JPH10141975A - Method and system for route selection - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a route selection method wherein a route is searched while a time regulation information where presence of regulation or content changes with time is observed. SOLUTION: A search data-storage part 201 specifies search range based on a current position detecting part 101 and the result of input to an input part 104, and then reads a map data in the correct search range out of a road network storage part 103, for storage. A route search part 202 decides, based on the current position detecting part 101 and the input to the input part 104, a search start point and a search end point. Here, a time regulation reflection part 203 decides, based on a current data/time obtaining part 102 and the input in the input part 104, a scheduled travel time zone from a starting point to a destination point, and for the time zone, it is judged whether it is possible or not to pass each node and link of map data stored in the search data storage part 201, and a judgement result, in short, presence of regulation is written on the map data. Then, the route search part 202 selects, based on the map data written-in by the time regulation reflection part 203, the route from a search starting point to a search end point.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route selection method and system, and more particularly, to a method and system for selecting an optimal route that complies with traffic regulations on map data.

2. Description of the Related Art As is well known, a car navigation system detects and displays the current position of a vehicle, automatically searches for an optimal route to a destination, and displays a vehicle along the optimal route. And / or voice guidance. In such a car navigation system,
For the route to be guided, a practical route through which vehicles can always pass is required. For this reason, a route search method that reflects regulation information such as one-way regulation and right / left-turn restriction is actively researched and proposed.

2. Description of the Related Art Conventionally, as a vehicle route guidance apparatus for selecting a route that complies with traffic regulations using the above-described regular regulation information, for example, Japanese Unexamined Patent Publication No. 62-82316.
There was one disclosed in Japanese Patent Application Publication No. This publication discloses the following method as a method of reflecting regular regulatory information.

FIG. 24 is a block diagram showing the configuration of the above-mentioned conventional vehicle route guidance device. In FIG. 24, this vehicle route guidance device takes into account traffic directions such as prohibition of entry and no left or right turn, and transmits information such as the next reachable adjacent intersection and the amount of time required correlation up to that intersection. With reference to the basic information storage unit 1 storing the map data describing the information and the map data stored in the basic information storage unit 1, the shortest route from the departure intersection to the destination intersection under certain conditions is referred to. And a route search unit 2 for searching for.

[0004] What is unique in the above-mentioned conventional device is the method of expressing the map data stored in the basic information storage unit 1 on the road network. That is, in the present conventional apparatus, only the road to the reachable intersection is stored in consideration of the traffic regulation, and the route search unit 2 searches for a route that complies with the regulation without performing complicated processing. It is possible.

Here, a description will be given of a method of expressing a road network employed in the conventional device. FIG. 25 is a diagram for explaining a method of expressing a road network in the conventional device. For example, when there is an intersection as shown in FIG. 25A, that is, an intersection in which right turn prohibition regulation is provided in each approach direction, on the map data, as shown in FIG. To express.
That is, it is assumed that a node is assumed for each approach direction of an intersection, and that there is a link only in a straight-ahead / left-turn direction that can be passed.

[0006] As described above, by recording the map data using the road network reflecting the regulation information, it is possible to select a route reflecting the steady traffic regulation while applying a normal route search process. .

[0007]

Generally, what a user expects in a route search in a car navigation system is to search for a practical route that can reach a destination, and it is required to realize this. I have. However, the above-described conventional technology cannot cope with traffic regulation whose contents change with time (hereinafter, referred to as time regulation) even if it can cope with regular traffic regulation. For this reason, while traveling along the selected route, it may not be possible to pass due to time restrictions, and there is a problem that a psychological burden is imposed on the driver.

[0008] Therefore, an object of the present invention is to provide a route selection method and system capable of selecting an optimal route that can be traveled with peace of mind in consideration of not only regular traffic regulation but also time regulation. It is.

[0009]

Means for Solving the Problems and Effects of the Invention The first invention is a method for selecting an optimal route between arbitrary two points on map data, wherein the map data includes at least node data and A first step that includes link data and determines a scheduled travel time zone between two points, and whether or not there is a time regulation (traffic regulation whose contents change with time) for each node and each link on the map data and their contents A second step of acquiring the time regulation information indicating the time, the scheduled traveling time zone determined in the first step,
A third step of determining whether or not each link and node existing between the two points is traversable based on the overlapping relationship between the time regulation information and the regulation time zone obtained in the step;
And a fourth step of searching for an optimal route between two traversable points that comply with the time regulation based on the map data while referring to the determination result of the third step.

According to the first aspect, a route using a node or a link that cannot pass in the scheduled traveling time zone is not selected, so that a route that complies with the time regulation information can be selected without fail.

A second invention is the first invention, wherein the first invention is the first invention.
Is characterized in that the time information input by the user is determined as a scheduled traveling time zone between two points.

According to the second aspect, the user can select an arbitrary time, so that an optimal route in a time zone desired by the user can be selected.

[0013] A third invention is the second invention, wherein the first invention is the first.
The step is characterized in that a time zone divided for each certain time is displayed on a display, and the user is allowed to select an arbitrary time zone.

According to the third aspect of the invention, the time zone divided for each certain time is displayed on the display and the time zone is selected, so that the input operation of the user is simplified and the burden on the user is reduced. can do.

According to a fourth aspect, in the first aspect, the first aspect is provided.
Is a fifth step of allowing the user to input a scheduled departure time, a sixth step of calculating an estimated required time between the two points based on a linear distance between the two points,
And a seventh step of calculating a scheduled travel time zone between two points by adding the estimated required time calculated in the sixth step to the estimated departure time input in the fifth step. Features.

According to the fourth aspect, the scheduled travel time zone is calculated based on the scheduled departure time input by the user and the straight-line distance between the two points, so that the user inputs the destination arrival time. There is no need, and the burden on the user can be reduced.

A fifth invention is a method for selecting an optimum route between arbitrary two points on map data, wherein the map data includes at least node data and link data, and at least one of the two points. As a reference point, a first step of determining a reference time at the reference point, a second step of calculating an estimated required time from the reference point to each node and each link on the map data, Calculating an estimated arrival time to each node and each link on the map data based on the reference time determined in the step and the estimated required time calculated in the second step.
A fourth step of acquiring the time regulation information indicating the presence or absence of the time regulation (traffic regulation whose contents change with time) and the contents of each node and each link on the map data; and Based on whether or not the estimated arrival time calculated in the step is included in the regulation time zone of the time regulation information acquired in the fourth step, it is determined whether each link and node existing between the two points can pass. A fifth step of determining, and a sixth step of searching for an optimal route between two traversable points that comply with the time regulation based on the map data while referring to the determination result of the fifth step. I have.

According to the fifth aspect, an estimated required time from the reference point to each node and each link on the map data is calculated, and each estimated time is calculated based on the reference time of the reference point and the calculated estimated required time. Since the estimated arrival time at the node and each link is calculated, it is possible to select an appropriate route in consideration of the transition of the time to travel on the route.

According to a sixth aspect, in the fifth aspect, the first aspect is provided.
Is characterized in that at least one of two points selected in any combination from the departure point, destination, transit point, and current position is selected as a reference point.

According to the sixth aspect, the reference point is selected from the departure point, the destination, the waypoint, and the current position, so that the time regulation is relatively accurate regardless of the route search method. Can be reflected in

According to a seventh aspect, in the fifth aspect, the first aspect is the first aspect.
Is characterized in that the current time is determined as the reference time.

According to the seventh aspect, the user input of the reference time is not required, so that the burden on the user is reduced.

According to an eighth aspect, in the fifth aspect, the second aspect is provided.
The step of calculating the estimated required time from the reference point to each node and each link based on the linear distance from the reference point to each node and each link on the map data.

According to the eighth aspect, the estimated required time is calculated based on the linear distance from the reference point to each node and each link, so that the estimated required time can be calculated by relatively simple processing. it can.

