JPH10281787A - Method for guiding vehicle of navigation apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a guidance method in which the route of a vehicle is guided without inputting a destination. SOLUTION: Image data on a road sign and the correspondence of a crossing constituent link to a destination direction as well as the absolute longitude and the absolute latitude of an entrance point in every direction are contained in a map database. When a vehicle comes close to crossings 4a to 4c in which road signs 3a to 3c are installed, the road signs are displayed on a display screen. When the vehicle is passed through the crossings, the destination direction of the vehicle is discriminated on the basis of data on the correspondence of the crossing constituent link to the destination direction. When the vehicle advances to the crossings in the same direction as the destination direction up to now, an entrance point in the direction is used as a destination. When the vehicle advances to a new different direction, an entrance point in the new direction is used as a destination, and a guidance route up to every direction is found so as to be displayed on a map.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle guidance method for a navigation device, and more particularly to a vehicle guidance method for a navigation device capable of guiding a vehicle without setting a destination.

[0002]

2. Description of the Related Art A navigation device reads map data around a vehicle position from a CD-ROM, draws a map on a display screen, draws a vehicle position mark at a predetermined position on the screen, and scrolls the map according to the movement of the vehicle. The map around the vehicle position is always visible at a glance. Such a navigation device has a route guidance function of searching for a guidance route from a departure place to a destination, displaying the guidance route on a map, and performing intersection guidance (enlarged intersection, display of traveling direction). When a departure point and a destination are input, the guidance route control unit of the navigation device automatically determines an optimal guidance route and continuously stores nodes (latitude and longitude) constituting the guidance route in the guidance route memory. At the time of actual traveling, a search is made for a guidance route included in the map display area of the screen from the node sequence stored in the guidance route memory, and the guidance route is displayed so as to be distinguishable from other roads. Also, when a vehicle approaches an intersection, an intersection guide map (an enlarged view of the intersection and an arrow indicating the traveling direction at the intersection)
Is displayed, so that it is possible to know in which direction to proceed at the intersection.

[0003]

To perform route guidance with a conventional navigation device, a destination must be input. However, in order to input a destination, it is necessary to operate a remote controller to display a map including the destination on the display screen, enter a destination setting mode, and position the cursor on the destination. Such an operation is troublesome and troublesome for a user unfamiliar with the machine, and each time the user has to input the destination while looking at the manual. Therefore, there is a demand for a simple route guidance function that does not require a destination to be input. In view of the above, an object of the present invention is to provide a vehicle guidance method of a navigation device capable of performing vehicle guidance without inputting a destination.

[0004]

According to the present invention, according to the present invention, image data of a road sign installed in front of an intersection, correspondence between an intersection configuration link and a destination area, an entry point of each area are stored in a map database. Means for including absolute latitude and longitude, means for displaying a road sign on a display screen using the image data when the vehicle approaches an intersection where a road sign is installed, and means for configuring the intersection when the vehicle passes through the intersection Means for identifying the destination direction of the vehicle from the correspondence between the link and the destination direction, if the vehicle has proceeded through the intersection in the same direction as the previous destination direction, the destination point is the entrance point of that direction, and to a different new direction When progressing,
The present invention is achieved by a navigation device including means for setting the entrance point in the new area as a destination, and means for obtaining a guidance route to the destination and displaying it on a map. Further, according to the present invention, when a road sign is displayed on a display screen, means for guiding by voice the direction name and direction of a direction different from the previous guide direction, the same sign as the actual road sign Is displayed on the display screen, and the vehicle mark is moved on the road of the sign in accordance with the traveling of the vehicle.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION

(A) Outline of the present invention FIG. 1 is an explanatory view of a vehicle traveling route for explaining an outline of the present invention, wherein 1 is a departure point, 2 is a traveling route of a vehicle, and 3a to 3a.
c is a road sign, and 4a to 4c are intersections with road signs. FIG. 2 is an explanatory view of a route guidance screen, in which-is a display example when the vehicle is traveling at the points-in Fig. 1. When the vehicle starts running from the departure point 1, a vehicle mark CM and a map MP around the vehicle are displayed on the display screen (FIG. 2). When the vehicle travels and approaches the intersection 4a where the road sign 3a is installed, the road sign is displayed on the display screen (FIG. 2).
If the vehicle further travels and passes through the intersection 4a, the destination area (A direction) is identified from the sign data in the map database, the area is regarded as the destination area, and "Guidance to the A direction" is displayed in the upper display area of the map around the vehicle. "I will do it" (Fig. 2). Further, the guidance route GP is searched with the immediately preceding intersection 4a as the departure point and the entrance point (intersection 4c) in the direction A as the destination, and the guidance route GP is displayed on the map so as to be identifiable ( 2).

