JPH0236040B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to a driving route guidance device for a vehicle,
In particular, the present invention relates to a device that reduces accumulated errors in display.

[Description of the Prior Art] Conventionally, a driving route guidance device for a vehicle is provided with a traveling distance detecting means configured using at least a vehicle speed sensor, etc., and the distance signal obtained from the distance detecting means is integrated to determine the distance traveled. I'm trying to find out the distance. Here, when integrating the distance signal,
Since errors are accumulated in the integrated value, it is necessary to remove these accumulated errors by some means.

A conventional example of this type of correction is described in, for example, Japanese Patent Application Laid-Open No. 114712/1983 (Navigation Device).

This is a system in which a preset switch is manually operated for each intersection, and this switch is operated at each predetermined intersection to switch the inter-intersection distance information to the next inter-intersection distance information. . Therefore, according to the present invention, it is possible to preset the inter-intersection distance information for each relatively short section, so that it is possible to sequentially remove the cumulative error.

[Problems with the prior art] However, with the above-mentioned navigation device, a passage confirmation signal must be manually input at each intersection, and steering operations are also required when turning at an intersection, which is inconvenient. It was hot.

[Object of the Invention] The present invention provides a driving route guidance device for a vehicle that can automate the troublesome operation of correcting the current position of a vehicle at each intersection as in the past, and can further accurately correct the current position. With the goal.

[Means for Solving the Problems] In order to achieve the above object, the present invention is characterized by an input means A, a road network storage means B, and a driving route, as shown in FIG. Setting means C, travel route storage means D, travel distance detection means E, direction detection means F, cumulative current position calculation means G, display means H, information point extraction means I, and correction timing detection means J and a correction means K, the input means A
The departure point and destination are input by the passenger's operation, and the road network storage means B uses the location where the direction of travel of the vehicle changes as an information point, and stores the position information and approach direction at this information point. The driving route setting means C inputs the outputs of the input means A and the road network storage means B, and sets the driving route from the starting point to the destination. It sets the information points that exist,
The travel route storage means D receives the output of the travel route setting means C and stores position information and information on the approach direction and exit direction at each set information point, and the travel distance detection means E receives the output of the travel route setting means C. It detects the unit traveling distance of F.
is for detecting the traveling direction of the vehicle, and the cumulative current position calculating means G inputs the outputs of the traveling distance detecting means E and the direction detecting means F, and sequentially integrates the traveling direction for a unit traveling distance. The display means H inputs at least the outputs of the driving route storage means D and the cumulative current position calculation means G, and displays each information point and the current position of the vehicle. The point extraction means I is
The outputs of the travel route storage means D and the cumulative current position calculation means G are input, and information corresponding to the current position calculated by the cumulative current position calculation means G is obtained from among the information points stored in the travel route storage means D. The correction timing detection means J inputs the outputs of the information point extraction means I and the direction detection means F, and calculates the information from the approach direction and exit direction information at the information points extracted by the information point extraction means I. The correction means K outputs a signal to detect that the traveling direction of the vehicle detected by the direction detection means F has reached the determined intermediate direction, and the correction means K outputs the output of the information point extraction means I and the correction timing detection means J. is input, and the correction timing detection means J
When inputting a signal output from the integrated current position calculation means H, the current position of the vehicle calculated by the integrated current position calculation means H is corrected to the position information of the information point extracted by the information point extraction means I.

In addition, in FIG. 1 and FIG. 2, the respective symbols of the former correspond to the latter as follows.

A: Input section, B: ROM1, C: Route setting device 29, D: RAM1 to 7, E: Distance sensor 25,
F: Orientation sensor, G: CPU, H: Display section 37,
I, J, K: CPU.

[Explanation of Examples] Examples of the present invention will be described in detail below.

FIG. 2 is a block diagram showing the overall structure of the travel route guidance device.

The driving route guidance device includes an input section 19 and a calculation section 2.
1 and a notification section 23. In the figure, calculation section 21
consists of a microcomputer.

The input unit 19 includes a distance sensor 25 for detecting the traveling distance l, a direction sensor 27 for detecting the direction α, a route specifying device 29, and a start switch 31.