According to a ninth aspect, in the fifth aspect, the second aspect is provided.
The step of calculating the estimated required time from the reference point to each node and each link based on a search result from the reference point to each node and each link on the map data.

According to the ninth aspect, the estimated travel time on the route is calculated by using the search result from the reference point to each node and each link. Accuracy can be improved.

In a tenth aspect based on the fifth aspect, in the first step, when a point other than the departure place is selected as the reference point, the first step is based on the straight-line distance from the departure place to the reference point. It is characterized in that an estimated required time to a reference point is calculated and added to the scheduled departure time of the departure point to obtain a reference time at the reference point.

According to the tenth aspect, the estimated required time from the departure point to the reference point is calculated based on the linear distance from the departure point to the reference point, and this is added to the scheduled departure time of the departure point. Thus, since the reference time at the reference point is obtained, the user does not need to input the reference time at the reference point, and the burden on the user is reduced.

The eleventh invention is characterized in that, in the fifth invention, every time a predetermined timing arrives, the first to sixth steps are repeated with the current position as a new starting point.

According to the eleventh aspect, each time a predetermined timing arrives, the route search process considering the time regulation is repeated, so that the time error generated while traveling on the route is enlarged, and An appropriate route can be re-selected before a place where traveling is impossible occurs.

According to a twelfth aspect, in the eleventh aspect,
The first step is characterized in that, when a point other than the departure place is selected as the reference point, the reference time of the reference point is calculated from the search result at the time of executing the previous sixth step.

According to the twelfth aspect, since the reference time of the reference point is calculated by using the previous search result, the reference time can be calculated more accurately than when the reference time is calculated based on the linear distance. Can be calculated.

According to a thirteenth aspect, in the eleventh aspect,
The first step is to select the departure point as a reference point,
The fifth to fifth steps are characterized in that respective processes are executed only for nodes and links existing within a predetermined range from the departure place.

According to the thirteenth aspect, the time regulation information is reflected only within a predetermined range from the departure place.
The processing load for determining distant time regulation information that does not significantly affect the entire route can be reduced, and the search time can be reduced.

According to a fourteenth aspect, in the fifth aspect, a seventh step of preliminarily searching for a route between two points in advance without using time regulation information is further provided. When a point other than is selected as the reference point, the reference time of the reference point is calculated from the preliminary search result in the seventh step.

According to the fourteenth aspect, since the reference time of the reference point is calculated from the preliminary search result, the reference time can be calculated more accurately than when the reference time is calculated based on the linear distance.

In a fifteenth aspect based on the fifth aspect, the first step is to determine time information input by a user as a reference time at a reference point.

According to the fifteenth aspect, since the user can select an arbitrary time, it is possible to select an optimal route in a travel time desired by the user.

According to a sixteenth aspect, an arbitrary 2
A system for selecting an optimal route between points,
Map data storage means for storing map data including at least node data and link data, travel time zone determination means for determining a scheduled travel time zone between two points, time regulation for each node and each link on the map data It acquires time regulation information indicating the presence or absence of (traffic regulation whose contents change with time) and its contents, and the scheduled travel time zone determined by the traveling time zone determination means, and the regulation time zone of the acquired time regulation information. A determining means for determining whether or not each link and node existing between the two points is passable based on the overlapping relationship between the two points, and complying with the time regulation based on the map data while referring to the determination result of the determining means. Passable 2
Route searching means for searching for an optimal route between points.

According to the sixteenth aspect, since a route using a node or a link that cannot pass in the scheduled traveling time zone is not selected, a route that complies with the time regulation information can be selected without fail.

According to a seventeenth aspect, an arbitrary 2
A method for selecting an optimal route between points, comprising: map data storage means for storing map data including at least node data and link data; and selecting at least one of two points as a reference point, A reference time determining means for determining a reference time, calculating an estimated required time from the reference point to each node and each link on the map data, and a reference time determined by the reference time determining means, and the calculated estimated required time Estimated arrival time calculation means for calculating an estimated arrival time to each node and each link on the map data based on the time constraint, and a time regulation (traffic regulation whose contents change with time) for each node and each link on the map data. ) Is obtained and the time regulation information indicating the content of the information is acquired, and the estimated arrival time calculated by the estimated time calculation means is
Based on whether or not the acquired time regulation information is included in the regulation time zone, refer to the determination unit that determines whether each link and node existing between the two points is passable, and the determination result of the determination unit. Route searching means for searching for an optimal route between two traversable points in compliance with the time regulation based on the map data.

According to the seventeenth aspect, the estimated required time from the reference point to each node and each link on the map data is calculated, and each estimated time is calculated based on the reference time of the reference point and the calculated estimated required time. Since the estimated arrival time at the node and each link is calculated, it is possible to select an appropriate route in consideration of the transition of the time to travel on the route.

[0043]

Other Embodiments of the Invention The present invention includes the following other embodiments. That is, a first aspect is a storage medium storing a program for implementing a method for selecting an optimum route between arbitrary two points on map data, wherein the map data includes at least node data and link data. The program includes a first program step for determining a scheduled traveling time zone between two points, and presence / absence of time regulation (traffic regulation whose contents change with time) for each node and each link on the map data. And a second program step for acquiring time regulation information indicating the content thereof, a scheduled traveling time zone determined in the first program step, and a regulation time zone of the time regulation information acquired in the second program step. A third program step of determining whether each link and node existing between the two points is traversable based on the overlapping relationship; Based on the map data with reference to the judgment result of the third program step,
And a fourth program step for searching for an optimal route between two traversable points in compliance with the time regulation.

A second aspect is a storage medium storing a program for realizing a method for selecting an optimum route between arbitrary two points on map data, wherein the map data includes at least node data and links. Data, wherein the program selects at least one of the two points as a reference point and determines a reference time at the reference point; and a program step for determining from the reference point to each node and each link on the map data. A second program step for calculating an estimated required time, and a reference time determined in the first program step and an estimated required time calculated in the second program step, based on each of the nodes and links on the map data. A third program step for calculating the estimated arrival time, and a time for each node and each link on the map data. The fourth program step for acquiring the time regulation information indicating the presence or absence of the regulation (traffic regulation whose contents change with time) and the contents thereof, and the estimated arrival time calculated in the third program step are the fourth program steps. A fifth program step for determining whether or not each link and node existing between the two points is traversable, based on whether or not the time regulation information acquired in the time regulation information is included in the time regulation information, and a fifth program And a sixth program step of searching for an optimal route between two traversable points in compliance with the time regulation based on the map data while referring to the determination result of the step.

[0045]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIG. 1 is a block diagram showing a configuration of a car navigation system according to a first embodiment of the present invention. 1, the car navigation system according to the present embodiment includes a current position detection unit 101, a current date and time acquisition unit 102, a road network storage unit 103, an input unit 104, a time regulation correspondence search unit 105, a guidance unit 10
6 is provided.

The current position detection unit 101 includes a GPS, a vehicle speed sensor, an angular velocity sensor, an absolute direction sensor, and the like, and calculates the current position of the vehicle using a map matching method or the like. The current date and time acquisition unit 102 acquires the current date and time from a GPS, an in-vehicle clock, or the like. The road network storage unit 103 stores information on the road network, such as intersections and road connection states, coordinates, shapes, attributes, and regulation information. The input unit 104 includes a remote controller, a touch sensor,
It includes a keyboard, a mouse, and the like, and inputs point information and the like according to user operations. The time regulation corresponding search unit 105 determines
PU and memory (program memory, working memory)
Basically, a function to determine the starting point and the destination of the route based on the current position detected by the current position detecting unit 101 and the position information input by the user through the input unit 104, and a map network storage. A function for setting a search start point and a search end point on the road network stored in the unit 103, and a route from the set search start point to the search end point based on the road network while reflecting the time regulation information. It has a function to select. Guiding part 10
Reference numeral 6 denotes a display device (liquid crystal display, CRT display, etc.), a speaker, etc., and the current position of the vehicle detected by the current position detection unit 101 and the road network storage unit 103
Using the map data stored in the search control unit 105, the guidance route selected by the time regulation corresponding search unit 105 is guided by images and sounds.

