JP4335654B2 - Navigation device and route search method for navigation device - Google Patents

Description

The present invention relates to a navigation device and a route search method for the navigation device .

  Patent Document 1 describes an in-vehicle navigation device that searches for a low-cost route from a departure place to a destination in consideration of a toll road charge.

JP 2002-303522 A

  However, in the technique of Patent Document 1, a toll road fee is used as a cost for route search, and a route that minimizes the cost from the starting point to the destination is searched. Therefore, the navigation device must store information on the toll road fee in addition to the map data. Usually, toll road charges are often set in detail and the amount of information is large. In addition, the toll road charges may be revised frequently, so the information must be updated each time.

  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 low-cost route considering a toll road without using specific toll road fee information. It is in.

  In order to solve the above problems, the route search method of the navigation device according to the present invention is a link belonging to a toll road, and is set to a higher cost for a road type change point or a link next to a name change point. Route search is performed. For example, it is configured as follows.

  A navigation device route search method, wherein the navigation device includes a storage device that stores link data including a road type or a name related to a toll road of a link constituting a road on a map. Then, the navigation device performs a route search step for searching for a route from the departure place to the destination using the link data and the link cost, and the route search step is performed for the cost of the link belonging to the toll road. If the link is the next link after the road type or name change point, it is set higher than the other links.

  The change point of the road type or name includes a change point from an intercity highway to an intracity highway, a change point from an intracity highway to a general toll road, and a change point from a general toll road to an intracity highway. May be at least one of them.

  In the route search step, the cost of a link belonging to an urban highway may not be set higher than other links even if the name of the link is different from the name of the link before the link. .

  The storage device may further store information on the flat toll road. In the route search step, when the passenger goes down the uniform toll road and rides on the same uniform toll road again, the cost of the link belonging to the uniform toll road to ride again is set higher than other links. Good.

  The storage device may further store the degree (for example, coefficient) when the cost is set higher. In addition, the storage device may store the degree when the cost is set higher for each road type or name change point type. In the route search step, when the link cost is set high, the link cost may be set high using the degree according to the road type or the name change point type.

  Further, the navigation device further performs a step of accepting a degree of setting when the link cost is set higher in the route search step, and the route search step sets the link cost high. The link cost may be set higher using the degree received in the receiving step.

  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 1000 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, and a GPS (Global Positioning System) receiver 9.

  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 is developed in graphics, and a mark indicating the current location is superimposed on the map data and displayed on the display 2. Further, the map data stored in the map data storage device 3 is used to search for an optimum route (recommended route) connecting the destination instructed by the user and the current location (departure location), and the voice input / output device 4 And the display 2 are used to guide the user.

  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. 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, name / type information 3123 of the road including the link, and the link length. Link length information 3124, link travel time information 3125, and a link ID (connection link ID) 3126 of a link connected to each of the two nodes. 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.

  The map data storage device 3 further stores road type pair information 330 as shown in FIG. Here, this road type pair (target link and previous link) will be described.

  In this embodiment, a route search is performed in consideration of the toll road fee without using toll road fee information (for example, a toll road fee table). In order to achieve this object, in this embodiment, the cost of the link used in the route search is set based on the name of the link, the road type, and the like.

  Specifically, when the links constituting the route are arranged in order from the start link, when a pair of a certain link (target link) and the previous link matches the pair of road types shown in FIG. The cost of the target link is set higher by multiplying the normal cost (travel time) by the cost coefficient A (a numerical value exceeding 1; for example, 2.0). Then, using such a cost, a route that minimizes the cost from the starting point to the destination is searched.

  By doing in this way, in this embodiment, it is supposed that a route with a low fee can be searched in consideration of the toll road without using a specific fee for the toll road.

  Note that an appropriate value is set in advance for the cost coefficient A and is stored in the map data storage device 3.

  The map data storage device 3 further stores fee uniform section information 340 as shown in FIG. Here, the charge uniform section information will be described.