When the vehicle further travels and approaches the intersection 4b where the next road sign 3b is located, the road sign is displayed on the display screen (FIG. 2) and a direction different from the guidance direction (direction A) (direction D). The direction name and direction of (3) are guided by voice. For example, "If you turn right at the next intersection,
You can go to the direction D. " Next, when the vehicle travels and passes through the intersection 4b, the destination area (A direction) is identified from the sign data, and it is determined whether or not the destination area matches the destination area. If they coincide with each other, the direction is regarded as the destination, and the intersection 4b immediately before is the departure point, and the entrance point (intersection 4d) in the direction A, which is the destination, is the destination, and the guidance route G is used.
P 'is searched, and the guidance route GP' is displayed on the map so that it can be identified (FIG. 2).

When the vehicle further travels and approaches the intersection 4c where the next road sign 3c is located, the road sign is displayed on the display screen (FIG. 2) and a direction different from the guidance direction (direction A) (direction E). The direction name and direction of (3) are guided by voice. For example, "If you turn right at the next intersection,
You can go in the direction of E. " When the vehicle travels and passes through the intersection 4c, the destination area (E direction) is identified from the sign data, and it is determined whether the destination area matches the destination area. Since they do not match, the area E is regarded as the destination area, and the words "Guide to the area E" are displayed in the upper display area of the map around the vehicle (FIG. 2). Next, the last intersection 4c
Is set as the departure point and the entrance point (intersection 4e) in the direction E as the destination is searched for a guidance route GP '', and the guidance route GP '' is identifiably displayed on the map. Thereafter, the above control is repeated until the vehicle reaches the destination.

[0008] In summary, the map database includes image data of road signs installed in front of the intersection, correspondence between the link constituting the intersection and the destination area, and the absolute longitude and latitude of the entrance point in each area as the sign data.・ When a vehicle approaches an intersection with a road sign, a road sign is displayed on the display screen, and the name and direction of the direction different from the previous guidance direction (destination direction) are guided by voice, When the vehicle passes through the intersection, the destination area is identified from the intersection data. ・ The entry point of the destination area is determined from the intersection data as the destination. ・ The guidance route to the destination is calculated and displayed on the map. .

(B) Navigation device (a) Overall configuration FIG. 3 is an overall configuration diagram of a navigation device according to the present invention. 1 is a navigation control device, 2 is a remote control, 3 is a display device, 4 is a CD-RO for storing map information.
M and 6 are GPS receivers, 7 is a multi-beam antenna, 8
Reference numeral 9 denotes a self-contained navigation sensor, and reference numeral 9 denotes an audio unit that performs intersection guidance by voice. The self-contained navigation sensor 8 includes a relative azimuth sensor (angle sensor) 8a such as a vibrating gyroscope that detects a vehicle rotation angle, and a distance sensor 8b that generates one pulse for each predetermined traveling distance.

(B) Map Information The map database stored in the CD-ROM 4 includes a road layer, a background layer for displaying objects on a map, a character layer for displaying characters such as city names, and an IIS. (Integrated Information Servi
ce) It is composed of an IIS layer for storing information. The road layer includes road link data R as shown in FIG.
LDT, node data NDDT, intersection data CRD
T, and the tag data SGDT. The road link data RLDT gives attribute information of the corresponding road. The number of all nodes on the road link, the number of each node constituting the road, the road number (road name), the type of road (national road, highway) Roads, prefectural roads, and others).

The intersection data CRDT is, for each intersection on the map, a set of nodes at the other end (intersection configuration nodes) of the link intersection links connected to the intersection.
The node data NDDT is a list of all nodes constituting a road, and includes location information (longitude and latitude) for each node, an intersection identification flag indicating whether or not the node is an intersection, and a node indicating an intersection. If it is, it indicates intersection data, and if it is not an intersection, it is composed of a pointer or the like indicating the road to which the node belongs.

In the intersection data CRDT, in addition to the intersection configuration node data, a sign flag indicating whether or not there is a road sign at the intersection, and a sign pointer indicating a sign data storage position when there is a sign are stored. Have been. The sign data SGDT is the same sign picture data as the actual road sign, the number of directions, the direction data for the number of directions, the correspondence between the directions and the intersection configuration links (exit links), the absolute longitude and latitude of the entrance points of the directions, Name ・ Speech reading in the direction The direction of approach (correspondence of the rotation angle of the approach link and the sign picture) is provided.