The distance sensor 25 uses, for example, a vehicle speed sensor that outputs one pulse every 1 m of travel. The direction sensor 27 detects the traveling direction of the vehicle, and uses a geomagnetic sensor, for example, to detect the clockwise displacement angle α [degrees] with the north direction as a reference [see the upper part of FIG. 3a described later]. .

The route designation device 29 designates a starting point, a destination point, a passing point, etc., and the designation method uses a map book prepared in advance in connection with the road network information storage unit ROM1, which will be described later. Enter the intersection number shown on the keyboard, etc., or
Alternatively, a map may be displayed together with intersection numbers on the display section CRT 37, which will be described later, and the numbers on this map may be input from the keyboard. Furthermore,
Other route designation methods include displaying a map on the display section 37 and inputting by touching a transparent touch switch provided on the display screen, or specifying the input position with a light pen; Alternatively, there is a method of specifying using a digitizer or the like.

The start switch 31 is used to instruct the start of guidance, and is operated after the travel route has been specified and the guidance start intersection (usually the first intersection) is reached.

The calculation unit 21 includes a central processing unit CPU, a road network information storage unit ROM1 (described in detail in the following Figure 3),
Calculation information storage unit RAM1 to classify information stored in the road network information storage unit ROM1 for easy calculation.
It has RAM7 (described in detail in FIG. 4). The decoder 33 decodes information sent to the bus BUS and sends it to the notification section 23.

The central processing unit CPU executes a road network information storage section based on input information sent from the input section 19.
It performs arithmetic processing using the information in the ROM 1 and the calculation information storage sections RAM1 to RAM7, and outputs the processing result for guidance instruction to the notification section 23.

The notification section 23 includes a guidance display section 37 (described in detail in FIG. 5) driven by a drive circuit 35, and a voice synthesis section 3.
The speaker 41 is driven by a speaker 9.

The notification unit 23 receives the calculation results for guidance instructions from the calculation unit 21, and can display a predetermined guidance display (for example, displaying which direction to turn) at a predetermined intersection, as well as emit a predetermined sound.

FIG. 3 shows the stored contents (map) of the road network information storage unit ROM1, and FIG. 3 shows an explanatory map diagram, and the explanation will be based on these.

The road network information storage unit ROM1 records information regarding the direction of points (information points) for which information should be recorded, such as intersections, turning points, interchanges, and other specified positions, and the distance between the information points. It serves as the back data file for the processing unit CPU. To be more specific, the intersection number (n ₀ ) is stored in the intersection number storage unit 43 and the exit direction data storage unit 45
The directions (θ ₁ , θ ₂ , θ ₃ , θ ₄ ) leading to the adjacent intersections (n ₁ , n ₂ , n ₃ , n ₄ ) are recorded in the intersection distance data storage unit 47 , and the distances to each of the above-mentioned adjacent intersections are recorded. I remember. The entering direction data storage section 49 stores the direction from each adjacent intersection, and the adjacent intersection number storage section 51 stores the numbers (n ₁ , n ₂ , n ₃ , n ₄ ) of the adjacent intersections.

In addition, in the relationship between the entering direction data storage section 49 and the exit direction data storage section 45, if the direction of entering the intersection is θin and the direction of exiting from the intersection is θout, there is a relationship of θin = θout ± 180 [degrees]. Although it is possible to derive one from the other by calculation, both are stored together to facilitate subsequent calculations.

To supplement the above memory contents with reference to Fig. 3a, for the intersection n ₀ , the adjacent intersections are n ₁ to n ₄ , and the directions from the n ₀ intersection to the adjacent intersections are θ ₁ to _{θ 4}
, and the direction of entry is ±180 from the direction of exit.
[degree] is added. Hereinafter, with respect to the north direction N, the moving distance in the east-west direction is shown as x, the moving distance in the north-south direction is shown as y, and the orientation on the map is shown as θ.

Note that the information points stored in the road network information storage unit ROM1 may not be stored at each intersection as in this example, but only the main intersections in order to save memory. Furthermore, as described above, in addition to the intersection, a bent portion _n5 , an interengine _n6 , etc. can be added. Additionally, since the amount of data in the road network information storage section ROM1 is generally large, information for each district is stored on magnetic tape, floppy disks, etc., and inputted using multiple cassettes, floppy disks, etc. depending on the driving area. It is preferable to keep it available.

