CN1837752A - Vehicular navigation system - Google Patents
Vehicular navigation system Download PDFInfo
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- CN1837752A CN1837752A CNA2006100598627A CN200610059862A CN1837752A CN 1837752 A CN1837752 A CN 1837752A CN A2006100598627 A CNA2006100598627 A CN A2006100598627A CN 200610059862 A CN200610059862 A CN 200610059862A CN 1837752 A CN1837752 A CN 1837752A
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Abstract
With respect to a connection road linked with a rotary included in a guidance route, a vehicular navigation system acquires a dummy link that is defined to extend towards an inside of the rotary based on road map data. An advancing direction at the rotary is computed by using an angle defined by two dummy links with respect to both an entering road being the connection road on which the vehicle is to approach the rotary and an exiting road being the connection road on which the vehicle is to recede from the rotary. Guidance information at the rotary is outputted based on the computed advancing direction when the vehicle approaches the rotary.
Description
Invention field
The application relates to can be in the onboard navigation system of the correct navigation of roundabout (rotary) (also being called as road diversion (roundabout) or circle).
Background of invention
The current location of onboard navigation system detection vehicle (for example utilizing GPS), show tags has the map of current location on display screen, and navigates to the destination along best route.Especially, the intersection representing emphatically on the screen on the route indicates the working direction that vehicle should advance simultaneously.
The intersection can be a roundabout.Along with vehicle near roundabout, utilize the arrow on the screen and/or indicate direction of passage or the working direction that vehicle should be by roundabout via sound (referring to patent documentation 1).
In patent documentation 1, according to (i) between entranceway and exit road differential seat angle and (ii) be defined as given angle with respect to the auxiliary angle (attachmentangle) of entranceway and exit road, determine vehicle whether keep straight on (straightaway).For example, when differential seat angle is 30 degree or more hour, straightaway is defined as working direction and guides the user to keep straight on.When differential seat angle from 30 to 45 is spent, and in addition when auxiliary angle be 30 degree or more hour, also straightaway is defined as working direction.
In addition, when meeting the following conditions simultaneously: from 150 to 210 degree of the differential seat angle between entranceway and exit road; Entranceway and exit road are the One-Way Traffic roads with same name; And to the entranceway and the linking-up road of exit road is adjacent two-way traffic road and when having identical road quantity, determines that vehicle should carry out u turn via one way access at roundabout.In other words, vehicle enters roundabout through the first One-Way Traffic road by linking-up road, comes out from roundabout by almost an annular link (link), the second One-Way Traffic road, and and then passes through linking-up road.
In addition, to cross from the first One-Way Traffic path link annular link to the angle of the second One-Way Traffic road change carry out forward (positively) (counterclockwise) and reverse (negatively) (clockwise) integration.Angular integral θ is carried out following classification and corresponding guiding is provided :-180 degree＜θ＜-150 degree turn back to the right side;-150 degree＜θ＜0 degree turn right; 0 degree＜θ＜+150 degree turns left; + 150 degree＜θ＜+180 degree turn back to the left side.
As mentioned above, navigational system in the patent documentation 1 needs the very complicated calculating that utilizes various factors or in the navigation decision of roundabout, for example straightaway, carries out u turn or turns right or turn left along the One-Way Traffic road.In addition, sometimes can that actual institute recognizes or feels by rotary island the time be different with the user in guiding that roundabout provided or indicated.
Below with reference to Figure 13 an example is described.Road LA, LB, LC, LD are the two-way traffic road and enter roundabout or come out from roundabout via One-Way Traffic road LAi, LAo, LBi, LBo, LCi, LCo, LDi, the LDo of bifurcated.Pass LAi, annular link and LDo from LA and be presented at Figure 13 with black body-line being appointed as to the guiding route of LD.Here, the above-mentioned navigational system in the patent documentation 1 provides guiding with output " sharp right-hand bend " according to the angle [alpha] between LAi and the LDo.Yet, because LAi and Ldo have short distance,, the user can carry out the common right-hand bend from LA to LD so feeling vehicle, this makes the user feel the deviation that guides.If guiding route is to pass LAi, annular link and LCo to LC from LA, then unreasonably guiding is output as " turning right a little ".
Patent documentation 1:JP-H11-51684A (USP-6108604)
Summary of the invention
The purpose of this invention is to provide a kind of can correctly the navigation and reduce the navigational system of handling load simultaneously at roundabout.