  Depending on the toll road, there may be a flat fee regardless of the distance. In such a case, once you get off from such a toll road and get on the same toll road again, you will pay a fee unnecessarily. Therefore, in the present embodiment, in order to make it difficult to search for a route that causes such a situation, the following is performed. First, the route is searched from the departure point to the destination. In the process, when a link belonging to a uniform toll road is hit, it is checked whether or not the route to the link has gone down after riding on the uniform toll road. Then, if you are going down from the road with uniform tolls, the cost of the link that belongs to the uniform toll section (target link) that you will ride again is the cost factor B (a value that exceeds 1) in the normal cost travel time. For example, multiply by 20) to set higher. This makes it difficult for the toll road to be selected as a link constituting the route again.

  The uniform charge section information 340 includes information necessary to achieve such a purpose. That is, as shown in FIG. 4, for a toll road for which a flat fee is set, a link ID 341 of a link included in the road section is included for each charge uniform section ID 341.

  Note that an appropriate value is set in advance for the cost coefficient B and stored in the map data storage device 3.

  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 (own vehicle position) by the vehicle-mounted navigation device. 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 to thereby determine the current location, travel speed, and travel direction of the mobile body. Measure.

  FIG. 5 is a diagram illustrating a hardware configuration example 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) that stores map data and arithmetic data read from the map data storage device 3. (Access Memory) 22, ROM (Read Only Memory) 23 for storing programs and data, DMA (Direct Memory Access) 24 for transferring data between the memories and between the memory and each device, and graphics drawing A drawing controller 25 that executes and controls display, 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 that converts analog signals into digital signals / D converter 28 and SCI (Serial Commu) that converts serial signals into parallel signals synchronized with the bus nication interface) 29, a PIO (Parallel Input / Output) 30 for placing parallel signals on the bus in synchronization with the bus, and a counter 31 for integrating the pulse signal.

  FIG. 6 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 data storage unit 43, a route guidance unit 44, a map display processing unit 45, and 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.

  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. In addition, a map matching process is performed in which the current location periodically 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 destination, and further, from the current location (departure location) to the destination. Requests the route search unit 42 to calculate a route.

  The route search unit 42 uses a Dijkstra method or the like to search for a route that minimizes the cost (for example, travel time) of a route connecting two designated points (current location, destination). The recommended route obtained as a result is stored in the route data storage unit 43.

  The route guidance unit 44 performs route guidance using the route stored in the route data storage unit 43. For example, the route information and the current location information output from the map match processing unit 47 are compared, and the voice input / output device 4 is used to determine whether the vehicle should go straight before passing an intersection or the like. Tell 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 map data storage device 3, and the graphic processing unit 51 uses the designated scale and drawing method for roads and other maps. A map drawing command is generated so as to draw a mark such as a component, a current location, a destination, and 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] The in-vehicle navigation device 1000 configured as described above operates as follows. That is, the route search unit 42 receives a route search request from the user, and searches for a route with the lowest cost from the departure point to the destination by the Dijkstra method. Then, the route guidance unit 44 performs route guidance using the searched route.

  In the route search, the route search unit 42 sets the link cost based on the name of the link. By doing so, the route search unit 42 searches for a route with a low fee considering the toll road without using the toll road fee table.

  Below, calculation of the link cost in route search is demonstrated. FIG. 7 is a diagram showing the flow of the cost calculation process. The route search unit 42 performs this process for all the links that are the targets in the route search process. As described above, the cost coefficient A and the cost coefficient B are set in advance and stored in the map data storage device 3.

  First, the route search unit 42 refers to the road type information 3123 of the link data 312 and determines whether the target link (target link) is a toll road (S101). If it is not a toll road (No in S101), the route search unit 42 refers to the travel time 3125 of the link data 312 and sets the travel time as a cost (S112).