(C) Navigation control device In the navigation control device 1, reference numeral 11 denotes a map reading control unit, which is used when a map movement operation or a map selection operation is performed with a joystick key or a map reduction / enlargement key on a remote controller. A focus position (coordinate and latitude position at the center of the screen) is calculated, and predetermined map information is read from the CD-ROM 4 based on the vehicle position or the focus position. Reference numeral 12 denotes a map buffer for storing map information read from the CD-ROM. A plurality of map information (a plurality of units) around the own vehicle position or the focus position, for example, map information of 3 × 3 units is read out to the map buffer so that the map can be scrolled. 13 is a map drawing unit which generates a map image using map information stored in a map buffer, 14 is a VRAM for storing the map image, and 15 is based on a screen center position (own vehicle position, focus position). The read control unit changes the position of one screen cut out from the VRAM 14 and scrolls and displays the map according to the movement of the vehicle position or the focus movement.

Reference numeral 16 denotes an intersection guide unit. In a normal guide route mode in which a destination is input and a route is guided,
Guidance at the approaching intersection is provided by an enlarged view of the intersection and voice, and in the sign route guidance mode using the sign,
Guidance at intersections is provided by road signs and voice. That is, when the vehicle approaches within a predetermined distance from the intersection during normal route guidance, the intersection guide unit 16 displays the intersection guide map (enlarged intersection, destination, traveling direction arrow) on the display screen and the traveling direction. By voice.
When the vehicle approaches an intersection having a sign at the time of guiding the sign route, the intersection guide unit 16 displays the sign on the display screen, and gives a voice of the name and direction of a direction different from the current destination.

Reference numeral 17 denotes a remote control unit which receives a signal corresponding to a remote control operation and instructs each unit, 18 denotes a GPS data storage unit which stores GPS data from a GPS receiver, 1
Reference numeral 9 denotes a vehicle running state calculation unit that calculates the own vehicle position (estimated vehicle position) and the vehicle direction based on the output of the self-contained navigation sensor.
Denotes a map matching control unit, which performs a map matching process by a projection method for each predetermined traveling distance (for example, 10 m) using the map information read from the map buffer 12, the estimated vehicle position, and the vehicle direction, and executes the vehicle matching position. Is corrected on the traveling road.

A guidance route control unit 21 calculates a guidance route from an input departure point to a destination in a normal guidance route mode, and sets a target route entry point in a sign route guidance mode. The route is calculated as a ground. A guidance route memory 22 stores a guidance route, and a guidance route drawing unit 23. The guidance route memory 22 stores the position data of all nodes on the guidance route calculated by the guidance route control unit 21 from the starting point to the destination. During traveling, the guide route drawing unit 23 reads out guide route information (node sequence) from the guide route memory 22 and draws it on a map. Reference numeral 24 denotes an operation screen generating unit that displays various menu screens (operation screens), 25 denotes a mark generating unit that outputs various marks such as a vehicle position mark and a cursor (focus), and 26 denotes an image combining unit.

(C) Sign Route Guidance FIGS. 5 and 6 are flow charts of the route guidance control using the sign of the present invention. By turning on the power to the navigation device, a map around the position of the vehicle is displayed on the display screen (step 101, see FIG. 2). Next, it is checked from the remote control unit 2 whether or not the sign route guidance mode has been set (step 102). If not, the display of the map around the vehicle position is continued. Note that the setting of the sign route guidance mode is not always necessary, and the route guidance using the sign can be always performed. .
If the sign route guidance mode is set, it is checked that a car has entered within the set distance from the intersection having the sign (sign intersection) (step 103). If the vehicle is not within the set distance from the sign intersection, a map around the vehicle position is displayed on the display screen in accordance with the traveling of the vehicle (step 104).

If the vehicle is within a set distance from the sign intersection, the intersection guide unit 16 outputs the sign data SGD of the intersection.
The sign is displayed on the display screen using T, the approach direction to the intersection (step 105, see FIG. 2). Next, it is checked whether the car has passed the sign intersection (step 106). If not, the sign display is continued. If the car passes through the signposted intersection, the destination area is regarded as the destination area, and the guidance of the automobile to the area is displayed on the surrounding map by letters (step 107, see FIG. 2). That is, if the vehicle passes through the sign intersection, the intersection configuration link where the vehicle exists is obtained, and the sign data SGD
The destination area is identified by referring to the intersection configuration link of T and the corresponding data of the area, the area is regarded as the destination area, and, for example, "Guiding to the area A" is displayed in the upper display area of the map around the vehicle.

