JPS61217900A - Course guidance unit for vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

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) Conventionally, in this type of vehicle route guidance device, when guiding a vehicle to a destination, it is difficult to determine whether the current position displayed in the image deviates from the actual current position. In order to avoid this, for example, as shown in Japanese Unexamined Patent Publication No. 57-3199, the distance traveled is reset at each intersection to minimize the error in the traveled distance, thereby making it possible to accurately determine the current location of the vehicle. I was trying to detect it.

By the way, when making a turn at an intersection, the direction of the vehicle is to enter the intersection (hereinafter referred to as the "entering direction") or exit the intersection (
(hereinafter referred to as F direction) and directions intermediate thereto (LX bottom,
It is possible to estimate passing through a specific intersection based on this series of angle changes.

Therefore, the present applicant first determined that when there is a series of angle changes peculiar to the intersection within a certain range centered on the intersection being passed, the intermediate direction and the traveling direction match, and the Application was filed for a route guidance device for vehicles that makes judgments and corrects travel trajectories (unpublished patent application 1982-
220481-220484).

When determining whether an intersection has passed and correcting the travel trajectory in this way, a tolerance range is provided in the intermediate direction in order to absorb errors in the detection value of the orientation sensor and unit distance traveling data, which may prevent inaccurate intersection determination. Sometimes it happened.

However, the difference between the direction of entry and exit from the intersection is small (
The angle of the intersecting roads is shallow), in other words, the Y is narrow in width.
At intersections, etc., the allowable range of the intermediate direction and Y
The width of the intersection becomes almost equal. For this reason, as soon as a vehicle enters a certain range around an intersection and the direction of entry is detected, an intermediate direction will also be detected, causing the driving trajectory to be corrected to be closer than it actually is. There was a problem.

(Object of the Invention) This invention was made in view of the above-mentioned problems, and its purpose is to accurately correct the travel trajectory at an intersection even if the difference between the entering direction and the exit direction at the intersection is small. An object of the present invention is to provide a route guidance device for a vehicle that can perform the following operations.

(Structure of the Invention) In order to achieve the above-mentioned object, the present invention has a traveling direction detecting means 1. Unit distance travel detection means 2
．． Traveling position detecting means 31 determining means 4, first traveling position correcting means 5. A second traveling position correction means 6 is provided.

However, the traveling direction detecting means detects the traveling direction of the vehicle.

The unit distance traveling detection means 2 detects the unit distance traveling of the vehicle.

The traveling position detecting means 3 detects the traveling position by vector-integrating the unit vector determined by the detected traveling direction value every time the unit distance traveling is detected.

The determining means 4 determines whether the angle formed by the entrance direction and exit direction of the specific intersection to be passed next on the planned travel route is greater or less than a predetermined lower limit value.

The first traveling position correcting means 5 adjusts the traveling direction detection value to the detected traveling direction at the time of turning at the intersection in a state where it is estimated that the vehicle is traveling near the intersection based on the detected traveling position, on the condition that it is determined to be large. Based on the occurrence of a specific change, the passage of the intersection is confirmed, and the detected travel position is corrected to the actual position of the intersection.

The second traveling position correcting means 6 adjusts the actual cumulative traveling distance to the intersection in a state where it is estimated that the vehicle is traveling near the intersection based on the detected traveling position, on the condition that it is determined to be small. Based on the coincidence of the distances, passing through the intersection is confirmed, and the detected travel position is corrected to the actual position of the intersection.

(Explanation of Embodiments) Hereinafter, embodiments of the present invention will be described in detail based on the drawings.

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 device has an arithmetic unit 1 having a microcomputer configuration mainly consisting of an arithmetic unit 12 and a memory 13.
1, and on the input side of the calculation unit 11, there is a current position detection circuit 1, which detects the current position based on the outputs of the mileage sensor 14 and the direction sensor 15. Setting device for inputting current location and destination]7. A map data storage device 18 and a return switch 21 are connected.

On the output side of the arithmetic unit 11, a display device (CR
T etc.>20 are connected.

FIG. 3 shows an example of the contents of the route map data stored in the map data storage device 18 shown in FIG. , each regional map of Shikoku, Kyushu, etc. is further divided into multiple regions, and the road map information of each region is divided step by step from higher classifications such as national highways to lower classifications such as prefectural roads and city roads to create a route map data, It's evening.

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

Furthermore, each block is divided into a plurality of intersection areas, and each intersection area is further 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 section distance information from adjacent intersections. ing.

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.
101 to 107), and route guidance and display of the travel locus along the set travel route.

Processing flow regarding correction of current position (step 201~
400).

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

Thereafter, until the vehicle reaches the departure intersection and the start switch (not shown) provided in the setting device 17 is operated (step 107), the direction of the departure intersection is displayed as a predetermined display process for the departure intersection setting bond. If the departure intersection is approached (within 300 m), a process is performed to indicate the course guidance direction relative to the traveling direction of the own vehicle (step 104).
to 107).

When the start switch is operated (Yes in step 107), the process proceeds to steps (201> and subsequent steps), and the host vehicle is guided along the set route.

That is, in step (201>) the coordinates (
Xs, Ys) are the calculation initial values (XO, YO) of the calculation device 12
) as Sera 1~.

After setting, each time a unit distance ΔD interrupt occurs due to 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 passing point are sequentially calculated, and the calculated coordinate positions are buffered. The data is supplied to the memory and plotted (step 202.4, OO).

Except for interruptions due to interruptions, the number of the intersection two ahead on the guidance route is read based on the most recently passed intersection, and the section distance D from the map data storage device 1 to the next intersection is also read. Read the position coordinates (XN, YN) and the direction of entry and exit from the next intersection (steps 203, 20
4>.