  On the other hand, when the road is a toll road (Yes in S101), the route search unit 42 compares the target link with the link immediately before the target link, and the route search unit 42 determines whether the road type has changed. The link (target link) is compared with the link immediately before the target link, and it is determined whether the road type has changed or whether the link name has changed (S102). ). Specifically, the route search unit 42 refers to the link type information 3123 of the link data 312 and checks whether or not a pair of two links is included in the road type pair 330. Determines that there is a change in road type (Yes in S102). Further, referring to the road name 3123, if the names of the two links are different, it is determined that the name has changed (Yes in S102). In other cases, it is determined that there is no change (No in S102).

  When the road type is the same and the link name is the same (No in S102), the route search unit 42 refers to the travel time 3125 of the link data 312 and sets the travel time as a cost (S112).

On the other hand, when the road types are different or the names of the links are different (Yes in S102), the route search unit 42 refers to the link type information 3123 of the link data 312 and the two links are both in the city highway. It is determined whether or not (S104). When both are high-speed in the city (Yes in S104), the route search unit 42 refers to the travel time 3125 of the link data 312 and uses the travel time as a cost (S112).
On the other hand, if both are not highways in the city (No in S104), the route search unit 42 refers to the toll uniform road information 340 and determines whether or not the target link is included in the roads constituting the uniform section ( S106). If not included (No in S106), the route search unit 42 sets a value obtained by multiplying the travel time 3125 by the cost coefficient A as a cost (S110).

  On the other hand, when the target link is included in a road constituting the uniform section (Yes in S106), the route search unit 42 determines whether or not it has previously passed a link belonging to the uniform section of the charge, that is, the uniform charge before. It is determined whether or not the passenger is getting off after getting on the section (S107). Specifically, the route search unit 42 examines the route from the departure point to the target link in order from the start link, and among the links constituting the route to the target link, there is a link included in the uniform charge section. Find out if you want to. If it is included, and if it is descending from the uniform charge section, the route search unit 42 determines that the link belonging to the uniform charge section passes before (Yes in S107). Is determined not to pass (No in S107).

  If the link belonging to the uniform charge section has not been passed before (No in S107), the route search unit 42 sets a value obtained by multiplying the travel time 3125 by the cost coefficient A as a cost (S110).

  On the other hand, when the link that belongs to the uniform charge section passes before (Yes in S107), the route search unit 42 sets a value obtained by multiplying the travel time by the cost coefficient B as the cost.

  The link cost calculation process has been described above.

  According to the above flow, a higher cost can be set for a toll road without using specific toll road information. And you can search for cheap routes.

  Moreover, since the link which calculates | requires cost by multiplying with the cost coefficient A is specified based on road type pair information, the link where a charge is charged can be specified more reliably, and cost can be set.

  In urban highways, the charge does not often change even if the name of the road changes. However, by providing S104 as described above, it is possible to set the cost in consideration of this.

  Moreover, according to the said flow, link cost can be set so that it can prevent searching for the route which gets on the same charge uniform area again.

  The embodiment to which the present invention is applied 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, the values of the cost coefficient A and the cost coefficient B may be selected. For example, as shown in FIG. 8, a cost coefficient setting screen may be displayed on the display 2 so that the user can select the cost coefficient A and the cost coefficient B via the input device 5. On the screen 500, a cost coefficient A value 512, a cost coefficient B value 532, buttons 514A, 514B, 534A, 534B for increasing and decreasing the respective values, and buttons 516, 536 for confirming the values are displayed. That is, the user can increase or decrease the value of the cost coefficient by pressing the buttons 514A, 514B, 534A, and 534B with the cursor operation. When the confirmation buttons 516 and 536 are pressed, the route search unit 42 sets the selected value to the cost coefficient A or the cost coefficient B.

  If it does in this way, according to a user's liking, the ease of selection of a toll road and difficulty being made can be adjusted.

