unit 50 generates a menu drawing command so that the graphic processing unit 51 draws various types of menus and graphs.

  The graphics processing unit 51 receives commands generated by the map display processing unit 45 and the menu display processing unit 50 and develops image data to be displayed on the display 2 on the VRAM 26.

  [Description of Operation] Next, the operation of the in-vehicle navigation device 1000 having the above-described configuration will be described.

  FIG. 5 is a flowchart for explaining the recommended route search operation of the in-vehicle navigation device 1000 to which the present embodiment is applied. This flow is started when the user operation analysis unit 41 receives a search request for a recommended route from the user via the voice input / output device 4 or the input device 5.

  First, the user operation analysis unit 41 sets a departure point, a destination, and a departure time in the route search unit 43 (S101).

  Here, the starting point and the destination are set by the user operation analysis unit 41 on the display 2 through the menu display processing unit 50 and the graphics processing unit 51, and from the map data storage device 3 through the data reading unit 48. The information of the map components registered in the read map data is displayed, and the user can select from the information of the displayed map components via the voice input / output device 4 or the input device 5. Also good. Alternatively, information on a location (registration location) registered in advance in a storage device such as the RAM 22 is displayed by the user, and information on the registered location being displayed is displayed by the user via the voice input / output device 4 or the input device 5. You may make it select from inside. Further, the map specified by the user operation analysis unit 41 from the map data read from the map data storage device 3 via the data reading unit 48 on the display 2 via the map display processing unit 45 and the graphics processing unit 51. May be displayed by accepting designation of a point on the map from the user via the voice input / output device 4 or the input device 5.

  When the current location is set as the departure location, the designation of the departure location by the user may be omitted. Also, when the current time is set as the departure time, the designation of the departure time by the user may be omitted.

  When the departure point, the destination, and the departure time are set in the route search unit 42 as described above, the user operation analysis unit 41 outputs a route search instruction to the route search unit 42.

  In response to this, the route search unit 42 searches for a recommended route from the departure point to the destination in consideration of the link time restriction (S102). Considering the time restriction means that a route search is performed by excluding a link that is prohibited from passing at the current time due to the time restriction from a route search target.

  Specifically, the route search unit 42 first calculates a mesh region including the departure point and the destination from the map data storage device 3 via the data reading unit 48 based on the coordinate information (longitude, latitude, etc.). The mesh ID is specified. Next, each link data 312 registered in each map data 31 having the identified mesh ID is obtained from the map data storage device 3 via the data reading unit 48. However, of the obtained link data, links that are prohibited to pass at the current time are excluded.

  FIG. 6 illustrates the flow of processing for excluding the traffic prohibition link. First, the route search unit 42 refers to the time restriction information 3127 of the link data 312 (S201). And it is determined whether it is a link with time regulation (S202). If the link has no time restriction, the link is not excluded (S204). On the other hand, in the case of a link with time restriction, it is determined whether or not traffic is possible at the current time (S203). If the passage is impossible (No in S203), the link is excluded (S205). On the other hand, when it is possible to pass (S203 deYes), the link is not excluded (S204). This process is performed for all the obtained link data.

  When the process of exclusion is performed as described above, the route search unit 42 then uses the link data that has not been excluded and uses the Dijkstra method or the like to determine the route with the minimum cost (travel time or travel distance) as the recommended route. Determine as.

  Here, the search for a recommended route in consideration of time restrictions will be described more specifically with reference to FIG. FIG. 8 is a diagram showing links around AZ, where A is the starting point and Z is the destination. Reference signs A to Z indicate link intersections (nodes). A solid line link represents a normal road without time restriction. There are time restrictions between BCD and CG, and traffic is prohibited in the time zone of 6:00 to 10:00 and 6:00 to 12:00, respectively. The travel time of each link is proportional to the link length. The current time (departure time) is assumed to be 9:00.

  In this case, consider a case where a route search is performed in consideration of time restrictions. According to the flow shown in FIG. 6, traffic between BCDs and CGs is prohibited at the current time, and therefore the links constituting these are excluded from the route search targets. Then, the recommended route from the departure point A to the destination Z is the route ABEFDGHJZ.

  Returning to FIG. When the recommended route is searched in consideration of the time restriction as described above, the route search unit 42 stores the searched recommended route in the route storage unit 43 as the time restriction consideration route.