The storage contents of the calculation information storage sections RAM1 to RAM7 will be explained with reference to FIG.

Figure 4 a and b are maps and explanatory diagrams of driving conditions, c
The figure is an explanatory diagram of the input intersection number string storage unit RAM1,
Figure d is an explanatory diagram of the passing intersection number string storage unit RAM2, and figure e is an illustration of the guidance instruction intersection number string storage unit RAM3.
An explanatory diagram of , figure f is the first inter-intersection information storage unit RAM
4 explanatory diagram, figure g is intersection shape information storage RAM
5, h is the second intersection information storage RAM
Explanatory diagram of 6, figure i is the guidance intersection distance information storage unit
It is an explanatory diagram of RAM7.

Hereinafter, each storage unit will be explained in order.
Note that, as explained in connection with the road network information storage unit ROM1, the information points are not limited to intersections; however, for ease of explanation, only intersections are shown here.

In Figure 4a, P ₀ is the guidance starting intersection,
Pz is the destination, _P5 , _P10 are the intersections to change course, and _P1 to _P4 , _P6 to _P9 , _P11 to Pz _-1 are
Indicates an intersection that you can pass through without changing course.

_The input intersection number string storage RAM1 is for sequentially storing the intersection numbers specified by _the route designation device ₂₉ in FIG. It has been entered. Note that the destination point does not necessarily have to be an information point,
For example, it may be specified by xy coordinates on the map, or it may be specified that the intersection _P10 shown in FIG. 4a is the point at which the vehicle has traveled a predetermined distance. It is also possible to automatically set the intersection to be passed through by inputting the starting intersection and destination intersection using the central processing unit CPU as a condition of the shortest distance.

The passing intersection number string storage unit RAM2 stores the numbers P ₀ , P ₁ , P ₂ ,...Pz of all the intersections that you pass sequentially while driving.
It covers the above-mentioned routing device 2.
9, or in the order in which they were calculated by the central processing unit CPU of the calculation section. The intersection number sequence to be passed forms a permutation sequence for traveling toward the destination point Pz by sequentially following this number sequence.

The guidance instruction intersection number string storage unit RAM3 records the numbers of the intersections P ₅ and P ₁₀ to which guidance instructions should be given, together with the numbers of the guidance start intersection P ₀ and the destination point Pz. The guidance instruction intersection number string P ₀ , P ₅ , P ₁₀ , ... is generated when the input intersection number string is input to the front RAM1.
As a crossroads intersection, or with a large directional displacement,
For example, it is stored as a curved point on the road or any other part that requires special guidance instructions, but it may also be possible to specify an intermediate point where guidance is particularly desired using the route designation device 29 in FIG. .

The guidance instruction intersection number string is sequentially called to the calculation section, and guidance instructions are given in accordance with the called numbers.

Assuming that the vehicle is traveling from point A to point C as shown in FIG. It is something that is stored temporarily. The configuration is number storage unit 53 of intersection A
, a number storage section 55 for the next intersection B, a storage section 57 for the direction from intersection A to intersection B, a storage section 59 for the distance l _AB between intersections A and B, and a storage section for the direction to enter intersection B from intersection A. It consists of 61.

The intersection shape information storage section RAM5 stores the shape information of the next intersection B in the example shown in FIG. 4b. If the intersection is, for example, crossroad n ₀ as shown in Figure 3a, the storage unit stores the intersection number B.
(n ₀ ) and a storage unit 63 for exiting directions θ ₁ to _{θ 4} (or entering directions) from the intersection n ₀ to adjacent intersections n ₁ to _{n 4} .

Since the second inter-intersection information storage section RAM6 corresponds to the first inter-intersection information storage section RAM4, the fourth intersection information storage section RAM6 corresponds to the first inter-intersection information storage section RAM4.
In the example shown in Figure b, inter-intersection information between BC is stored. The storage unit is the number storage unit 65 for intersection B.
, a number storage unit 67 for the C intersection next to the B intersection, and a storage unit 69 for the direction from the B intersection to the C intersection,
BC inter-intersection distance information storage unit 71, and C
It has a storage section 73 for the direction of entering the intersection from intersection B.