Here, the map data recorded in the road network storage unit 103 will be described. FIG. 2 shows a configuration example of the map data. As shown in FIG. 2, the map data is roughly divided into two components. The first component is node data that is information about an intersection. The second component is link data that is information of a road connecting the intersection. In the present embodiment, each data contains time regulation information. Here, the time regulation information refers not to traffic regulation that is constantly present, but to information whose regulation is temporally changed or invalidated. The time regulation information includes, for example, the following contents. <Node time regulation> Right turn is prohibited between 7:00 and 9:00 <Link time regulation> No traffic during 13:00 to 20:00 In the present embodiment, a regular turn is conventionally recorded in map data. Time regulation information is expressed by adding period information (start date and time, end date and time, etc.) for which regulation is effective to node regulation information (right and left turn prohibition information) and link regulation information (one-way information).

Here, the time regulation information may be collectively recorded as separate data, or a traffic information receiving unit for receiving traffic information may be added without necessarily storing it on a map. Regulation information may be acquired from outside by mobile communication.

The operation of the car navigation system configured as described above will be described below. First, in the input unit 104, the user sets a departure place and a destination. That is, the user operates the input unit 10
By operating No. 4, the image of the map displayed on the guiding unit 106 is scrolled, and a desired point is input as a departure place and a destination. The departure point may use the current position of the vehicle detected by the current position detection unit 101.

Next, based on the positions of the departure place and the destination set as described above, the time regulation corresponding search unit 105 determines the time on the map node or the link on the map stored in the road network storage unit 103. Close points are adopted as a search start point and a search end point. Further, the time regulation corresponding search unit 105 calculates the shortest cost route using a well-known Dijkstra method or the like, converts the obtained route into a link sequence, a node sequence, or a coordinate sequence, and sets it as a guidance route. However,
The time regulation corresponding search unit 105 uses the current time acquired from the current date and time acquisition unit 102, the distance on the map data stored in the road network storage unit 103, and the route search result based on the acquired time regulation information. It estimates the arrival time at each node and link where the time regulation exists, determines whether or not the node and link can pass, and reflects it in the search processing.

Finally, the guiding unit 106 includes the guiding route obtained by the time regulation corresponding searching unit 105 and the current position detecting unit 1.
Based on the current position obtained from step S01 and the map data stored in the road network storage unit 103, the user is guided by voice or display as to which direction to proceed on the guidance route. .

FIG. 3 shows a time regulation corresponding search unit 1 shown in FIG.
It is a functional block diagram which shows the structure of 05. In FIG. 3, the time regulation corresponding search unit 105 includes a search data storage unit 201, a route search unit 202, and a time regulation reflection unit 2
03 is included.

The search data storage unit 201 specifies a search range from the results input by the current position detection unit 101 and the input unit 104, and reads and stores map data of the search range from the road network storage unit 103. The route search unit 202 determines a search start point and a search end point based on inputs from the current position detection unit 101 and the input unit 104. Here, the time regulation reflecting unit 203 determines the scheduled travel time zone from the departure place to the destination based on the input from the current date and time acquisition unit 102 and the input unit 104, and stores the search data in that time zone. It is determined whether each node and link of the map data stored in the unit 201 is passable, and based on the result of the determination, whether or not there is a restriction is written on the map data. Next, the route search unit 202 selects a route from the search start point to the search end point based on the map data in which the presence / absence of the regulation is written by the time regulation reflection unit 203.

The operation of the time regulation corresponding search unit 105 configured as described above will be described below in detail with reference to a flowchart. FIG. 4 is a flowchart showing the operation of the route search unit 202 (see FIG. 3) in the time regulation corresponding search unit 105.

First, in step S5001 of FIG. 4, the route search unit 202
The current location of the vehicle detected in step 1
Set the position input in step as the destination. Next, the route search unit 202 controls the search data storage unit 201 so as to read and store the map data of the search range including the departure place and the destination from the road network storage unit 103 (step S5002). Next, on the map data stored in the search data storage unit 201, the route search unit 202 sets the point on the link closest to the departure point as the search start point, and The point is adopted as the search end point (step S5003).

Next, the route search unit 202 determines in step S5
In 004, the time regulation reflection unit 203 is caused to execute a time regulation reflection process. In this step S5004, the time regulation reflecting unit 203 acquires the travel time zone, and writes traffic prohibition information to nodes and links on the map data stored in the search data storage unit 201 based on the time regulation information.

FIG. 5 is a flowchart showing details of the subroutine step S5004 (time regulation reflection processing) in FIG. Hereinafter, the operation of the time regulation reflecting unit 203 will be described in more detail with reference to FIG. First, in step S5101, the time regulation reflecting unit 203 inquires of the user about a time zone during which the user travels from the departure place to the destination. For example, a display screen as shown in FIG. 6A may be displayed on the display of the guiding unit 106, and the input unit 104 may allow the user to input a time zone in numerical values. Further, as shown in FIG. 6B, a bar graph of a time zone divided by a certain time is displayed on the display of the guiding unit 106,
A time zone may be selected by operating the input unit 104.
In addition, the scheduled departure time obtained from the current date and time acquisition unit 102 or the input unit 104, the linear distance between the departure place and the destination, and the average traveling speed assumed in advance (for example, when the travel
60 km / km in the high-speed priority mode
h, in other cases, 30 km / h) and the required time to the calculated destination may be used to calculate the travel time zone.

Next, the time regulation reflecting unit 203 checks whether the validity of the time regulation of all nodes and links of the map data stored in the search data storage unit 201 has been checked (step S5102). If the investigation has not been completed, the investigation is continued. If the investigation has been completed, the time regulation reflection processing ends. If there is a node or link for which the validity of the time regulation has not been checked, the time regulation reflecting unit 203
It is determined whether there is a time restriction on the corresponding node and link, and whether the restriction time period partially overlaps with the movement time period acquired in step S5101 (step S510).
3) If they overlap, proceed to step S5104; otherwise, return to step S5102. Step S5104
Then, the time regulation reflecting unit 203 regards the content of the time regulation information as a regular regulation and writes traffic prohibition information and the like on the map data. After that, the time regulation reflecting unit 203 returns to Step S5102 and repeats the above processing.

Returning to FIG. 4 again, the route search unit 202 performs a search process based on the map data stored in the search data storage unit 201 in compliance with the traffic regulation by using the well-known Dijkstra method or the like, and The route is calculated (step S5005). Next, the route search unit 202 converts the obtained route into a link sequence, a node sequence, or a coordinate sequence,
The guidance route is output to the guidance unit 106 (step S5).
006).

As described above, according to the first embodiment,
At each node and link on the map data read at the time of the search, it is determined whether the time regulation is valid based on the traveling time zone, so that a route that complies with the time regulation information can be always selected. . Further, since the user is caused to input the time information regarding the travel time zone, an appropriate route can be selected in an arbitrary time zone desired by the user. Further, when the user inputs the travel time zone, the time zone classified for each certain period of time is displayed on the display, and the user can select the time zone, thereby simplifying the input process of the travel time zone. Burden can be reduced. Finally, by calculating the travel time zone from the required time to the destination calculated based on the straight-line distance from the departure place to the destination and the estimated time of departure, the input process of the travel time zone can be simplified, The burden on the user can be further reduced.