  Next, the route search unit searches for a recommended route from the departure point to the destination ignoring the link time restriction (S104). Ignoring the time restriction means that even if there is a link that is prohibited to pass at the current time due to the time restriction, the route search is performed without excluding the link. The route search method is performed in the same manner as the route search considering the time restriction described above.

  Again, a specific description will be given with reference to the example of FIG. Since the route search is performed ignoring the time restriction, the route search is performed without excluding the link between BCD and CG. Then, the recommended route from the departure point A to the destination Z is the route ABCGHJZ.

  When the recommended route is searched ignoring the time restriction as described above, the route search unit 42 stores the searched recommended route in the route storage unit 43 as the time restriction ignored route.

  Next, the route search unit 42 extracts a branch point and a time restriction monitoring link between the time restriction considering route and the time restriction ignoring route obtained in the above processing (S106).

  FIG. 7 is a flowchart showing a flow of processing for obtaining a branch point.

  The route search unit 42 first extracts the links constituting the time restriction consideration route one by one in order from the start link (S301). Next, the extracted link (target link) is compared with the links constituting the time regulation ignoring route in the same order as the order from the start link to the link (S303). If the two links are the same (No in S304), the process returns to S301, and the next link constituting the time restriction consideration route is similarly examined. On the other hand, when the two links are different (Yes in S304), the route search unit 42 determines the start node of the target link as a branch point (S305).

  This will be specifically described with reference to the example of FIG. The first link of the time restriction consideration route AEFFDGHJZ is AB. The first link of the time restriction ignoring route ABCGHJZ is AB, which is the same as the time restriction consideration route (No in S304). Therefore, the next second link BE is extracted and compared with the second link of the time restriction ignoring route (S303). The second link of the time restriction ignore path ABCGHJZ is BC, and the two links are different from each other (Yes in S304). Here, the start node of the link BE is B. Therefore, the branch point between the time restriction considering route and the time restriction ignoring route at 9:00 of the current time is determined as B.

  Next, the time regulation monitoring link will be described. The time restriction monitoring link is a link used to check whether or not the time restriction is canceled by the route guiding unit 44 during route guidance described later. Since the recommended route differs depending on whether or not the time restriction is released, in this embodiment, the time restriction monitoring link is set and the presence or absence of the time restriction release is used for the determination. In the present embodiment, the link that is on the time restriction ignoring path and that is next to the branch point is determined as the time restriction monitoring link. Specifically, the route search unit 42 follows the time restriction ignoring route from the start link to the branch point, and determines the link next to the branch point as the time restriction monitoring link.

  Therefore, in the example of FIG. 8, the link of BC becomes a time regulation monitoring link.

  When the branch point and the time restriction monitoring link are obtained, the route search unit 42 stores them in the route storage unit 43.

  Returning to the flowchart of FIG. Next, the route search unit 42 instructs the route guidance unit 44 to start route guidance on the time restriction considering route stored in the route storage unit 43. Receiving this, the route guidance unit 110 starts route guidance (S110).

  The route guiding unit 44 uses the map data 310 stored in the map data storage device 3 and the link data of the links constituting the recommended route (time restriction considering route) stored in the route storage unit 43, Route guidance is initiated using common (existing) route guidance techniques.

  During route guidance, the route guidance unit 44 checks whether or not a branch point has been passed (S112). Specifically, first, the route guidance unit 44 periodically compares the current position with the branch point stored in the route storage unit 43. When the current position and the branch point coincide with each other, and then the current position and the branch point are separated, it is determined that the branch point has been passed. When passing through the branch point (Yes in S112), the route guiding unit 44 instructs the route searching unit 42 to perform a route search again. In response to this, the route search unit 42 performs route search again by the same processing as described above (S102 to S106). However, in this route search, the route search unit 42 obtains a recommended route between the current location and the destination, not a recommended route between the departure location and the destination. As the current time, not the departure time but the current time after passing through the branch point is used.