Here, the central processing unit uses the information between the first and second intersections simultaneously.
This is because there may be cases where the CPU uses the information described for each at the same time. For example, while passing between AB intersections, the information for the next BC section, which is the direction from intersection B to intersection C, is used. be. This will become clearer in the explanation of the flowcharts of FIG. 6 or FIG. 8, which will be described later. or,
In addition, in the aforementioned road network information storage unit ROM1,
Direction θin entering the intersection and direction θout exiting the intersection
The reason why these are described respectively is that when loading into the calculation information storage unit shown in the above diagrams f, g, and h, no special calculation is required and it can be performed quickly.

The guidance intersection distance information storage section RAM7 stores the distance between the guidance intersections written in the guidance intersection number string storage section RAM3.
and second guidance intersection distance information storage units 75, 77
For example, the distance L ₁ of the current guidance section and the distance L ₂ of the next guidance section are both described. The distance L ₂ of the next guidance section is prepared because the guidance section distance L ₁ or L ₂ is often the distance between multiple intersections where the distance between a single intersection written in the road network information cannot be used as is. This is to enable quick switching without requiring the calculation at the end of the first guidance section, since the distance must be calculated by adding up the distances.

FIG. 5 shows an example of the display on the guidance display section 37. The display unit 37 normally displays a map or the driving trajectory together with the map, but this screen is switched before the guidance intersection and the intersection shape information [4th
intersection shape 79, arrow 81 indicating the direction of travel, and segments 8 in 100m units.
This is an example in which the remaining distance display 83 is performed by turning on lights 3a, 83b, . Display section 37 is CRT
Other liquid crystal displays can be used, or both can be used in combination, with the traveling track axis displayed on the CRT and the display shown in FIG. 5 on the liquid crystal display.

FIG. 6 is a flowchart showing how the calculation unit 21 shown in FIG. 2 corrects the cumulative distance information at a bend intersection or other bends.

In step 603, the routing device 29 (see Figure 2)
The driving route is set by . As explained in FIG. 4c, the travel route is set by specifying the guidance starting intersection, the destination point, and the intersection to be passed.

Step 605 indicates that the start switch 31 is turned on, and by turning on the start switch at the guidance starting intersection, distance accumulation for guidance instruction is started.

At step 605, the start switch is turned on and the remaining distance to the next intersection is calculated. Further, in step 607, data such as the distance _L1 to the next guidance intersection shown in FIG. 4i and the turning direction at the next guidance intersection are read out.

Step 609 is to determine whether the remaining distance to the next guidance intersection is within 1 km.
Once the vehicle is within 1 km, guidance will be displayed as shown in Figure 5. In addition to displaying the guidance, the speaker 41 shown in FIG. 2 may be used to output an audio signal indicating whether the vehicle will reach the next intersection in the backward direction m, for example. As shown in FIG. 5, the segments 83a and 38b are sequentially turned off every time the vehicle travels 100 meters, and the remaining distance to the next intersection is displayed.

Step 613 is for determining whether the vehicle has entered within 100 meters of the intersection, for example.

Once within 100 meters, the arrow 81 is made to blink, and the process moves to step 615, where reading of the central processing unit CPU direction data α is started.

Step 617 determines whether the intersection (information point) is a straight line or has a bend. Step if going straight
Go to step 623, and if it is bent, go to step 619.

In the case of going straight, the process moves to step 623, where the intersection approach direction θin on the map [see FIG. 4 f storage unit 61]
The detected orientation αin coincides with the orientation θ from the intersection on the map [see storage section 69 in Fig. 4h]
Check that the detected orientation αout matches. If the detected direction αout matches the direction θout exiting from the intersection on the map, the process moves to step 629 to proceed to the next intersection; however, if they do not match, the process proceeds to step 629.
Move to 625, notify incorrect progress through speaker 41, etc.
In step 627, the temporary calculation is stopped.

On the other hand, if it is determined in step 617 that the intersection to be passed has a turning angle, the process moves to step 619, and the detected angle α matches the direction θin entering the intersection and the direction θout exiting the intersection. It is determined whether or not. At this time, the central position of the intersection can be detected when the detected orientation α of the vehicle reaches an intermediate orientation θr (hereinafter referred to as a reset orientation) between the orientation θin entering the intersection and the orientation θout exiting the intersection. Note that the reset direction θr will be described later.