In the first embodiment, the user input process relating to the travel time zone is performed after the search start point / search end point setting process. However, the user input process is performed simultaneously when the departure point / destination point is input. Alternatively, it may be performed any time before the search processing. Further, in the first embodiment, the process of reflecting the time regulation on the map data is performed at the search start point
Although it is performed after the search end point setting process, it is performed before the search start point / search end point setting process, and the search start point / search end point setting process may be performed using the map data reflecting the time regulation. I do not care. In the first embodiment, when the time restriction information is valid, the traffic prohibition information is written on the map data. However, depending on the content of the restriction, the passage cost of the node and the link may be changed to a predetermined value. Processing may be performed.

(Second Embodiment) A car navigation system according to a second embodiment of the present invention will be described below. The configuration of the entire system is the same as that of the first embodiment shown in FIG.
In the following description, FIG. 1 will be referred to, and illustration of the entire system will be omitted. Second
In the embodiment, the time regulation corresponding search unit 105 in FIG.
Since the function of the second embodiment is different from that of the first embodiment, the second embodiment will be described below focusing on the function of the time regulation corresponding search unit 105.

FIG. 7 is a functional block diagram showing the configuration of the time regulation corresponding search unit 105 used in the car navigation system according to the second embodiment of the present invention. 7, the time regulation corresponding search unit 105 includes a search data storage unit 301, a route search unit 302, a reference date and time information determination unit 304, and a time regulation determination correction unit 305.

The search data storage unit 301 specifies a search range from the results input by the current position detection unit 101 and the input unit 104, and reads and stores map data of the search range from the road network storage unit 103. The route search unit 302 determines a search start point and a search end point based on inputs from the current position detection unit 101 and the input unit 104. Here, the reference date and time information determination unit 304 stores the reference date and time information for determining the reference time of the reference point for calculating the arrival time to each node and link, as the current date and time acquisition unit 102
Alternatively, it is determined based on the input from the input unit 104. Next, the time regulation determination correction unit 305 obtains the reference time of the reference point calculated based on the reference date and time information determined by the reference date and time information determination unit 304 and the map data stored in the search data storage unit 301. The arrival time is estimated based on the required time from the reference point calculated based on the distance between the reference point and each of the nodes and links where the time regulation exists. further,
The time regulation determination correction unit 305 determines that
It is determined whether each node and link of the map data stored in the search data storage unit 301 is passable, and the determination result (presence or absence of restriction) is written in the map data. next,
The route search unit 302 selects a route from the search start point to the search end point based on the map data in which the presence / absence of the regulation is written by the time regulation determination correction unit 305.

The operation of the time regulation corresponding search section 105 in the second embodiment configured as described above will be described in detail below. FIG. 8 shows the route search unit 30 in FIG.
6 is a flowchart showing the operation of No. 2.

First, in step S5201 in FIG. 8, the route search unit 302
The current location of the vehicle detected in step 1
Set the position input in step as the destination. Next, the route search unit 302 controls the search data storage unit 301 so as to read and store the map data of the search range including the departure place and the destination from the road network storage unit 103 (step S5202). Next, on the map data stored in the search data storage unit 301, the route search unit 302 sets a point on the link closest to the departure point as a search start point, and The point is adopted as the search end point (step S5203).

Next, the route search unit 302 determines in step S5
In step 204, the reference date / time information determination unit 304 executes a reference date / time information determination process. In step S5204, the reference date and time information determination unit 304 determines a reference date and time at the reference point.

FIG. 9 is a flowchart showing details of subroutine step S5204 (reference date and time information determination processing) in FIG. Hereinafter, the operation of the reference date and time information determination unit 304 will be described in more detail with reference to FIG.

First, in step S5301, the reference date / time information determination unit 304 adopts a departure place as a reference point. Next, the reference date and time information determination unit 304 prompts the user to input a reference time at the reference point (step S530).
2). Next, the reference date and time information determination unit 304 determines whether or not a reference time has been input (step S5303). If there is an input, the time is set as the reference time, and if there is no input, the process of step S5304 is performed. In step S5304, the reference date and time information determination unit 304
The current date and time acquired from Step 2 is set as a reference time. Thus, the reference date and time information determination unit 304 ends the reference date and time information determination processing.

Returning to FIG. 8, the route search unit 302 causes the time regulation judgment correction unit 305 to execute a time regulation judgment correction process (step S5205). The time regulation determination correction unit 305 examines the validity of time regulation of all nodes and links of the map data stored in the search data storage unit 301 as time regulation determination correction processing, and if it is valid, performs regular regulation. To correct the map data.

FIG. 10 is a flowchart showing the details of the subroutine step S5205 (time regulation determination correction processing) in FIG. Hereinafter, the operation of the time regulation determination correction unit 305 will be described in more detail with reference to FIG.

First, the time regulation determination correction unit 305 checks whether the validity of the time regulation of all nodes and links of the map data stored in the search data storage unit 301 has been checked (step S5041). If it is not completed, the investigation is continued, and if it is completed, the time regulation determination correction processing is ended. At this time, if there is a node or link that has not been investigated, the time regulation determination correction unit 305
Calculates the linear distance from the reference point (departure point) to each node and link where the time regulation information exists based on the map data stored in the search data storage unit 301, and calculates the assumed average moving speed ( For example, when the travel is 100 km or more and the high-speed priority use mode is 60 km / h, otherwise, 30 km / h), and the reference point (departure point) is used.
, The estimated time of arrival at each node and link is calculated by adding the required time to the reference time obtained from the reference date and time information determination unit 304 (step S5402). ). Next, the time regulation determination correction unit 305 determines whether there is a time regulation for the corresponding node and link and whether the estimated arrival time calculated in step S5402 is included in the regulation time zone (step S5403). If it is included, step S540
4; otherwise, return to step S5401. In step S5404, the time regulation determination correction unit 30
5 considers the content of the time regulation information as a regular regulation,
Write traffic prohibition information and the like on the map data. Further, the time regulation determination correction unit 305 returns to step S5401, and repeats the above processing.

Returning to FIG. 8 again, the route search unit 302 performs a search process in compliance with the traffic regulation from the map data stored in the search data storage unit 301 by using the well-known Dijkstra method or the like to obtain the shortest cost route. (Step S
5206), and converts the obtained route into a link sequence, a node sequence, or a coordinate sequence, and outputs the converted route to the guiding unit 106 (step S5207).

As described above, according to the second embodiment,
A time of arrival at each point is calculated from a reference time of at least one or more reference points and an estimated travel time on a route from the reference point to each point, and time regulation is performed based on the calculated arrival time. Is determined, it is possible to select an appropriate route in consideration of the transition of time due to movement on the route.

The estimated travel time on the route is calculated by an approximate calculation (for example, a departure point, a destination, and a waypoint on the route are set as reference points, and the straight-line distances from the reference points to the respective points are calculated as an average assuming in advance. (Calculation such as dividing by speed). Further, by setting the reference date and time information to the current time, the user's input work becomes unnecessary, and the burden on the user can be reduced. In the second embodiment, the departure point is used as the reference point, but a transit point / destination may be used, or the current vehicle position may be used. However, when the destination is adopted as the reference point, the process of calculating the arrival time at each point is obtained by subtracting the estimated travel time on the route from the reference time. In addition, the determination of the reference time
It may be based only on the user input or based only on the current time. Further, when based on the current time, an estimated travel time based on the distance from the current position of the vehicle to the reference point may be added. Also, if the time restriction information is valid,
We put the no traffic information on the map data,
Depending on the content of the regulation, processing such as changing the passing cost of the node and the link to a predetermined value may be performed.

(Third Embodiment) A car navigation system according to a third embodiment of the present invention will be described below. The configuration of the entire system is the same as that of the first embodiment shown in FIG.
In the following description, FIG. 1 will be referred to, and illustration of the entire system will be omitted. Third
In the embodiment, the time regulation corresponding search unit 105 in FIG.
Since the function of the third embodiment is different from that of the first embodiment, the third embodiment will be described below focusing on the function of the time regulation corresponding search unit 105.