  On the other hand, while not passing through the branch point (No in S112), the route guiding unit 44 refers to the time restriction information 3127 of the link data 310 and checks whether or not the time restriction monitoring link is under time restriction. (S118). If the time is being restricted, the process returns to S110 and continues the route guidance. On the other hand, when the time restriction is released (No in S118), the route guiding unit 44 instructs the route searching unit 42 to perform a route search again. In response to this, the route search unit 42 performs route search again by the same processing as described above (S102 to S106). However, the route search unit 42 obtains a recommended route between the current location and the destination, not the recommended route between the departure location and the destination. As the current time, not the departure time but the current time after passing through the branch point is used.

  Again, description will be made by applying the example of FIG. As described above, when the departure time is 9:00, the time restriction considering route is the route AEFFDGHJZ. At this time, a screen as shown in FIG. 9 is displayed on the screen of the display 2 as a route guidance screen. On the screen, a recommended route 513 is displayed on a map including a departure place 503 and a destination 504 as shown in the figure. The current time 502 is also displayed.

  As described above, the branch point between the time restriction considering route ABEFDHJZ and the time restriction disregarding route ABCGHJZ is B. While traveling on the AB (No in S112), the route guiding unit 44 continues to monitor whether the time regulation monitoring link BC is in the time regulation (S118). Until the current time reaches 10:00, the time restriction monitoring link BC is under time restriction, so the answer is YES in S118 and the route guidance continues (S110). On the other hand, if the current time becomes 10:00 before arriving at B (No in S118), the route guidance unit 44 instructs the route search unit 42 to perform a route search again. In response to this, the route search unit 42 searches for the route between the current location and the destination at the current time (10:00) again (S102, S104).

  In the process for obtaining the current time restriction considering route, since the current time has passed 10:00, a link between BCDs is also included in the route search target. However, traffic between CGs is still prohibited until 12:00, so it is excluded from the search target. Thus, when a route search is performed on a link that has not been excluded, a route BCDHIJZ is obtained as a time restriction considering route. In addition, BCGHJZ is obtained as the time regulation ignoring route.

  Next, the route search unit 42 obtains a branch point and a time restriction monitoring link for the newly obtained time restriction considering route and the time restriction disregarding route (S106). Since the time restriction considering route is BCDHIJZ and the time restriction disregarding route is BCGHJZ, the branch point is C. The time regulation monitoring link is a link between CGs.

  Next, the route search unit 42 instructs the route guidance unit 44 to resume route guidance using the newly determined time restriction consideration route as a recommended route. In response to this, the route guidance unit 44 resumes route guidance (S110). At this time, on the screen of the display 2, as shown in FIG. 10, a route BCHIKZ that has undergone time regulation is displayed as a recommended route 514. In the same manner as described above, the route guidance unit 44 continues the route guidance while monitoring whether or not the time regulation of the time regulation monitoring link CG is released until it passes through the branch point C (S110, S112, S118). ).

  By the way, according to the flow of FIG. 5, the route search is performed again even when the branch point B is passed before 9:00 (Yes in S112). In such a case, the time restriction consideration route is the current location-FDHJZ. As shown in FIG. 11, the current location-FDHJZ is displayed on the screen as the recommended route 515.

  Further, when the BC is passed between 10:00 and 12:00, the following occurs. As described above, the branch point in this case is C, and the time regulation monitoring link is CG. For the link between CGs, the time restriction is canceled at 12:00. Therefore, if it becomes 12:00 during the passage between BC (No in S118), the route search unit 42 performs the route search again. In the current route search, the route CGHJZ is searched as a time restriction consideration route, and the route CDHJZ is searched as a time restriction ignore route. During the route guidance, a screen as shown in FIG. 12 is displayed.

  The route search performed anew during route guidance has been described above with specific examples. When the above processing is performed until the destination arrives, the route guidance unit 47 ends the route guidance processing.

  According to the route guidance process described above, a route search considering time regulation is performed, so that a more appropriate recommended route can be searched.

  In addition, since the route search is performed again when the branch point is passed, an appropriate recommended route at the current time can be searched.

  In addition, when a time restriction monitoring link is set and the route is being guided, it is checked whether the time restriction of the time restriction monitoring link has been released. If the time restriction is released, the route search is performed again. The route can be searched.

  Furthermore, since the re-search is not always performed during route guidance, but is performed when a branch point is passed or when the time restriction of the time restriction monitoring link is released, the processing load on the navigation device can be reduced.