To achieve these goals, as first scheme, onboard navigation system is provided with lower member: position sensor is used for the current location of detection vehicle; The map datum storage unit is used to store the road-map-data of representing road by link; The route designating unit is used for specifying the guiding route that arrives the destination according to road-map-data; And navigation elements, be used in the current location working direction that the indication vehicle should advance at this guiding target place when being included in the guiding target of guiding route.Here, road-map-data comprises the virtual link that the terminal point by center that connects roundabout and linking-up road link limits, and described linking-up road link is connected with the rotary island link with attribute relevant with roundabout at described terminal point.When roundabout is guiding target, navigation elements specify (i) with corresponding to link-attached first virtual link of the linking-up road of the guiding route that enters roundabout and (ii) with corresponding to link-attached second virtual link of the linking-up road of the guiding route that leaves from roundabout, and indicate the working direction of vehicle at roundabout according to the differential seat angle between first virtual link and second virtual link.
To achieve these goals, as alternative plan, onboard navigation system is provided with lower member: position sensor is used to obtain the current location of vehicle; The map datum acquiring unit is used to obtain map datum; Output unit is used to export navigation information; The working direction computing unit, be used for current location when being included in the roundabout of guiding route according to the map data calculate working direction at this roundabout; And the Navigation Control unit, be used for guidance information being exported to output unit according to the working direction of being calculated.Here, working direction computing unit:, calculate and comprise the tie point that is connected with roundabout and be straight line to the set point of set a distance from tie point (i) to the entranceway of roundabout with leave in the exit road of roundabout each; (ii) calculate by two formed angles of straight line at entranceway and exit road; (iii) calculate working direction at roundabout according to the angle of being calculated.
To achieve these goals, as third party's case, onboard navigation system is provided with lower member: position sensor is used to obtain the current location of vehicle; The map datum acquiring unit is used to obtain map datum; Output unit is used to export navigation information; The working direction computing unit, be used for current location when being included in the roundabout of guiding route according to the map data calculate working direction at this roundabout; And the Navigation Control unit, be used for guidance information being exported to output unit according to the working direction of being calculated.Here, working direction computing unit: (i) to the entranceway of roundabout with leave in the exit road of roundabout each, the extended line that calculating prolongs on the road direction of set point, described set point is to set a distance from the tie point that is connected with roundabout; (ii) calculate by at the formed angle of the extended line of entranceway and exit road; (iii) calculate working direction at roundabout according to the angle of being calculated.
To achieve these goals, as cubic case, onboard navigation system is provided with lower member: position sensor is used for the current location of detection vehicle; The virtual link acquiring unit is used for obtaining the virtual link at the linking-up road that is connected with the roundabout that is included in guiding route, according to road-map-data this virtual link is defined as towards the inside of roundabout and extends; The working direction computing unit, be used for by utilizing an angle to calculate working direction at roundabout, described angle is by limiting near the entranceway of the linking-up road of roundabout and two virtual links of exit road of (ii) leaving the linking-up road of roundabout as vehicle thereon as vehicle thereon at (i); And navigation elements, indicate guidance information according to the working direction of being calculated when being used for current location at vehicle at roundabout near roundabout.
Under the situation of each in above-mentioned four kinds of structures, the working direction for correct acquisition vehicle should be followed at roundabout provides virtual link or virtual link.This allows to calculate working direction at roundabout with the method identical with calculating working direction in general intersection, has reduced the processing load when routine is calculated working direction at roundabout.In addition, even when the linking-up road that is connected with roundabout is crooked near roundabout, the direction guiding of indication working direction can meet identification or the sensation of user at roundabout, obtains described working direction by utilizing virtual link.
The accompanying drawing summary
By the detailed description of carrying out below with reference to accompanying drawing, above-mentioned and other purposes, feature and advantage of the present invention will become more apparent.In the accompanying drawings:
Fig. 1 is the block diagram according to the schematic structure of the navigational system of first embodiment of the invention;
Fig. 2 is the process flow diagram that is used to show the master routine of the map carried out by navigational system etc.;
Fig. 3 is the process flow diagram of the navigation procedure among Fig. 2;
Fig. 4 is the view that be used at roundabout determine the process of working direction of explanation according to first embodiment of the invention;
Fig. 5 is the process flow diagram according to the process that is used for definite working direction of second embodiment of the invention;
Fig. 6 is the view that be used at roundabout determine the process of working direction of explanation according to second embodiment;
Fig. 7 is by utilizing the view of the roundabout in node and the link table diagrammatic sketch 6;
Fig. 8 is the view that be used at roundabout determine another process of working direction of explanation according to second embodiment;
Fig. 9 is the tabulation that is used for the project of declarative section point data and link data;
Figure 10 A to 10I is the view that is illustrated in the working direction of roundabout;
Figure 11 is the front elevation of display device;
Figure 12 is the view that be used at roundabout determine another process of working direction of explanation according to second embodiment; And
Figure 13 is the view that is used for the process of definite working direction in the explanation prior art.