FIG. 11 is a functional block diagram showing the configuration of the time regulation corresponding search unit 105 used in the car navigation system according to the third embodiment of the present invention. In FIG. 11, the time regulation corresponding search unit 105 includes a search data storage unit 401, a route search unit 402, a reference date and time information determination unit 404, and a time regulation determination unit 405.

The search data storage unit 401 specifies a search range from the results input by the current position detection unit 101 and the input unit 104, and reads and stores map data of the search range from the road network storage unit 103. The route search unit 402 determines a search start point and a search end point based on inputs from the current position detection unit 101 and the input unit 104. Here, the reference date and time information determination unit 404 sends the reference date and time information for determining the reference time of the reference point for calculating the arrival time to each node and link to the current date and time acquisition unit 102
Alternatively, it is determined based on an input from the input unit 104 or the search data storage unit 401. Further, the route search unit 40
2 selects a route based on the map data stored in the search data storage unit 401. At this time, during the route search processing by the route search unit 402, the time regulation determination unit 405 determines the map data stored in the search data storage unit 401 based on the time determined by the reference date and time information determination unit 404. Based on the route search result, the arrival time at each node and link is calculated, and it is determined whether the regulation is valid.

The operation of the time regulation corresponding search section 105 in the third embodiment configured as described above will be described in detail below. FIG. 12 is a flowchart showing the operation of the route search unit 402 in FIG.

First, in step S5501 of FIG. 12, the route search unit 402
The current location of the vehicle detected in step 1
Set the position input in step as the destination. Next, the route search unit 402 controls the search data storage unit 401 so as to read and store the map data of the search range including the departure place and the destination from the road network storage unit 103 (step S5502). Next, the route search unit 402 adopts a point on the link closest to the departure point on the map data stored in the search data storage unit 401 as a search start point, and uses the link closest to the destination as the search start point. The upper point is adopted as another search start point (step S5503).

Next, the route search unit 402 determines in step S5
In step 504, the reference date / time information determination unit 404 executes a reference date / time information determination process. In this step S5504, the reference date and time information determination unit 404 determines the reference date and time at the reference point.

FIG. 13 shows the subroutine step S5.
504 is a flowchart illustrating details of step 504. Hereinafter, FIG.
The operation of the reference date and time information determination unit 404 will be described in more detail with reference to FIG.

First, in step S5601, the reference date and time information determination unit 404 adopts a departure place and a destination as reference points. Next, the reference date and time information determination unit 404 prompts the user to input a reference time on the departure place side (step S5).
602). Next, the reference date and time information determination unit 404 determines whether a reference time has been input (step S560).
3) If there is an input, the time is set as the reference time on the departure side, and if there is no input, the process of step S5604 is performed.
In step S5604, the reference date and time information determination unit 404
Sets the current date and time acquired from the current date and time acquisition unit 102 as the reference time on the departure place side. Next, the reference date and time information determination unit 40
4 calculates a straight-line distance from the departure point to the destination based on the map data stored in the search data storage unit 401, and calculates an average traveling speed (for example, when the travel is 100 km or more and the high-speed priority use mode is used). 60 km / h in other cases, and 30 km / h in other cases), estimate the travel time from the departure point to the destination and add it to the reference time at the departure point to obtain the reference time at the destination. It is determined (step S5605). The reference date / time information determination unit 404 ends the reference date / time information determination process.

Referring back to FIG. 12, the route search unit 402
Based on the map data stored in the search data storage unit 401, the shortest path from the search start point to the search end point is selected using, for example, a well-known bidirectional search method (steps S5505 and S5506).

Here, the bidirectional search method will be described with reference to FIG. FIG. 14A is a conceptual diagram of a one-way search method based on a departure point, and FIG. 14B is a conceptual diagram of a bidirectional search method. In this way, the bidirectional search method is to perform a one-way search starting from the departure point side and a one-way search starting from the destination side, and construct a single route by combining both routes. Reduces the search range,
This is to shorten the search time. In this method, the search range based on the departure point is called a departure side search range, and the search range based on the destination is called a destination side search range.

Here, the search processing for the time regulation corresponding to the search area on the departure place side is referred to as the search processing for time regulation corresponding to the departure place side, in distinction from the destination side. First, the departure point side time regulation corresponding search processing (step S5505) will be described.

FIG. 15 is a flowchart showing details of the subroutine step S5505 (departure point side time regulation correspondence search processing) in FIG. Although this processing is composed of steps S5701 to S5710, most of the processing is for selecting the shortest cost path, and is a well-known Dijkstra method itself, and thus description of that part is omitted. What is important in this processing is step S570.
6. This is the process of step S5707. Route search unit 40
2 selects a search target node as a reference for expanding the search (step S5703), and based on the calculated arrival time at the search target node when expanding the search processing for each link connected to the search target node. Departure-side time regulation determination processing for determining whether the time regulation is valid (step S57)
06) is performed by the time regulation determination unit 405, and it is determined whether or not to perform a search process on the corresponding link based on the result (step S5707). As a result, if the time regulation is valid, the search process does not spread in that direction, so that the selected route is only a route that complies with the regulation.

FIG. 16 is a flow chart showing the details of the subroutine step S5706 (the departure point side time regulation judgment processing executed by the time regulation judgment unit 405) in FIG. Hereinafter, the departure point side time regulation determination processing will be described with reference to FIG.

First, in step S5801, the time regulation determination unit 405 adds the cost on the route from the departure point to the search target node to the reference time on the departure point side, thereby obtaining the arrival time at the search target node or link. Ask for. However, this is a case where the cost of performing the search is represented by a travel time. For example, when the cost is represented by a distance, a process of converting the cost into a travel time such as dividing by an average speed is required. Next, the time regulation determination unit 405
It is determined whether there is a time restriction on the corresponding node and link, and whether the estimated arrival time calculated in step S5801 is included in the restricted time zone (step S5802). If it is included, the process advances to step S5803; In this case, the process ends, and the process returns to step 5707 in FIG. In step S5803, the time regulation determination unit 405 determines that the passage is not possible because the time regulation is effective at the arrival time. Thereafter, this processing ends, and the route search unit 402
Returns to step 5707 in FIG. As described above, the departure place side time regulation corresponding search processing (step S550 in FIG. 12)
The description of 5) ends.

Next, the destination side time regulation corresponding search processing (subroutine step S5506 in FIG. 12) will be described. FIG. 17 is a flowchart showing details of subroutine step S5606 in FIG. FIG.
Is a subroutine step S5906 in FIG.
It is a flowchart which shows the detail of (destination side time regulation determination processing performed by the time regulation determination part 405). These processes are almost the same as the departure point side time regulation corresponding search process except that the destination is set as the search start point, and therefore detailed description is omitted. In particular, the difference from the departure place is the method of calculating the arrival time to the search target node and link in step S6001 in FIG. That is, on the destination side, the arrival time at the search target node and the link is obtained by subtracting the cost on the route from the destination to the search target node from the reference time of the destination. However, this is a case where the cost of performing the search is represented by a travel time. For example, when the cost is represented by a distance, a process of converting the cost into a travel time such as dividing by an average speed is required. This concludes the description of the destination side time regulation corresponding search processing (step S5506 in FIG. 12).

Finally, returning to FIG.
Converts the route obtained in step S5505 and step S5506 into a link sequence, a node sequence, or a coordinate sequence, and outputs the converted route to the guiding unit 106 (step S5507).