  The embodiment of the present invention has been described above.

  In addition, this invention is not limited to said embodiment, A various deformation | transformation is possible within the range of the summary.

  For example, as shown in FIGS. 8 to 12, the time regulation information 523 can be displayed on the display screen so that the user can easily grasp the time regulation information.

  In addition, when there is a time restriction link at the destination of travel, messages 525 to 527 informing that may be displayed. In addition, messages 526 to 528 indicating that a reroute search has been performed may be displayed.

  Further, as shown in FIG. 8, both the time restriction considering route and the time restriction ignoring route may be displayed on the screen. At this time, the display modes of the two may be different. Then, the user can easily compare the two.

  In the above-described embodiment, after searching for a time restriction consideration route, a time restriction restriction ignoring route is searched, but this order may be reversed.

  In addition, when the time restriction is determined to be different depending on the vehicle type, the link data 312 may include time restriction information for each vehicle type. Then, before starting the route search, an input is received for the vehicle type on which the in-vehicle navigation device 1000 is mounted, and the above route search and route guidance processing is performed in consideration of time restrictions applied to the vehicle type. It may be.

  Moreover, in the said embodiment, it is investigated whether the time regulation of the time regulation monitoring link was cancelled | released during route guidance, and when it was cancelled | released, a route search is performed again. The present embodiment is not limited to this. When the time restriction of the time restriction monitoring link is released, the route guidance may be performed by switching from the time restriction consideration route to the time restriction ignorance route without performing the reroute search. Further, the user may be allowed to select which route is used for route guidance. Further, when the route is switched, a message or the like that can be understood may be displayed on the screen.

  In the above embodiment, an example in which the present invention is applied to an in-vehicle navigation device has been described, but the present invention can also be applied to a navigation device other than the in-vehicle navigation device.

FIG. 1 is a schematic configuration diagram of an in-vehicle navigation device to which an embodiment of the present invention is applied. FIG. 2 is a diagram illustrating a configuration example of map data stored in the map data storage device 3. FIG. 3 is a diagram illustrating a hardware configuration of the arithmetic processing unit 1. FIG. 4 is a diagram illustrating a functional configuration of the arithmetic processing unit 1. FIG. 5 is a flowchart for explaining the recommended route search operation of the in-vehicle navigation device to which the present embodiment is applied. FIG. 6 is a flowchart for explaining the flow of processing for determining a link to be excluded from a route search target. FIG. 7 is a flowchart for explaining the flow of processing for determining a branch point. FIG. 8 is a diagram for explaining a time restriction considering route and a time restriction ignoring route. FIG. 9 is a diagram illustrating an example of a route guidance display screen (at the time of departure). FIG. 10 is a diagram illustrating an example of a route guidance display screen (before arrival of the branch point B). FIG. 11 is a diagram illustrating an example of a route guidance display screen (when the BE is passing). FIG. 12 is a diagram illustrating an example of a route guidance display screen (when the BC is passing).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Arithmetic processing part, 2 ... Display, 3 ... Map data storage device, 4 ... Voice input / output device, 5 ... Input device, 6 ... Wheel speed sensor, 7 ... -Geomagnetic sensor, 8 ... Gyro, 9 ... GPS receiver, 10 ... Weather information receiving device, 11 ... In-vehicle LAN device, 21 ... CPU, 22 ... RAM, 23 ... ROM, 24 ... DMA, 25 ... drawing controller, 26 ... VRAM, 27 ... color palette, 28 ... A / D converter, 29 ... SCI, 30 ... PIO 31 ... Counter, 41 ... User operation analysis unit, 42 ... Route search unit, 43 ... Route storage unit, 44 ... Route guidance unit, 45 ... Map display processing unit, 46 ... Current position calculation unit, 47 ... Map match processing unit, 48 ... Data Reading unit, 49 ... locus storage unit, 50 ... menu display processing unit, 51 ... graphics processing unit,

Claims (5)