DETAILED DESCRIPTION OF THE PREFERRED
First embodiment
Will be referring to figs. 1 to 4 navigational system that illustrate according to first embodiment.
As shown in Figure 1, onboard navigation system 20 comprises: position sensor 1, map datum input block 6, operating switch group 7, external memory storage 9, display device 10, VICS communication unit 11, voice controller 12, Long-distance Control sensor 16, mobile phone 18 and as the navigation ECU 8 of the control circuit that is connected with aforementioned device etc.
ECU8 is known computing machine, and it comprises CPU, ROM, RAM, I/O and the bus that is connected with above-mentioned parts.ROM comprises the program of being carried out by ECU 8; CPU etc. carry out according to this program and calculate.
Map datum input block 6 map datum that map making is required is input to ECU 8.Map datum comprises road data with node data and link data, be used to the character data of indicating the background data of landform and being used to show place name.Map datum input block 6 comprises storage medium or the unit that is used for store map data.According to the needs of data capacity, storage medium is generally CD-ROM or DVD-ROM, but can be replaced by rewritable storage medium or unit such as HDD or storage card.Can describe road data in addition after a while.
Operation open pipe group 7 can be mechanical switch 71 or touch panel switch 72, be integrated in display device 10 screen 10a around, to be used to import data.
External memory storage 9 comprises such as the rewritable storage medium of storage card or HDD or the unit data with storage such as text data or view data.
The VICS communication unit receives the Traffic Information via beacon (beacon) that is laid on the road below or the issue of FM station from VICS (information of vehicles and center for communications systems), and the information of needs is sent to beacon.Handle the transport information that is received by ECU 8; For example, on the map that is presented on the screen 10a, show traffic rules information or congestion information.
Mobile phone 18 as wireless communication unit can be connected to the Internet or mobile telephone network via the base station; Therefore, mobile phone 18 can be used to obtain map datum current location information is sent to cartographic information center and reception and current location and near relevant map datum thereof.
Voice controller 12 is connected to voice-recognition device 14 with the voice signal of identification from microphone 15; Voice controller 12 recovers the information discerned and to ECU 8 outputs and voice signal corresponding operation signal.Voice controller 12 is also to the needed synthetic video or the alarm sound that navigate along the route that vehicle should be advanced of being used for of loudspeaker 13 output ECU 8.
Remotely monitored sensor 16 is by the operation signal of wireless receiving from telepilot 17, and this telepilot 17 also is used to import data.For example, navigational system 20 has route guidance function or navigation feature; When via telepilot 17 or operation open pipe group 7 input destinations, retrieve or specify the best route that arrives the destination automatically and navigate along the route that is retrieved.At this moment, on map, show this route emphatically; Along with the approaching guiding target of vehicle, show guiding target and/or the working direction of indicating vehicle to advance by sound with the form of amplifying such as intersection or roundabout.
Structure with respect to node data and link data additionally describes road data below.Road on the map is divided into link at the node place, and in the road merging of described node place, intersection or branch: node data and link data can be used for drawing road on map.With respect to node, the link ID of the link that node data comprises unique node ID of distributing to this node, node coordinate, node name, be connected with this node, intersect whether type, traffic lights exist, control traffic message etc.
With respect to link, link data comprises unique coordinate of distributing to link ID, linkage length, starting point and the terminal point of this link, road type (for example the road in highway, turn pike, national highway, provincial road, land-service road, the roundabout, to the linking-up road of roundabout), road width, runway quantity, travel time, fixing speed etc.
In the present embodiment, virtual link (or virtual link) is stored in the storage medium of map datum input block 6, it is not used in demonstration, and only is used to export the working direction that vehicle should advance at roundabout in sound guidance.When link was passed through in current link of existence inlet and outlet between roundabout and linking-up road link, the interior center that virtual link is defined as roundabout was connected with the terminal point of linking-up road link.