Here, with reference to FIG. 19, these time regulation corresponding search processing (step S5505 or step S5506) will be briefly described. Route search unit 40
When the search range is expanded from the node A to another node B in the search process of No. 2, the route to the node A is stored in the search data storage unit 401 as a search result (for example, the route to the node A). The previous node above is node C
And the arrival cost is 500 seconds).
The required time on the route to the node A is calculated using the route information up to the node A. If the unit of the evaluation cost for selecting the route is the required time, the arrival cost to the node A can be used as it is. If the unit is the distance, the integrated distance for each road type is calculated, The required time on the route can be calculated using the assumed average speed for each road type. Therefore, when the route search unit 402 expands the search range from the node A to the node B, the arrival time at the node A is calculated based on the reference time at the reference point and the required time on the route from the reference point to the node A. Is calculated. However, in the departure point side search range, the required time on the route to the node A is added to the departure point reference time, and in the destination side search range, the required time on the route from the destination reference time to the node A is added. Subtract the required time. Based on the arrival time at node A calculated in this way, the search data storage 40
Node A and Node A from the map data stored in
Reads the time regulation information existing on the link between B and determines whether or not it can pass. If it can pass, broadens the search to Node B. If it cannot pass, it searches Node B.
Do not widen your search for. As a result, if the time regulation is valid, the search does not spread in that direction, so the selected route is only the route that complies with the regulation.

As described above, according to the third embodiment,
Since the search start point is used as a reference point and the estimated required time on the route from the reference point to each point is calculated based on the route information to each point that is the search result during the search process,
The estimation accuracy can be greatly improved. Also, when the reference point is other than the departure point, the travel time from the departure point to the reference point is calculated from the linear distance from the departure point to the reference point, and added to the reference time of the departure point to calculate the reference time of the reference point. This eliminates the need for user input work, and can reduce the burden on the user.

In the third embodiment, a two-way search is performed at the time of a route search. However, a one-way search from a departure point side or a one-way search from a destination side is performed. Is also good. In addition, although the departure place and the destination are adopted as the reference points, the current vehicle position, the waypoint, etc. may be used as the reference points. In that case, in consideration of the positional relationship among the current vehicle position, the departure point, the waypoint, and the destination, the travel time may be estimated in the traveling order to calculate the reference time at the reference point. Further, when determining the validity of the time regulation information of the link, it may be determined whether or not the link can be passed by considering not only the time of entering the link but also the time of passing through the link. Further, the determination of the reference time may be based on only the user input or may be based only on the current time. Further, when based on the current time, an estimated travel time based on the distance from the current position of the vehicle to the reference point may be added.
Further, when the time restriction information is valid, the traffic prohibition information is written on the map data. However, depending on the content of the restriction, processing such as changing the passage cost of nodes and links to a predetermined value may be performed.

(Fourth Embodiment) A car navigation system according to a fourth embodiment of the present invention will be described below. The configuration of the entire system is the same as that of the first embodiment shown in FIG.
In the following description, FIG. 1 will be referred to, and illustration of the entire system will be omitted. 4th
In the embodiment, the time regulation corresponding search unit 105 in FIG.
Since the function of the fourth embodiment is different from that of the first embodiment, the fourth embodiment will be described below focusing on the function of the time regulation corresponding search unit 105.

FIG. 20 is a functional block diagram showing the configuration of the time regulation corresponding search unit 105 used in the car navigation system according to the fourth embodiment of the present invention. 20, the time regulation corresponding search unit 105 includes a search data storage unit 501, a route search unit 502, a reference date and time information determination unit 504, a time regulation determination unit 505, and a search start unit 506. I have.

[0097] The search data storage unit 501 specifies a search range from the results input by the current position detection unit 101 and the input unit 104, and reads and stores map data of the search range from the road network storage unit 103. The route search unit 502 determines a search start point and a search end point based on inputs from the current position detection unit 101 and the input unit 104. Here, the reference date and time information determination unit 504 outputs the reference date and time information for determining the reference time of the reference point for calculating the arrival time to each node and link to the current date and time acquisition unit 102
Alternatively, it is determined based on an input from the input unit 104 or the search data storage unit 501. Further, the route search unit 50
2 selects a route based on the map data stored in the search data storage unit 501. At this time, during the route search processing by the route search unit 502, the time regulation determination unit 505 determines the time determined by the reference date and time information determination unit 504, the map data stored in the search data storage unit 501, and the route search result. Based on, the arrival time to each node and link is calculated,
Determine if the regulation is valid. The search activation unit 506
During the guidance, the current position detection unit 101 and the current date and time acquisition unit 1
From the information obtained in 02, a search from the current position to the destination is started at a predetermined timing.

The operation of the time regulation corresponding search section 105 in the fourth embodiment configured as described above will be described in detail below. The difference between the third embodiment and the present embodiment is only the processing of the search and activation unit 506 and the accompanying processing of the reference date and time information determination unit 504. The difference will be described with reference to a flowchart. FIG. 21 is a flowchart showing the operation of the search and activation unit 506 in FIG.

As described in the third embodiment, after the route to the destination is obtained, the processing shown in FIG. 21 is performed during the guidance. First, in step S6101, the search activation unit 506 acquires the current position of the vehicle from the current position detection unit 101 and the current date and time from the current date and time acquisition unit 102. Next, the search activation unit 506 determines whether or not the obtained vehicle has arrived at the destination from the current position (step S6).
102), if it has arrived, the process ends; if it has not arrived, the flow advances to step S6103. Step S6103
In, the search start unit 506 determines whether or not the condition of search start timing is satisfied from the current date and time and the current position of the vehicle. Here, the conditions for the search start timing are as follows:
It is assumed that it is determined in advance based on the moving distance and elapsed time of the vehicle from the previous search calculated using the current position and the current date and time of the vehicle acquired in step S6101 (for example, 20 minutes have elapsed since the previous search) Or 10
km, etc.). The search activation unit 506 determines in step S
As a result of the determination in 6103, if the search timing condition is not satisfied, the process returns to step S6101 to repeat the process, and if the condition is satisfied, the process proceeds to step S6104.

In step S6104, search start unit 506 calculates the estimated time of arrival at the destination from the route information obtained by the previous search, and stores it in search data storage unit 501 as the reference time of the destination. Here, if the unit of the evaluation cost for selecting the route is the travel time, the arrival cost to the destination can be used as it is, and if the unit is the distance, the integrated distance for each road type can be calculated. Thus, the required time on the route can be calculated using the average speed for each road type assumed in advance. Next, the search activation unit 506 stores the current position as the departure place and the current date and time as the reference time of the departure place in the search data storage unit 501 (step S6105). Then, the time regulation corresponding search process (described in FIG. 12) described in the third embodiment is started. However, the position information of the departure point and the destination, the reference time information, and the like use the values already set above. When the time regulation corresponding search process is completed, the search start unit 506 returns to step S6101, and repeats the above process until the process reaches the destination.

As described above, according to the fourth embodiment,
Before the error between the estimated arrival time at each point and the actual arrival time greatly increases, the route search process is repeated at a predetermined timing, and a route that complies with the time regulation is obtained again, so that guidance that can be passed can be obtained. It is possible to prevent a phenomenon that a point on the route cannot actually pass due to an estimation error of the arrival time. Also, by estimating the arrival time to the destination from the result of the search in advance and calculating the reference time of the destination, the estimation accuracy is improved as compared with the case of estimating the reference time of the destination from a straight line distance or the like. This makes it possible to accurately reflect the time regulation of the destination side search range.