A navigation device having a current location detection device,
A storage device for storing link data including information on time regulation of each link constituting the road on the map;
Means for setting the destination,
Using the link data, excluding links that are time-regulated at the current time, and searching for a recommended route between the current location and the destination as a time-regulation-considered route search means;
Using the link data, including time-restricted links, a time restriction ignoring route searching means for searching a recommended route between the current location and the destination as a time restriction ignoring route,
A branch point calculating means for determining a branch point between the time regulation considering path and the time regulation ignoring path;
A time restriction monitoring link setting means for defining a link constituting the time restriction ignoring path and having the branch point as a start point as a time restriction monitoring link;
Time restriction monitoring link release determination means for determining whether the time restriction of the time restriction monitoring link is released based on the time restriction information of the link included in the link data and the current time;
The time restriction considering route searching means has a function of searching for a time restriction considering route again after the time restriction monitoring link release determining means determines that the time restriction of the time restriction monitoring link is released. A featured navigation device. The navigation device according to claim 1,
The branch point calculating means includes
The links constituting the time restriction consideration path and the links constituting the time restriction ignore path are compared in order from the start link, and the link constituting the time restriction consideration path and the link constituting the time restriction ignore path are A navigation device characterized in that a starting point of a different first link is determined as a branch point .

A navigation device having a current location detection device,
A storage device for storing link data including information on time regulation of each link constituting the road on the map;
Means for setting the destination,
Using the link data, excluding a link that is time-restricted at the current time, and searching for a recommended route between the current location and the destination as a time-restriction-considered route search means;
Using the link data, including time-restricted links, a time restriction ignoring route searching means for searching a recommended route between the current location and the destination as a time restriction ignoring route,
A branch point calculating means for determining a branch point between the time regulation considering path and the time regulation ignoring path;
A time restriction monitoring link setting means for defining a link constituting the time restriction disregarding path and having the branch point as a start point as a time restriction monitoring link;
It means for performing route guidance by using the searched time restriction consideration route search by the time restriction considering the route searching means,
Time restriction monitoring link release determination means for determining whether or not the time restriction of the time restriction monitoring link is released based on the time restriction information of the link included in the link data and the current time;
If time constraints of the time limitation monitoring link is determined to have been released by the time limitation monitoring unlink determining means, route guidance is switched to the route guidance using the searched time restriction ignored path by the time restriction ignored route searching means And a navigation device. A navigation device route search method having a current location detection device,
The navigation device includes:
A storage device for storing link data including information on time regulation of each link constituting a road on the map;
Setting a destination,
Using the link data, a time restriction considering route searching step for searching a recommended route between the current location and the destination as a time restriction considering route, excluding a link that is time restricted at the current time,
Using the link data, a time regulation ignoring route searching step for searching a recommended route between the current location and the destination as a time regulation ignoring route, including a link that is time regulated,
A branch point calculating step for determining a branch point between the time restriction considering route and the time restriction disregarding route;
A time restriction monitoring link setting step that defines a link that constitutes the time restriction ignorance path and that starts from the branch point as a time restriction monitoring link;
Performing a time restriction monitoring link release determination step for determining whether or not the time restriction of the time restriction monitoring link is released based on the time restriction information of the link included in the link data and the current time;
Furthermore, the route search method of the navigation device, wherein the time restriction considering route search step is performed again after the time restriction monitoring link release determination step determines that the time restriction of the time restriction monitoring link is released. A navigation device route search method having a current location detection device,
The navigation device includes:
A storage device for storing link data including information on time regulation of each link constituting a road on the map;
Setting a destination,
Using the link data, a time restriction considering route searching step for searching a recommended route between the current location and the destination as a time restriction considering route, excluding a link that is time restricted at the current time,
Using the link data, a time regulation ignoring route searching step for searching a recommended route between the current location and the destination as a time regulation ignoring route, including a link that is time regulated,
A branch point calculating step for determining a branch point between the time restriction considering route and the time restriction disregarding route;
A time restriction monitoring link setting step that defines a link that constitutes the time restriction ignorance path and that starts from the branch point as a time restriction monitoring link;
Performing route guidance using the time restriction consideration route search searched by the time restriction consideration route search step;
A time restriction monitoring link release determination step for determining whether the time restriction of the time restriction monitoring link is released based on the time restriction information of the link included in the link data and the current time;
When it is determined in the time restriction monitoring link release determination step that the time restriction of the time restriction monitoring link is released, the route guidance is switched to route guidance using the time restriction ignored route searched in the time restriction ignored route search step. A route search method for a navigation device, characterized in that:

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