Next, the guidance route control unit 21 obtains the absolute longitude and latitude of the entrance point on the destination from the sign data SGDT (step 108).
A guidance route is searched with the entrance point of the destination as the destination, and the guidance route is displayed on the map so as to be identifiable (step 109, see FIG. 2). It is checked whether the vehicle further travels and the vehicle is within a set distance from the next sign intersection (step 110). If the car is not within the set distance from the next sign intersection, a map around the position of the car is displayed on the display screen according to the running of the car (step 111). Next, it is checked whether the vehicle has arrived at the destination (step 112). If YES, the process ends. If NO, the process returns to step 110. Note that, for example, ignition off is regarded as arrival at the destination.

If the car is within the set distance from the next sign intersection, the intersection guide unit 16 outputs the sign data S for the intersection.
The sign is displayed on the display screen based on the GDT and the approach direction to the intersection (step 113, see FIG. 2), and the direction and direction of the direction different from the conventional guidance direction are guided by voice (step 114). ). For example, a voice guidance is given that "If you turn right at the next intersection, you can go to the direction D." Next, it is checked whether the vehicle has passed the sign intersection (step 115), and if not, the sign display is continued (step 116).

When a car passes through a sign intersection, an intersection-constituting link where the vehicle exists is obtained, and sign data SGDT
The destination area is further identified, and it is determined whether the destination area matches the destination area up to now (step 117). If they match, step 1
Steps 08 and thereafter are repeated. That is, the direction is regarded as the destination direction, a guidance route is searched with the intersection just before the departure point and the entrance point of the destination direction as the destination, and the guidance route is displayed on the map so as to be identifiable (steps 108 to 109). , FIG. 2). Thereafter, the processing of step 110 and thereafter is repeated. On the other hand, if the result of the determination in step 117 is that they do not match, the processing from step 107 onward is repeated.
That is, the new destination area is regarded as the destination area, and information indicating that the vehicle is guided to the new area is displayed in the upper display area of the map around the vehicle. For example, characters "Guide to E" are displayed (step 107, see FIG. 2). Next, the guidance route control unit 21 obtains the absolute longitude and latitude of the entrance point on the destination from the sign data, searches for the guidance route with the departure point immediately before the intersection and the destination point on the entrance point of the destination, and finds the guidance route. Are displayed on the map so that they can be identified (steps 108 to 109). Thereafter, the processing of step 110 and thereafter is repeated.

As described above, route guidance can be performed without inputting a destination. In addition, in the above-described sign route guidance, since the direction where the driver is heading at the intersection is guided as the destination direction, the same route guidance as the sign reference driving at the time of actual driving can be performed, and the intersection may be misidentified. And a very easy route guidance can be provided. In addition, when the vehicle passes through the sign intersection, the destination is determined. Therefore, in the state where the destination area has been determined, if the user requests the sign intersection list display by operating the remote control unit, a list of all the signs existing up to the target area entrance point can be displayed on the display screen as shown in FIG. it can. FIG. 7 is an example of a sign list display in the case where a sign intersection list display is requested between the intersections 4a and 4b in FIG. According to the sign list display, it is possible to grasp the sign from the near side and prepare for driving as compared with a case where the sign is grasped with the naked eye, and it is possible to perform route guidance with a sense of security.

(D) Sign display The enlarged intersection view displayed in the normal route guidance is drawn on the basis of the map data, but is close to the actual shape but different from the deformed sign shape. For this reason, when a sign intersection is present at a short distance, the sign cannot be referred to at the time of associating the intersection drawn on the display screen with the actual intersection, and the sign may be erroneously recognized.
Therefore, the present invention displays an enlarged view of the intersection in the same shape as the sign as shown in FIG. 8, and allows the vehicle mark CM to move on the sign road link LK 'according to the traveling of the vehicle. 9A and 9B are explanatory diagrams of the actual intersection shape and the sign shape. FIG. 9A shows the actual intersection shape, and FIG. 9B shows the deformed sign shape. (C) is an explanatory view of the offset coordinate value of the sign shape, in which the intersection R of the sign is set to the reference point (0,0).
Indicates the offset coordinates on the screen from the reference point R to the adjacent points A to E on the sign. The sign in FIG. 9B can be easily displayed using the sign picture data included in the sign data SGDT. Figure 9 shows the position of the CM of the vehicle.
It can be determined by using the offset coordinate value of (c). That is, the vehicle mark CM can be moved on the marked road link according to the traveling of the vehicle.