In the fourth embodiment, a two-way search is performed at the time of a route search, but a one-way search may be performed from a departure point or a destination. In addition, although the departure point and the destination are used as the reference points,
A transit point or the like may be adopted as the reference point. In that case, in consideration of the positional relationship among the current vehicle position, the departure point, the waypoint, and the destination, the travel time may be estimated in the traveling order to calculate the reference time at the reference point. Further, when determining the validity of the time regulation information of the link, it may be determined whether or not the link can be passed by considering not only the time of entering the link but also the time of passing through the link. Further, the determination of the reference time may be based on only the user input or may be based only on the current time. Further, when based on the current time, an estimated travel time based on the distance from the current position of the vehicle to the reference point may be added. Further, the timing for performing the re-search is determined based on the moving distance and the time. However, any timing may be used as long as the estimation error of the arrival time is not enlarged. In addition, at the time of the first search, the estimation of the reference time on the destination side was calculated based on the linear distance from the departure point, but a preliminary search to the destination (a search that does not reflect time restrictions) was performed and the candidate route was determined. After selecting and calculating the arrival time, the main search may be performed.

(Fifth Embodiment) A car navigation system according to a fifth embodiment of the present invention will be described below. The configuration of the entire system is the same as that of the first embodiment shown in FIG.
In the following description, FIG. 1 will be referred to, and illustration of the entire system will be omitted. Fifth
In the embodiment, the time regulation corresponding search unit 105 in FIG.
Since the function of the fifth embodiment is different from that of the first embodiment, the fifth embodiment will be described below focusing on the function of the time regulation corresponding search unit 105.

FIG. 22 is a functional block diagram showing the configuration of the time regulation corresponding search unit 105 used in the car navigation system according to the fifth embodiment of the present invention. In FIG. 22, the time regulation corresponding search unit 105 includes a search data storage unit 601, a route search unit 602, a reference date and time information determination unit 604, and an application range limited time restriction determination unit 605.
And a search activation unit 606.

The search data storage unit 601 specifies a search range from the results input by the current position detection unit 101 and the input unit 104, and reads and stores map data of the search range from the road network storage unit 103. The route search unit 602 determines a search start point and a search end point based on inputs from the current position detection unit 101 and the input unit 104. Here, the reference date and time information determination unit 604 transmits the reference date and time information for determining the reference time of the reference point for calculating the arrival time to each node and link to the current date and time acquisition unit 102
Alternatively, it is determined based on an input from the input unit 104 or the search data storage unit 201. Further, the route search unit 60
2 selects a route based on the map data stored in the search data storage unit 601. At that time, the applicable range limited time restriction determination unit 605 determines the reference date and time information determination unit 604 during the route search processing by the route search unit 602 for each node and link within a certain range from the departure place. Based on the time, the map data stored in the search data storage unit 601, and the route search result, the time of arrival at each node and link is calculated to determine whether the regulation is valid. The search start unit 606 performs the current position detection unit 101 during the guidance.
A search from the current position to the destination is started at a predetermined timing based on the information obtained by the current date and time acquisition unit 102.

The operation of the time regulation corresponding search section 105 according to the fifth embodiment configured as described above will be described in detail below. The only difference between the fourth embodiment and the present embodiment is the processing of the applicable range limited time restriction determination unit 605. The difference will be described with reference to a flowchart.
FIG. 23 is a flowchart illustrating the operation of the application range limited time restriction determination unit 605 in FIG.

The flowchart of FIG. 23 is different from the operation of the time regulation determining unit 505 of the fourth embodiment (substantially the same as FIG. 16 showing the operation of the time regulation determining unit 405 of the third embodiment). Means that step S6201 is added first. In step S6201,
The application range limited time restriction determination unit 605 determines whether the destination is within a predetermined range from the departure place (for example, within 60 minutes from the departure place). If the destination is within the range, the process proceeds to step S6202. Then, the process of determining the validity of the time regulation is continued, but if it is out of the predetermined range from the departure place, the process of determining the validity of the time regulation is interrupted. Here, the search range on the departure point side is assumed to be sufficiently wider than a predetermined range reflecting the time regulation, and the flowchart in FIG. 23 shows only the case where the departure point is set as the reference point. As a result, the time regulation information is reflected only in the predetermined range, and the time regulation is not determined in other ranges. Then, the search activation unit 606
The search process is started at a certain timing during the route guidance (a time sufficiently shorter than the time for traveling in the above-described predetermined range), and the route search unit 602 reselects a route to the destination.

As described above, according to the fifth embodiment,
By reflecting the time regulation information only in a predetermined range from the departure place in the route search, the processing load during the search can be reduced, and the search time can be shortened. In addition,
In the fifth embodiment, the predetermined range for determining the time regulation is determined at a fixed time from the departure point. However, the range may not be too wide, and may be limited by distance, or may be recorded on a map. The range may be limited. Also, the search range on the departure point side is assumed to be sufficiently wider than the predetermined range reflecting the time regulation, and the flowchart of FIG. 23 shows only the case where the departure point is set as the reference point. Also in the case of a point, the method of calculating the arrival time to the search target node and the link can be applied in the same manner by using the method for the destination.

In all the embodiments described above, each of the functional blocks described above may be constituted by hardware, or may be constituted as a result of program processing such as multitasking of a microcomputer. .

The hierarchical map is recorded in the road network storage unit 103, and the time regulation corresponding search unit 105 uses the detailed map around the departure place and the destination, and the long distance route between them as distance. The search may be performed using maps having different degrees of detail in response. In addition, the route search unit 20
The route search processing in 2 to 602 is not limited to the one-way search from the departure place side, but may be the one-way search from the destination side or the two-way search. Also, the current position detection unit 101
May be any configuration as long as the current position can be detected. In addition, the current date and time acquisition unit 102 obtains the current time using the GPS time information and the information from the in-vehicle clock. However, the current time may be calculated by integrating the clock of the computer. Any configuration may be used as long as the current time can be obtained. In addition, the input unit 104 includes the guiding unit 10.
Although the position is specified by scrolling the map image displayed in 6, the position may be specified by a method of selecting a latitude and longitude stored in advance, and in principle, it is sufficient if the position can be specified. . In addition, the time regulation corresponding search unit 10
In the first search, points close to the departure place and the destination are respectively set as the search start point or the search end point in the first search, but a plurality of points may be set for each. Although the Dijkstra method has been described as an example of the search method, any method may be used as long as the method finds the shortest cost route between a plurality of points based on cost information for each link. In the guidance unit 106, guidance is provided by display or voice. However, for example, an automatic control unit may be added to provide the selected route to the control system of the automobile. Further, a traffic information acquisition unit may be added to acquire time regulation information provided as traffic information, and reflect the time regulation information on the route search result in the same manner as in the above embodiment. Also,
When calculating the estimated required time on the route from the straight-line distance, here the average traveling speed is set to "60 km / h when the travel is 100 km or more and in the high-speed priority use mode, and 30 km / h otherwise". However, other conditions, such as terrain, may be included in the component, or any other appropriate value may be used.

Further, the present invention is realized by a program, and is recorded on a recording medium such as a floppy disk and transferred, so that it can be easily implemented by another independent computer system. In this case, the recording medium is not limited to a floppy disk,
The present invention can be similarly implemented as long as the program can be recorded thereon, such as a card or a ROM cassette.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a car navigation system according to a first embodiment of the present invention.

FIG. 2 is an illustrative view showing one configuration example of map data;

FIG. 3 is a functional block diagram illustrating a more detailed configuration of a time regulation corresponding search unit used in the first embodiment.

FIG. 4 is a flowchart showing an operation of the route search unit 202 shown in FIG.

FIG. 5 is a time regulation reflection process (step S50) shown in FIG. 4;
It is a flowchart which shows the detail of 04).

FIG. 6 is an illustrative view showing an example of an input method of time information in an input unit 104;

FIG. 7 is a functional block diagram illustrating a configuration of a time regulation corresponding search unit used in a car navigation system according to a second embodiment of the present invention.

8 is a flowchart showing an operation of the route search unit 302 shown in FIG.

FIG. 9 is a process for determining reference date and time information shown in FIG.
It is a flowchart which shows the detail of 5204).