In the above embodiment, the cost coefficient A is set to a specific value regardless of the type of road type pair. The cost coefficient B is set to a specific value regardless of the type of the uniform charge section. Not limited to this, as shown in FIG. 9 , the cost coefficient A may be determined according to the type of the road type pair. As shown in FIG. 10, the cost coefficient B may be determined according to the type of the uniform charge section.

  If it does in this way, according to a user's fine liking, the ease of being able to select a toll road can be adjusted.

  In the above embodiment, the cost is determined based on the travel time. However, the cost may be determined based on the travel distance using the link length 3124 of the link data 312. Even in this case, by using the cost coefficient A and the cost coefficient B, in a predetermined case, the cost can be set higher and a route search considering the toll road can be performed.

  In addition, although the example which applied this invention to the vehicle-mounted navigation apparatus was demonstrated, this invention is applicable also to navigation apparatuses other than vehicle-mounted.

FIG. 1 is a schematic configuration diagram of an in-vehicle navigation device 1000. 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 configuration example of road type pair information that is information for specifying a link that determines the cost by multiplying by the cost coefficient A. FIG. 4 is a diagram illustrating a configuration example of the flat fee section information. FIG. 5 is a diagram illustrating a hardware configuration of the arithmetic processing unit 1. FIG. 6 is a diagram illustrating a functional configuration of the arithmetic processing unit 1. FIG. 7 is a flowchart showing an outline of the link cost calculation process in the route search process of the vehicle-mounted navigation device 1000. FIG. 8 is a diagram illustrating an example of a display screen of the cost coefficient setting screen. FIG. 9 is a diagram illustrating a configuration example of information in which a road type pair is associated with a cost coefficient A. FIG. 10 is a diagram illustrating a configuration example of information in which the flat fee section and the cost coefficient B are associated with each other.

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, 11 ... in-vehicle LAN device, 12 ... FM multiplex broadcast receiving device, 13 ... beacon receiving 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 data 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 ... Track storage unit 50 ... Menu display processing unit 51 ... Graphics processing unit

Claims (7)

A storage device for storing link data including road types or names related toll road links constituting a road on maps,
Route search means for searching for a route from the departure place to the destination using the link data and the link cost;
The route searching section, for the cost of the links belonging to the toll road, when the link is Ri next link Der change in the road type or name, and not a link belonging to urban expressway, higher than other links A navigation device characterized by being set to . A navigation device according to claim 1,
The change point of the road type or name includes a change point from an intercity highway to an intracity highway, a change point from an intracity highway to a general toll road, and a change point from a general toll road to an intracity highway. A navigation device characterized by being at least one of the above . A navigation device according to claim 1 or 2,
The storage device further stores information on the flat toll road,
When the route search means descends the uniform toll road and rides on the same uniform toll road again, the cost of the link belonging to the uniform toll road to get on again is set higher than other links. Equipment . A navigation apparatus according to any one of claim 1 to 3
The storage device further stores the degree when the cost is set higher,
The route search means , when the link cost is set high, uses the degree to set the link cost high . A navigation apparatus according to any one of claims 1-4,
The storage device further stores the degree in the case of setting the cost higher corresponding to the road type or the name change point type,
The route searching means , when setting the link cost high, sets the link cost high using the degree according to the road type or the type of change point of the name . A navigation apparatus according to any one of claim 1 to 5
The navigation device further includes:
Comprising means for accepting a degree of set high in the case of setting to increase the cost of the link in the route search unit,
The route searching means , when setting the link cost high, sets the link cost high using the degree received by the receiving means . The navigation device searches for a route from the departure point to the destination by using the link data including the road type or name related to the toll road of the link constituting the road on the map and the link cost stored in the storage device. Hits the,
The cost of the link belonging to the toll road, when the link is Ri next link Der change in the road type or name, and not a link belonging to urban expressway, you set higher than the other links <br A navigation device route search method characterized by the above .

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