FIG. 10 is an explanatory diagram of a method for determining the position of the vehicle mark CM on the sign. As shown in FIG.
Proceed on the link LK of (m), and d (m) from the end point Ps
Suppose you run. The distance x of the vehicle mark CM from the lowermost point of the sign link LK 'at this time is an offset coordinate value.
Using (0,5), it can be obtained by the following equation: L: d = 5: xx = 5d / L. For example, if the car is 50
Assuming that the vehicle travels 10 (m) from the end point Ps on the A link of (m), x = 1, and as shown in FIG. 10B, the distance x = 1 from the lowermost point of the link LK ′. The vehicle mark CM is displayed such that the tip comes to the position. In this way, even if the sign is deformed, the vehicle mark CM can be correctly moved and displayed on the sign road link according to the traveling of the vehicle.

In this way, the same picture as the actual sign on the road can be displayed as an enlarged view of the intersection, and the vehicle can be marked and the car can be correctly moved on the sign road link according to the traveling of the vehicle. it can. As a result, it is possible to correctly associate the intersection displayed on the display screen with the actual intersection, even if the intersection is a complicated intersection or a plurality of intersections are close to each other. As described above, the present invention has been described with reference to the embodiments. However, the present invention can be variously modified in accordance with the gist of the present invention described in the claims, and the present invention does not exclude these.

[0026]

As described above, according to the present invention, since the route guidance of the vehicle can be performed without inputting the destination, even a person unfamiliar with the machine can easily use the route guidance function. it can. Further, according to the present invention, since the route guidance is performed with the direction toward the vehicle at the intersection as the destination direction, the same route guidance as the sign reference driving at the time of actual driving can be performed, and the intersection is not mistakenly recognized. , Very easy-to-understand route guidance can be performed. According to the present invention, when a road sign is displayed on the display screen, the direction name and direction of a direction different from the conventional guidance direction are provided by voice, so that the direction is a new destination direction. In this case, it is possible to draw the driver's attention and guide the driver to the area without error.

According to the present invention, the same picture as the actual sign on the road is displayed as an enlarged view of the intersection, and the vehicle is marked so as to move correctly on the sign road link according to the traveling of the vehicle. Therefore, it is possible to correctly associate the intersection displayed on the display screen with the actual intersection, even if the intersection is a complicated intersection or a plurality of intersections are close to each other.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a vehicle traveling route.

FIG. 2 is an explanatory diagram of a route guidance screen.

FIG. 3 is a configuration diagram of a navigation device.

FIG. 4 is an explanatory diagram showing a configuration of road data in map data.

FIG. 5 is a process (part 1) of sign route guidance.

FIG. 6 is a process (part 2) of sign route guidance.

FIG. 7 is a display example of a sign list.

FIG. 8 is an example of an enlarged view of an intersection.

FIG. 9 is an explanatory diagram of an actual intersection shape and a sign shape.

FIG. 10 is an explanatory diagram of determining a display position of a vehicle mark.

[Explanation of symbols]

 1. Departure point 2. Vehicle traveling route 3a-3d ... Road sign 4a-4d ... Intersection with road sign

Claims (3)

[Claims] 1. A vehicle guidance method for a navigation device for guiding a vehicle to a destination along a guidance route, comprising: an image data of a road sign installed in front of an intersection in a map database; When the vehicle approaches the intersection where the road sign is installed,
A road sign is displayed on a display screen using the image data, and when a vehicle passes through an intersection, a destination area is identified based on a correspondence between the intersection configuration link and the destination area, and the vehicle is connected to the intersection with the previous destination area. When proceeding to the same side, the entrance point of the direction is set as the destination, and when proceeding to a different new direction, the entry point of the new direction is set as the destination, and a guidance route to the destination is determined and a map is obtained. A vehicle guidance method for a navigation device, wherein a vehicle is guided by being displayed above. 2. The method according to claim 1, wherein when the road sign is displayed on the display screen, the direction and direction of the direction different from the previous guide direction are guided by voice. . 3. The vehicle guidance according to claim 1, wherein the same sign as the actual road sign is displayed on the display screen, and the vehicle mark is moved on the road of the sign according to the running of the vehicle. Method.