JPS61215922A - Route guiding device for vehicle - Google Patents

Abstract

PURPOSE:To decide whether the crossing of next passing intersection on a set route is of two-level or grade and performing various processes based on this by constituting the titled guide with an arithmetic part constituted with a microcomputer composed of mainly an arithmetic unit and a memory as a center. CONSTITUTION:The titled guide is constituted with the arithmetic part 11 constituted with the microcomputer composed mainly of the arithmetic unit 12 and the memory 13 as a center. A present place detecting circuit 16 detecting the present place based on each output of a driving distance sensor 14 and a direction sensor 15, a setter 17 for inputting the present place and the destination, a storage device 18 for the map data and a return switch 21 are connected with the input side of the arithmetic part 11. Further, a display device 20 is connected with the output side of the arithmetic part 11 via a display storage device 19 storing a display information signal for a time. In this manner, it is decided whether the crossing of the next passing intersection on the set route is of two-level or grade and various processes can be performed according to an intersection classification.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a vehicle route guidance device that guides a vehicle to a destination while displaying a route.

(Prior art and its problems) In this type of vehicle route guidance device, for example, as shown in Japanese Patent Laid-Open No. 58-150814, a guidance route to a destination is determined based on the coordinates of a major intersection to be passed. is set and registered, and each time an approach to each registered intersection is detected,
The route at the intersection is displayed as an image to guide the vehicle to its destination. As a result, accurate guidance was not provided at grade-separated intersections.

(Purpose of the invention) This invention was made in view of the above problems, and its purpose is to determine whether the next intersection on a set route is a grade-separated intersection or an at-grade intersection, and based on this, to An object of the present invention is to provide a route guidance device for a vehicle that can perform various types of processing.

(Structure of the Invention) In order to achieve the above object, the present invention includes a first storage means 1. as shown in FIG. A second storage means 22 passage confirmation means 31 determination means 4 are provided.

That is, the first storage means 1 stores each specific intersection and the intersection mode information of the intersection in association with each other.

The second storage means 2 stores each specific intersection on the planned travel route and the order in which the intersection is passed in association with each other.

The passage confirmation means 3 confirms that the vehicle has passed through each specific intersection on the planned travel route.

The determination means 4 refers to the second storage means 2 to find the specific intersection to be passed next each time the passage is confirmed, and based on this, refers to the corresponding intersection mode information in the first storage means. , determines whether the specific intersection to be passed next is a grade intersection or a grade intersection.

(Description of Embodiments) Hereinafter, embodiments of the present invention will be described in detail based on the drawings (the inventor of the present application previously filed Japanese Patent Application No. 59-220481-220484 for determining intersections. ).

FIG. 2 is a block diagram showing the configuration of a route guidance device for a vehicle according to an embodiment of the present invention.

As shown in the figure, this route guidance device is mainly composed of a calculation section 11 having a microcomputer configuration, which mainly includes a calculation device 12 and a memory 13. 14 and the current position detection circuit 16 for detecting the current position based on the outputs of the direction sensor 15. Setting device 17 for inputting current location and destination. Map data storage device 18. A return switch 21 is connected.

A display device 20 for displaying images is connected to the output side of the calculation unit 11 via a display storage device 19 that temporarily stores display information signals.
(CRT, etc.) is connected.

FIG. 3 shows an example of the contents of the road map data stored in the map data recording device 18 shown in FIG. , Chugoku, Shikoku, Hikari, and other regional maps are roughly divided into multiple regions, and route map information for each region is divided from higher classifications such as national highways to prefectural roads.

The route map data is divided into subdivisions such as city roads in stages.

The storage area in the storage device 18 is divided into a plurality of blocks, and each block area corresponds to the contents of the map 30@each section 31 divided vertically and horizontally.

Furthermore, each block is divided into a plurality of intersection areas, and each intersection area is roughly divided into an area specific to the intersection and an adjacent intersection area.

The unique area stores intersection type information, XY coordinate axis information, and intersection name information, and each adjacent intersection area stores intersection number information, intermediate road number information, direction information, and distance information.

Note that the intersection type information is, for example, "1" in the case of a grade-separated intersection.
, the plane intersection edge is memorized as "C)+t".

Next, the operation of the vehicle route guidance system according to this embodiment will be explained using the flowchart shown in FIG.

The flowchart shown in FIG. 4 shows the processing flow (steps 101 to 107) regarding the setting of the driving route and initial guidance to the starting intersection, as well as the process flow related to the route guidance along the set driving route, the display of the driving trajectory, and the correction of the current position. It is roughly divided into processing flows (steps 201 to 400).

When the process for setting a travel route is started, first, a departure point and a destination are set based on the operation of the setting device 17 (step 101'), then a departure intersection and a destination intersection are selected (step 102), and then The shortest route connecting the selected intersections is automatically searched and the intersections passed through are stored in order (step 103).