After comparing the directions entering the intersection, detecting the center position of the intersection, and comparing the directions leaving the intersection, if it is determined that the intersection could not be passed correctly, the process moves to step 625 and the incorrect progress is notified. .

If it is determined in step 619 that the intersection has been passed correctly, the process moves to step 621 and the cumulative distance is reset.

This reset is performed by replacing the inter-intersection distance shown in FIG. 4 f with the next inter-intersection distance shown in FIG. .

Step 629 is for determining whether or not the next intersection is the destination point. If it is, the process proceeds to step 631, and the display unit 37 and speaker 41 notify that the user has arrived at the destination point.
The processing from step 607 to step 629 is repeated until the destination point is reached.

Here, the reset direction θr will be explained in detail.

Generally, when trying to find the reset direction θr, if the direction entering the intersection is θin and the direction leaving the intersection is θout, as shown in FIG. 7a, then the intermediate direction θr is calculated as shown in FIG. It seems to be calculated as (θin+θout)/2... However, in reality, as shown in figure c, for example, the north direction is defined as zero and the clockwise direction is defined as plus (+), so the north direction N indicates 0 degrees and also extends to 360 degrees. Therefore, if there is a direction change passing through this north direction N, the above calculation will not be applicable.

Therefore, in a direction change within 180 degrees, and
The conditional expression for passing through the north direction N is θout−θin>180 when θout>θin [see Figure 7 d], and θin−θout>180 when θin>θout [see Figure 7 e] .

Therefore, if these conditional expressions are satisfied, it is assumed that the singularity has been passed, and the reset direction θr can be calculated by correcting the above expression by 180° to become (θin+θout)/2±180... Become.

Here, the reason for using the ± sign in the 180 degree correction is to prevent the calculation result from exceeding minus (-) or 360 degrees, and either one of the signs is selected.

The above is summarized to obtain Table 1.

Table 1 When θin<θout () If 0<(θout−θin)<180 then θr=(θout+θin)/2 () If (θout−θin)>180 then θr=(θout+θin)/2±180 When θin>θout () If 0<(θin−θout)<180, θr=(θin+θout)/2 () If (θin−θout)>180, θr=(θin+θout)/2±180 Conditions in Table 1 above (), (), (),
Explanatory diagrams of the vehicle progress state in the case corresponding to () are shown in FIGS. 7f, g, h, and i, respectively. Furthermore, the results shown in Table 1 can be summarized and expressed as shown in Table 2.

Table 2 If |θin−θout|<180, θr=(θin+θout)/2 If |θin−θout|>180, θr=(θin+θout)/2±180 FIG. This is a processing flowchart when the cumulative distance reset method shown in FIG. 6 is combined with guidance display on a CRT.

It is initialized (cleared) in step 703. In step 705, an index image is displayed, and by touching a transparent touch switch (hereinafter referred to as a screen key) provided on the surface of the CRT, a driving area is selected.

Since the driving area is displayed in step 709, the guidance starting intersection, passing intersection, and destination point are sequentially input by operating the screen keys. In step 715, input is waited until the start key is turned on.

At step 717, the coordinates (x ₀ , y ₀ ) of the starting intersection are stored in the buffer memory A, and the origin (x ₀ , y ₀ ) values are set in the arithmetic circuit.

In step 719, the central processing unit CPU is
The passing intersection number, next intersection number, and next next intersection number are read from the calculation information storage shown in
In step 721, the inter-intersection distance from the intersection passed through to the next intersection is read.

In step 723, the position calculation result is plotted in buffer memory A. Based on the rules shown in the upper part of Figure 3a, the moving distance x in the east-west direction is x ₀ +∫△
In lsinα, the moving distance y in the north-south direction is expressed as ∫△lcosα.

If it is determined in step 725 that the remaining distance to the next intersection is, for example, 500 meters or more, the process moves to step 727, where a map of the driving area and the driving trajectory are displayed on the display section 37. The processes in steps 723, 725, and 727 are aborted if the clear key is turned on in step 729.

If it is determined in step 725 that the distance to the next intersection is 500 m or less, the process moves to step 731, and the buffer memory B shown in FIG. 4g is displayed on the display section 37.
is called and the shape of the next intersection is displayed.