To these entrance and exits link that passes through be described with reference to figure 4.When roundabout R has bigger diameter or when roundabout and linking-up road thereof have wide road width, vehicle crosses the spacing distance between linking-up road and the roundabout sometimes sideling, rather than enters roundabout or come out from roundabout with the right angle.When linking-up road link La, Ld were connected to the roundabout R with roundabout link R1 to R6 with the right angle, the advanced positions of vehicle reality can depart from and connect link La, Ld.This can reduce the degree of accuracy of vehicle location.Therefore, in order to address this problem, will enter the mouth current link La1, Ld1 and outlet current link La2, Ld2 are added to linking-up road link La, Ld respectively as data, are used for consistent with actual advanced positions.
In addition, in fact, in fact One-Way Traffic inlet or outlet passing road can so construct and be present in and make vehicle enter roundabout R easily between roundabout R and the linking-up road or come out from roundabout R.In this case, current link La1, Ld1 of corresponding inlet and corresponding outlet current link La2, Ld2 are present in respectively between linking-up road link La, Ld and the roundabout R.
In Fig. 4, vehicle is counterclockwise by rotary island R.Observe from the viewpoint in the face of roundabout R, inlet current link La1, Ld1 are on the right side, and outlet current link La2, Ld2 are in the left side.
In Fig. 4, virtual link D2, D3 are defined as the center of connection roundabout R and the terminal point in roundabout one side of linking-up road link Lb, Lc.Virtual link D1, D4 are defined as the center of connection roundabout R and the terminal point in roundabout one side of linking-up road link La, Ld, and entrance and exit current link La1, La2, Ld1, Ld2 are foreclosed.Here, the center of roundabout needn't be positioned at the center of roundabout R exactly, and only it need be limited on the point that is in rotary island inside.
Virtual link D1 to D4 is stored as with the identifying information that is used to discern roundabout R or relevant connection road link is associated.This allows to read virtual link from storage medium.
The master routine that next, will be used for displayed map etc. with reference to the process flow diagram explanation of figure 2.In this program, when named place of destination, navigation procedure begins.
At step S10, calculate current location according to the position data that the standalone sensor by position sensor 1 detects.By the position data of gps receiver 5 acquisitions with coordinate data (longitude and the latitude) same format of road data.Simultaneously, from terrain sensor 2, gyroscope 3 and vehicle speed sensor 4, obtain to relate to the data of vehicle forward direction and road distance.According to previous acquisition or definite vehicle location utilization independently (self-contained) air navigation aid calculate the coordinate data of current location.
Calculate current location substantially according to coming from independently the coordinate data of air navigation aid.Under the situation that can obtain from the position data of gps receiver 5, when when determining between the position data that obtains by air navigation aid independently and the position data that obtains by gps receiver 5, then can adopt position data by gps receiver 5 acquisitions greater than given range difference.
At step S20, read the map datum relevant with the zone of vehicle periphery according to the coordinate of the current location of calculating at step S10.At step S30, on display device 10, show the marking of cars of expression current location and map on every side.At this moment, on road, specify current location by utilizing map matching process, and the corresponding marking of cars of the current location of demonstration and appointment.
At step S40, determine whether to come named place of destination through operating switch group 7 or telepilot 17.When determining not have named place of destination, repeating step S10.When determining to have specified the destination, execution in step S50 then.
At step S50, by utilizing known Dijkstra method etc. to retrieve from current location or arriving the best route of destination by the starting point of user's appointment according to road data.If the user need carry out navigation, the then navigation procedure of execution in step 60 along the route that is retrieved (or guiding route).
This navigation procedure will be described with reference to the process flow diagram of figure 3.At step S110, the current location of detection vehicle.At step S120, read the map datum that relates to the current location peripheral region.At step S130, utilize with the corresponding road of representing emphatically with color etc. of guiding route show the marking of cars of representing current location with and the map of peripheral region.
Then, at step S140, judge whether vehicle arrives the destination.When definite vehicle arrives the destination, stop the navigation procedure among Fig. 3.When definite vehicle does not arrive the destination, judge that at step S150 whether vehicle is near the guiding target of giving in the set a distance, for example intersection or roundabout.