Thereafter, until the vehicle reaches the starting intersection and a start switch (not shown) provided in the setting device 17 is operated (step 107), the direction of the starting intersection is displayed as a predetermined display process after setting the starting intersection. When the vehicle approaches the departure intersection (within 300 m), processing (steps 104 to 107) is executed to indicate the course guidance direction relative to the traveling direction of the host vehicle using the intersection figure.

In this state, if the start switch is operated (
Step 107 (Yes), the process proceeds to step (201) and subsequent steps, and the vehicle is guided along the set route.

That is, in step (201>) the coordinates (
XS, YS) are the calculation initial values (Xo, Yo
) is set as

After setting, each time an interrupt occurs every time a certain traveling distance △D is generated by the detection output of the current position detection circuit 16, the coordinates in the X direction and the coordinate in the Y direction with respect to the previous traveling point are calculated one after another, and the calculated coordinates are The position is provided to the buffer 1 memory and plotted (step 202, 400>).

Except when the interruption is due to an interruption, the intersection number two places ahead on the guidance route is read based on the most recently passed intersection, and the section distance D to the next intersection and the position coordinates of the next intersection are also read from the map data storage device 18. (XN, YN), read the entrance and exit directions to the next intersection (step 203
, 204).

Next, the reset direction at the next intersection, that is, the intermediate direction between the entrance direction and the exit direction, verification dates A and B, grade crossing verification date, and error zone are calculated (step 205).

In other words, step (
2051) to (2055>) are executed.

Based on such calculation results, the travel trajectory plotted on the map and buffer memory is displayed on the storage device 1.
9 on the display device 20 (step 206).
.

Here, test dates A and B are test regions for plane intersections. Test date A is used when going straight through an intersection, and test date B is used when turning left or right at an intersection, an example of which is shown in FIG.

That is, as shown in FIG. 6, there is a first intersection 62 at a distance 1i1D from the starting intersection 61, and a second intersection 63 is approximately a distance D2 from the first intersection 62. Suppose there is.

In this case, when going straight through the first intersection 62, the first
The test date A64 determined with the intersection 62 as the center will be used, and when turning left or right at the same first intersection 62, the test date 865, which is concentric, will be used.

Also, after going straight through the first intersection 62, the second intersection 6
When turning left at intersection 63, test date B66, which is determined with intersection 63 as the center, will be used.

Furthermore, in order to detect a case where the test dates A and B deviate from each other, an error zone 67 is defined as shown in the figure.

However, radius of inspection date A = distance between intersections [) x predetermined coefficient α, radius of inspection date B = distance between intersections [) x predetermined coefficient β, where β is the distance between the direction sensor and the mileage sensor. The maximum error ratio is determined by the maximum error ratio, and α is approximately 1/3 of β.

Further, the three-dimensional cross verification date is a range whose radius is roughly expanded by L from the verification date B. The appropriate distance is about 300 to 500 m.

If the next intersection is the destination intersection, a comment such as "Next is the destination" is displayed on the display device (steps 207 and 2071).

If it is not the target intersection, the grade crossing flag (intersection type information) in the map data storage device 18 is set to “1 pa” or “0”.
11, it is determined whether the next intersection is an overpass (step 208).

If the determination result is "'1" and it is a grade intersection, the process proceeds to the process shown in the flowchart of FIG. 7, which is the main part of the present invention, and if it is a grade intersection, the process proceeds to steps (209> and subsequent steps).

In the case of a three-dimensional intersection, step 2081 is affirmative when entering the three-dimensional intersection verification day (wider than the plane intersection verification).
For example, as shown in the display example of FIG. 8, the display is switched to a display exclusively for grade crossings, that is, an image display showing the shape of the intersection, the direction of travel, and caution instructions, which is different from the display for at-grade intersections (step 2082>).

This allows the driver to know that the next intersection is a grade-separated intersection and the final direction of travel earlier than when the driver is at a grade intersection.

In addition, if the current position does not enter the three-dimensional intersection verification circle (step 2081 is negative), it is determined whether the current position does not come out of the error zone or whether the clear key has been pressed (steps 2083 and 2084). >, if it appears (step 2083 Portrait), proceed to the step (222
), if the clear key is pressed (Yes at step 2084), the process returns to step (101).

After switching to the grade-separated intersection display shown in Fig. 8, segments are deleted for each distance until the difference between the intersection section distance and the cumulative travel distance fΔD is 100 m or more (No in step 2085), just like at-grade intersections. (Step 20)
86>, within 100m (step 20851)
setting) flashing the arrow in the direction of travel (step 2087>
. Furthermore, when the above difference becomes O, the traveling trajectory (current position)
is not corrected (step 2088 affirmative), and the cumulative travel distance fΔD is set to O (step 2089>, the fourth
Proceed to step (217> in the figure) and guide the driver to the next intersection.