In step 733, it is determined whether the next intersection is the destination point. If it is the destination point, the process moves to step 743; otherwise, the process moves to step 735.

If it is determined that the next intersection is the destination point and the process moves to step 743, the intersection name will be displayed blinking.
Step 745, step 739
Returning to 723, segment 83a shown in FIG.
83b... I approached my destination while turning off the lights.
In step 747, a termination display is displayed at the destination point, for example, a termination display is displayed on the display unit 37, or a termination sound is processed by the speaker 41, and the guidance process is terminated.

If it is determined in step 733 that the next intersection is not yet the destination point, the process moves to step 735, and the remaining distance to the next intersection and the direction of travel at the next intersection are determined by segment 83a shown in FIG. ，
83b... and an arrow 81, and in step 737, the process returns to step 723 via step 739 until the remaining distance reaches, for example, 100 m, and the segments 83a,
Approach the next intersection while turning off the lights at 83b. If the distance to the next intersection is within 100 meters, the progress arrow 81 is blinked in step 741 and the process moves to step 749.

Step 749 determines whether the next intersection is a straight section. This step corresponds to step 617 shown in FIG.

If it is a straight section, the process moves to step 751, returns to step 723 via terminal 2, and continues through steps 723, 735, 737, and 741 until the center of the next intersection (that is, zero remaining distance) is detected. Distance and remaining distance are displayed.

If the center of the intersection is determined in step 751, the process moves to step 769, where the passed intersection number column in the arithmetic information storage section shown in FIG. 4 is incremented by 1, and the process returns to step 719. Then, the process moves to steps 719 and 721, and in step 723, distances are continuously integrated using the origin (x ₀ , y ₀ ) as a reference without resetting the integrated distance xy.

On the other hand, if it is determined in step 749 that the intersection to be passed is a bend, the process proceeds to step 753.
Then, the azimuth data α is read into the central processing unit CPU, and it is determined whether the reset azimuth θr at which the cumulative distance should be reset has been reached.

If the detected orientation α has not reached the reset orientation θr, the process moves to step 757 and it is determined whether the intersection has been passed, for example, by 100 meters. After passing the intersection for 100 meters, the process moves to step 759 and checks only whether the direction θout leaving the intersection and the detected direction α match. and,
If the directions from the intersection match, the process moves to step 769, but if they do not match, it is determined that the direction of travel is wrong, and in step 761, a warning signal is output to the speaker 41 and the wrong direction is displayed on the display 37. I try to do that. Step 763 displays a comment on the display section 37 to prompt re-registration of the route.

If it is determined in step 755 that the detected direction matches the reset direction, in step 765 the coordinates (xN, yN) of the intersection to be passed, which have been previously stored, are plotted in buffer memory A, the calculation reference point is corrected, and the process is continued. Set the cumulative distance to zero with 767.

After passing through the intersection, in step 769 the intersection number string, which is the basis of the calculation, is incremented by 1 and the process returns to step 719.

Note that the timing for incrementing the intersection number by 1 in step 769, or the timing for resetting the accumulated distance in steps 765 and 767, is not necessarily the moment when the reset orientation θr and the detected orientation α match, but after passing a predetermined distance. Of course, the predetermined distance may be corrected later.

After returning from step 769 to step 719, the display of the travel trajectory shown in step 727 is
Since this is done after correcting to the new intersection position in step 723, the drawing starts from the correct current position on the map.

As described above, the present invention can automate the troublesome operation of correcting the current position of a vehicle at each intersection, as in the past, and can further accurately correct the current position.

Note that the places where the direction of travel of the vehicle changes include not only places where the vehicle turns right or left at intersections, but also corners with small radii.

[Effects of the Invention] This invention compares the bending angle expected from road network information with the change angle of the detected direction, finds out that a predetermined information point has been passed at a predetermined bending angle, and calculates the cumulative distance. This is a driving route guidance device that automatically corrects errors related to driving. Therefore, by specifying a travel route in advance, errors in distance accumulation can be automatically corrected without the need for cumbersome manual operations during travel, making it possible to create an accurate travel route. It is possible to provide a travel route guidance device that can provide guidance and enable safe and comfortable driving.