Next, calculate the reset direction at the next intersection, that is, the intermediate direction between the entering direction and the exit direction, test circles A, B, and error zone (step 205), and display the map and travel trajectory via the display storage device 19. Display on the device 20 (step 206).

Here, the test circle A is used when going straight through an intersection, and the test circle 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, it is assumed that there is a first intersection 62 at a distance of , from the starting intersection 61, and a second intersection 63 is further located at a distance D2 from the first intersection 62. . □In this case, when going straight through the first intersection 62, you will use the test circle A64 centered on the first intersection 62, and when turning left or right, you will use the concentric test date 865. Become. Further, when turning left at the intersection 63 of the rear cylinder 2 after going straight through the first intersection 62, the test date 866 determined with the second intersection 63 as the center is used. Further, 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, the radius of inspection date A = distance between intersections [ ) It is determined by the maximum error ratio, and α is approximately 1/3 of β.

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 208).

If it is not the target intersection, it is determined whether the angle between the entering direction and the exit direction of the next intersection is larger or smaller than a predetermined lower limit value (this is the essential part of the present invention). The driving trajectory (
current position). The value of 36 degrees is because in this embodiment, in order to absorb errors in the orientation sensor and data, the allowable range for determining that the intermediate orientations match is approximately ±18 degrees.

If it is determined that the vehicle is running too fast (straight ahead), (step 2)
09 (affirmative), and after resetting the flag FLG that detects that the host vehicle has entered the vehicle on inspection date A to "0" (step 210
), based on the test date A, perform the intersection passage confirmation process (steps 211 to 214) and the position correction process (step 215) when going straight, and change the current position (X, Y) to the intersection position (XN, YN). Corrected and at the same time cumulative distance f△D
is cleared 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 the process returns to step (203)).

By the way, if the vehicle does not exist within the verification circle A (step 211 negative), and if it has entered the verification circle A on the verification date A (step 218゛1 pa), then general correction processing is performed. (Steps 218-220>, Step (
217>, the process returns to step (203>).

If the vehicle has never entered the inspection date A (step 218 ``O''), check whether the own vehicle exists in the error zone, and if it is within the error zone (step 221
(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 turned on, there is some kind of mistake and vehicle guidance cannot be executed, so return to step (101). Start over from the beginning (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, when the own vehicle turns at the next intersection (step 209, negative), when the own vehicle enters within the inspection date B (step 301, negative), the vehicle turns at the next intersection before passing through the intersection. The shape of is displayed (step 302).

Then, based on the entry on test day B, the intersection passing confirmation process (steps 303 to 309) and the position correction process (step 310) are performed to change the current location (X, Y) to the intersection position ( XN, YN) and at the same time clear the cumulative distance fΔD to O (Step 3
11), step (217> and step (203>)
Return to.

In addition, if the own vehicle does not enter within the inspection date B (step 301 is negative), check whether it is in the error zone (step 313), and if it is in the error zone (step 313 is affirmative). , the date of the "route error" is displayed on the display device 20 (step 222).

If it is outside the error zone (step 313 negative), if the clear key is on (step 314 affirmative),
Return to step (101) (step 203). Also,
If the clear key remains off (No in step 314), the process returns to step (301) and the bending operation is repeated.

In addition, when checking the crossing at the time of turning (steps 303 to 309), if the test date falls outside of test date B (step 312), a "route error" will be displayed at the display g position 20.
is displayed (step 222).

As described above, in this embodiment, even when making a right or left turn, if the difference between the approach direction and the exit direction to the point is smaller than a certain value, the driving trajectory (current position ), the problem of the travel trajectory (current position) being corrected before the intersection can be solved, and the accuracy of the device can be improved.

(Effects of the Invention) As described above, the vehicle route guidance device of the present invention can accurately correct the travel trajectory even when the direction of entry and exit from an intersection are small. can.

[Brief explanation of drawings]

Fig. 1 is a complaint correspondence diagram, 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, and Fig. 3 is the content of road map data stored in a map data storage device. 4 is a processing flowchart of the vehicle route guidance device, FIG. 5 is a detailed explanatory diagram of the main part of the processing flowchart of FIG. 4, and FIG. 6 is a diagram showing the route guidance processing in FIG. 4. FIG. 3 is a diagram for explaining some processing principles. 1... Traveling direction detecting means 2... Unit distance traveling detecting means 3... Traveling position detecting means 4... Judgment means

Claims (1)

[Claims] (1) Traveling direction detecting means for detecting the traveling direction of the vehicle; Unit distance traveling detecting means for detecting unit distance traveling of the vehicle; A unit vector determined by the traveling direction detected value each time the unit distance traveling is detected; a traveling position detection means that detects the traveling position by integrating the traveling position; and determining whether the angle formed by the entrance direction and exit direction of a specific intersection to be passed next on the planned travel route is larger or smaller than a predetermined lower limit value. Judgment means; on the condition that it is determined to be large, in a state where it is estimated that the vehicle is traveling near the intersection based on the detected travel position, a change specific to the detected traveling direction occurs at the time of turning at the intersection; a first traveling position correcting means for confirming passage of the intersection and correcting the detected traveling position to the actual position of the intersection based on; In a state where it is estimated that the driver is driving near the intersection based on the driving position, passing through the intersection is confirmed based on the fact that the accumulated distance traveled matches the actual distance to the intersection, and the detected driving position is determined. A route guidance device for a vehicle, comprising: second travel position correction means for correcting the position to the actual position of the intersection;