Note that the distance between intersections when an intersection is included is the distance from center to center of the intersection.

If the judgment result is ○:゛ and it is a grade intersection, it is determined whether the next intersection is a straight-ahead crossing (step 209).If the own vehicle is going straight through the next intersection, the own vehicle is After resetting the flag FLG, which detects entering the intersection, to "'O" (step 210), the intersection when going straight until there is no difference between the intersection section distance and the cumulative travel distance ΔD based on the entry on inspection date A. Search processing (steps 211 to 214) and intersection passage processing (step 215)
) to correct the current position (X, Y) and at the same time clear the cumulative distance to O (step 216). Thereafter, the next intersection is replaced as the passing intersection and the guidance intersection is advanced by one (step 217), and step (203)
Return to

In addition, if the own vehicle is not within the verification circle A (step 211 negative), and if the vehicle has entered the verification date A (step 218 "1"), the correction process when traveling straight is performed. (steps 218 to 220>, and returns to step (203>) via step (217).

If you have never entered test date A (step 218'
'o'>, it is checked whether the own vehicle exists within the error zone, and if it is within the error zone (step 2
21 portrait), and displays a comment as "route error" on the display device 20 (step 222).

If it is outside the error zone and the clear key (not shown) provided in the setting device 17 is on, it means that there is some kind of mistake and vehicle guidance cannot be executed, so return to step (101). Start over (step 2)
03). Also, if that clear key remains off,
Returning to step (210), the operation when traveling straight is repeated.

On the other hand, if the own vehicle is turning at the next intersection (step 209, negative), when the own vehicle enters within inspection date B (step 301, negative), the next intersection is reached with the passed intersection in front. The shape of is displayed (step 302).

Then, based on the test date B, the intersection search process (steps 303 to 309) and the intersection passing process (step 310) are performed to correct the current position (X, Y), and at the same time, the cumulative distance fΔD is After clearing (step 311), step (216> and then step (20)
Return to 3>.

If the own vehicle has not entered within inspection date B (step 301, negative), check whether it is within the error zone (step 313), and if it is within the error zone (step 313, affirmative), the display device 20, a "route error" image is displayed (step 222>a) If it is outside the error zone (step 313 negative), if the clear key is on (step 314 portrait),
Return to step (101). Also, if the clear key remains off (step 3] 4 negative), step (
Returning to step 301), the bending operation described above is repeated.

Also, during the intersection search process when making a turn (step 30
3 to 309), if the test date falls outside of test date B (step 312), a "route error" image is displayed on the display device 20 (step 222). A means for distinguishing an intersection is provided in the intersection data storage means, and when the direction of travel is displayed, it is displayed as a grade-separated intersection, and the display is displayed earlier (in front) than in the case of an at-grade intersection, and By allowing the driver not to make any corrections to the driving trajectory (current position), the driver can be made aware early on that the next intersection is a grade-separated intersection. There is no need to take a wrong direction or get confused, and there is no need to erroneously correct the travel trajectory (current position), thereby improving the efficiency of the device.

(Effects of the Invention) As is clear from the above description of the embodiments, the vehicle route guidance device of the present invention determines whether the next intersection on the set route is an overpass intersection or an at-grade intersection, and Based on this, various processes can be performed depending on the intersection type.

[Brief explanation of the drawing]

Fig. 1 is a complaint correspondence diagram, Fig. 2 is a block diagram showing the configuration of a vehicle route guidance device according to an embodiment of the present invention, and Fig. 3 is the content of route map data stored in the map data storage device. A diagram showing an example, FIG. 4 is a processing flowchart of the vehicle route guidance device, FIG. FIG. 7 is a flowchart of the traveling trajectory correction process in the three-dimensional intersection verification area, and FIG. 8 is a diagram showing the display status of the display device. 1...First storage means 2...Second storage means 3...Passage confirmation means 4...Judgment means Fig. 2 Fig. 6 Fig. 7 -Sef)〉g

Claims (1)

[Claims] (1) A first storage means that stores each specific intersection and intersection mode information of that intersection in association with each other; A second storage means that stores each specific intersection on the planned travel route and the order of passing through that intersection in association with each other; a storage means; a passage confirmation means for confirming that each specific intersection on the planned travel route has been passed; each time each passage confirmation, the second storage means is referred to to determine the next specific intersection to be passed through. , and determination means for determining whether the specific intersection to be passed next is a grade intersection or a grade intersection by referring to the corresponding intersection mode information in the first storage means based on the information. Vehicle route guidance device.