[Brief explanation of drawings]

FIG. 1 is a complaint response diagram for the travel route guidance device.
Figure 2 and subsequent figures all show embodiments of this invention,
FIG. 2 is a block diagram of an embodiment of the travel route guidance device.
FIG. 3 is an explanatory diagram of the road network information storage unit, where figure a is an explanatory diagram of the map, and figure b is the road network information storage unit ROM1.
An explanatory diagram of the map. Fig. 4 is an explanatory diagram of the calculation information storage unit, Fig. a is an explanatory diagram of the input intersection, Fig. b is an explanatory diagram of the progress state, and Fig. c is the input intersection number string storage unit.
Figure d is an explanatory diagram of the map of RAM1, Figure d is an explanatory diagram of the map of the passing intersection number string storage unit RAM2, Figure e is an explanatory diagram of the map of the guidance support intersection number sequence storage unit RAM3,
Figure f is a map explanatory diagram of the first inter-intersection information storage unit RAM4, figure g is an explanatory diagram of the map of the intersection shape information storage unit RAM5, and figure h is an explanatory diagram of the map of the second inter-intersection information RAM 6.
Map explanatory diagram, i diagram is guidance intersection information storage unit
FIG. 4 is an explanatory diagram of a map of RAM7. FIG. 5 is an explanatory diagram of a display example of the display unit. FIG. 6 is a flowchart showing an example of cumulative distance correction processing. FIGS. 7a to 7i are explanatory diagrams for calculating the intermediate angle (reset direction) θr using the azimuth θin entering the intersection and the azimuth θout leaving the intersection. FIG. 8 is a flowchart showing another embodiment of correcting the cumulative distance together with an example of displaying the travel trajectory. 1... distance detection means, 3... route specification means, 5
... Orientation detection means, 7 ... Information storage means, 9 ...
Position calculation means, 11... Guidance instruction section, 13... Guidance processing means, 15... Information point detection means, 17...
Correction means, 25...Distance sensor, 27...Direction sensor, 29...Route designation device, CPU...Central processing unit, 37...Display section, 41...Speaker,
ROM1...Road network information storage section, RAM1...Input intersection number string storage section, RAM2...Passed intersection number string storage section, RAM3...Guidance instruction intersection number string storage section, RAM4...First intersection information storage section , RAM5...Intersection shape information storage unit, RAM
6...Second inter-intersection information storage unit, RAM7...Guidance inter-intersection distance information storage unit.

Claims (1)

[Claims] 1. Input means A, road network storage means B, travel route setting means C, travel route storage means D, travel distance detection means E, direction detection means F, and cumulative current position calculation. means G, display means H, information point extraction means I, correction timing detection means J, and correction means K
A driving route guidance device for a vehicle, comprising: an input means A for inputting a departure point and a destination by an operation by a passenger; and a road network storage means B for inputting a departure point and a destination by an operation by a passenger; However, information on the road network is stored as an information point, including location information and information on approach and exit directions at this information point. The output is input to set the information points existing on the travel route from the departure point to the destination. The travel route storage means D inputs the output of the travel route setting means C and stores each set information. It stores positional information at a point and information on approach direction and exit direction, mileage detection means E detects a unit mileage of the vehicle, and direction detection means F detects the direction of travel of the vehicle. The cumulative current position calculating means G calculates the current position of the vehicle by inputting the outputs of the traveling distance detecting means E and the direction detecting means F and sequentially integrating the traveling direction for a unit traveling distance. Yes, the display direction H is determined by at least the driving route storage means D.
The information point extracting means I inputs the outputs of the cumulative current position calculation means G and displays each information point and the current position of the vehicle. The correction timing detection means J extracts information points corresponding to the current position calculated by the cumulative current position calculation means G from among the input information points stored in the travel route storage means D. The outputs of the information point extracting means I and the direction detecting means F are input, and the intermediate direction of the vehicle detected by the direction detecting means F is applied to the intermediate direction obtained from the approach direction and exit direction information at the information point extracted by the information point extracting means I. The correction means K outputs a signal to detect that the heading has been reached, and the correction means K inputs the outputs of the information point extraction means I and the correction timing detection means J, and receives the signal output from the correction timing detection means J. When you enter
A driving route guidance device for a vehicle, characterized in that the current position of the vehicle calculated by the integrated current position calculation means H is corrected to the position information of the information points extracted by the information point extraction means I.