FIG. 10 is a flowchart illustrating details of a time regulation determination correction process (step S5205) illustrated in FIG. 8;

FIG. 11 is a functional block diagram showing a configuration of a time regulation corresponding search unit used in a car navigation system according to a third embodiment of the present invention.

FIG. 12 is a flowchart showing an operation of the route search unit 402 shown in FIG.

13 is a flowchart showing an operation of a reference date and time information determining unit 404 shown in FIG.

FIG. 14 is an explanatory diagram of a one-way search technique and a two-way search technique.

FIG. 15 is a flowchart showing details of a departure point side time regulation corresponding search process (step S5505) shown in FIG. 12;

16 is a flowchart showing details of a departure point side time regulation determination process (step S5706) shown in FIG.

FIG. 17 is a flowchart showing details of a destination side time regulation correspondence search process (step S5507) shown in FIG.

FIG. 18 is a flowchart showing details of a destination side time regulation determination process (step S5906) shown in FIG.

FIG. 19 is a diagram illustrating a route search unit 402 in the embodiment of FIG. 3;
FIG. 9 is an illustrative view for explaining an operation of a time regulation determining unit 405;

FIG. 20 is a functional block diagram illustrating a configuration of a time regulation corresponding search unit used in the car navigation system according to the fourth embodiment of the present invention.

FIG. 21 is a flowchart showing an operation of a search and activation unit 506 shown in FIG.

FIG. 22 is a functional block diagram illustrating a configuration of a time regulation corresponding search unit used in a car navigation system according to a fifth embodiment of the present invention.

FIG. 23 is an application range limited time restriction determination unit 6 shown in FIG. 22;
5 is a flowchart showing the operation of the second embodiment.

FIG. 24 is a block diagram showing a configuration of a conventional vehicle route guidance device.

FIG. 25 is a diagram for explaining an example of expressing a road network used in a conventional vehicle route guidance device.

[Explanation of symbols]

101: current position detection unit 102: current date and time acquisition unit 103: road network storage unit 104: input unit 105: time regulation corresponding search unit 106: guidance unit 201, 301, 401, 501, 601 ... search data storage unit 202, 302, 402, 502, 602 route search unit 203 time regulation reflection unit 304, 404, 504, 604 reference date and time information determination unit 305 time regulation determination correction unit 405, 505 time regulation determination unit 506 search start unit 605: Applicable range limited time regulation determination unit

Claims (17)

[Claims] 1. A method for selecting an optimal route between two arbitrary points on map data, wherein the map data includes at least node data and link data, and a scheduled travel time between the two points. A first step of determining a band, and for each node and each link on the map data,
A second step of acquiring time regulation information indicating the presence or absence of time regulation (traffic regulation whose content changes with time) and the content thereof; the scheduled travel time zone determined in the first step; A third step of determining whether or not each link and node existing between the two points is traversable, based on an overlapping relationship between the time regulation information acquired in the step and the regulation time zone; and the third step And a fourth step of searching for an optimal route between two traversable points that comply with time regulations based on the map data while referring to the determination result. 2. The route selection method according to claim 1, wherein the first step determines time information input by a user as a scheduled traveling time zone between the two points. 3. The route according to claim 2, wherein in the first step, a time zone divided for each certain time is displayed on a display, and the user is allowed to select an arbitrary time zone. Election method. 4. The first step includes: a fifth step of allowing a user to input a scheduled departure time; and a sixth step of calculating an estimated required time between the two points based on a linear distance between the two points. Calculating the scheduled travel time zone between the two points by adding the estimated required time calculated in the sixth step to the scheduled departure time input in the fifth step. The route selection method according to claim 1, comprising the steps of: 5. A method for selecting an optimum route between any two points on map data, wherein the map data includes at least node data and link data, and is based on at least one of the two points. A first step of selecting a point and determining a reference time at the reference point; a second step of calculating an estimated required time from the reference point to each node and each link on map data; The reference time determined in the step of
A third step of calculating an estimated arrival time to each node and each link on the map data based on the estimated required time calculated in the step of; and for each node and each link on the map data,
A fourth step of acquiring time regulation information indicating the presence or absence of time regulation (traffic regulation whose contents change with time) and the content thereof; and the estimated arrival time calculated in the third step is the fourth step. A fifth step of determining whether or not each link and node existing between the two points is traversable, based on whether or not it is included in the restricted time zone of the time regulation information obtained in the fifth step; A sixth step of searching for an optimal route between two traversable points that comply with time regulations based on the map data while referring to the determination result of the step. 6. The first step is to select at least one of two points selected as an arbitrary combination from a departure point, a destination, a transit point, and a current position as a reference point. The route selection method according to claim 5, characterized in that: 7. The route selection method according to claim 5, wherein in the first step, a current time is determined as the reference time. 8. The second step calculates an estimated required time from the reference point to each node and each link based on a linear distance from the reference point to each node and each link on the map data. The route selection method according to claim 5, wherein: 9. The second step calculates an estimated required time from the reference point to each node and each link based on a search result from the reference point to each node and each link on map data. 6. The method according to claim 5, wherein
Path selection method described in. 10. The first step comprises, when a point other than the departure point is selected as the reference point, calculating an estimated required time from the departure point to the reference point based on a linear distance from the departure point to the reference point. 6. The route selection method according to claim 5, wherein a reference time at a reference point is obtained by adding this to a scheduled departure time of the departure place. 11. The route selection method according to claim 5, wherein each time a predetermined timing arrives, the first to sixth steps are repeated with the current position as a new departure point. 12. The method according to claim 1, wherein, when a point other than the departure place is selected as a reference point, the first step calculates a reference time of the reference point from a search result obtained when the sixth step is executed last time. The route selection method according to claim 11, wherein 13. The method according to claim 1, wherein the first step selects a departure point as a reference point, and the second to fifth steps select only a node and a link existing within a predetermined range from the departure point.
2. The method according to claim 1, wherein each processing is executed.
2. The route selection method according to 1. 14. A seventh step of preliminary preliminary searching for a route between the two points without using the time regulation information, wherein the first step uses a point other than the departure point as a reference point. The route selection method according to claim 5, wherein, when selected, a reference time of a reference point is calculated from the preliminary search result of the seventh step. 15. The route selection method according to claim 5, wherein in the first step, time information input by a user is determined as a reference time at the reference point. 16. A system for selecting an optimal route between any two points on map data, comprising: map data storage means for storing map data including at least node data and link data; A travel time zone determining means for determining a scheduled travel time zone of, for each node and each link on the map data,
Time regulation information indicating the presence or absence of the time regulation (traffic regulation whose contents change with time) and the contents thereof are acquired, and the scheduled traveling time zone determined by the traveling time zone determining means and the regulation of the acquired time regulation information. Determining means for determining whether or not each link and node existing between the two points is passable based on an overlapping relationship with a time zone, and based on the map data while referring to the determination result of the determining means. And a route searching means for searching for an optimal route between two passable points in compliance with time regulations. 17. A method for selecting an optimum route between any two points on map data, comprising: map data storage means for storing map data including at least node data and link data; A reference time determining means for selecting at least one as a reference point and determining a reference time at the reference point; calculating an estimated required time from the reference point to each node and each link on the map data; Estimated arrival time calculation means for calculating an estimated arrival time to each node and each link on the map data based on the reference time determined by the determination means and the calculated estimated required time, For the nodes and each link,
Time regulation information indicating the presence or absence of time regulation (traffic regulation whose contents change with time) and the contents thereof are acquired, and the estimated arrival time calculated by the estimated time calculation means is the regulation time zone of the acquired time regulation information. Determining means for determining whether or not each link and node existing between the two points is traversable based on whether or not the information is included in the two points, based on the map data while referring to the determination result of the determining means And a route searching means for searching for an optimal route between two passable points in compliance with time regulations.