When this is judged to be when negating repeating step S110.When being sure, whether be roundabout in step S160 decision directed target.For example, the road that is travelling when vehicle is when arriving the linking-up road of roundabout, to determine that guiding target is a roundabout.Perhaps, in the middle of the link data in being included in guiding route when from current location have the link of the road type of road in roundabout link or the roundabout for the set a distance internal memory time, determine that guiding target is a roundabout.Perhaps, when existence is included in the route and represents the node data of branch road of roundabout, determine that guiding target is a roundabout.
When step S160 determines that guiding target is not roundabout, execution in step S170.When step S160 determines that guiding target is roundabout, execution in step S180.At step S170,, read inbound link and outbound for the intersection that is not roundabout.At step S180, for roundabout, read with near or enter inbound link first virtual link that is connected and second virtual link that is connected with the outbound that from roundabout, withdraws from or come out of roundabout.
At step S190, first virtual link that calculates between inbound link that step S170 reads and outbound or read at step S180 and the differential seat angle between second virtual link.At step S200, according to the differential seat angle that is calculated, the working direction that reporting vehicle should advance shows working direction on the map of the amplification around guiding target simultaneously.
To advantage at the above-mentioned navigation procedure of roundabout be described with reference to figure 4.
In the present embodiment, map datum comprises the virtual link D1 to D4 that the terminal point by center that connects roundabout R and linking-up road link La to Ld limits, and described linking-up road link La to Ld is connected with roundabout link R1 to R6.When vehicle near as the roundabout R of guiding target the time, according to (i) and be included in being used in the guiding route and enter link-attached first virtual link of linking-up road of roundabout R and (ii) and be included in differential seat angle between link-attached second virtual link of linking-up road that is used for coming out from roundabout R of guiding route, the working direction of indicating vehicle to advance.For example, when entering route and comprise that linking-up road link La and exit route comprise linking-up road link Ld, first virtual link is D1 and second virtual link is D4.In this case, the differential seat angle between virtual link D1, D4 is clockwise 90 degree, is used as the working direction of vehicle thereby indicate to turn left.
The direction that provides virtual link D1 to D4 to allow only to carry out at roundabout R by the differential seat angle that only utilizes between two links similar to the situation of general intersection guides.This can reduce the processing load in ECU 8 and obtain correct direction guiding.
When inlet current link La1, Ld1 and outlet current link La2, Ld2 are between roundabout R and linking-up road link La, Ld, get rid of these entrance and exits current link La1, Ld1, La2, Ld2 are used for drawing or the formation virtual link; Therefore, form virtual link D1, D4 by the center of connection roundabout R and the terminal point (at the terminal point of traffic traffic one side) of linking-up road link La, Ld.Therefore the angle that can get rid of inlet current link La1, Ld1 and outlet current link La2, Ld2 is used to calculate the direction guiding at roundabout R.This can obtain to meet the direction that is easy to the follow guiding of user's sense.Below with illustration.
As shown in Figure 4, current link La1, Ld1 of inlet and outlet current link La2, Ld2 have and linking-up road link La, road direction (or orientation) that Ld is different.(for example, linking-up road link La is connected each other angularly or on bending point with the current link La1 of inlet, rather than connects point-blank or in the same direction each other).If the direction according to entrance and exit current link La1, Ld1, La2, Ld2 is determined the working direction that vehicle should advance, then determined working direction can be different with the direction that the user recognizes or feels.
For example, suppose that vehicle arrives the current link Ld2 of outlet, and arrives linking-up road link Ld then by linking-up road link La, inlet current link La1, roundabout link R1, R2, R3 successively counterclockwise.In this case, if the current link La1 that will enter the mouth is used as entranceway and exit road with the current link Ld2 of outlet, then be " turning back to the left side " according to the differential seat angle direction indication guiding between current link La1 of inlet and the current link Ld2 of outlet.Yet " R turns left at roundabout " meets the driver's who travels sensation on linking-up road link La.
When vehicle enters roundabout R and when connecting link Ld and go out, adopts virtual link D1 to D4 to allow the direction guiding to become " the turning left " that meets driver's sensation from linking-up road link La.
Within the scope of the invention, can make amendment to the foregoing description of navigational system.
In the above-described embodiments, provide virtual link for the actual roundabout of current link of inlet and the current link of outlet that comprises; Yet, preferably, for all roundabouts provide virtual link, and no matter whether reality exists inlet or the current link of outlet.This can be avoided whether having virtual link according to rotary island and change the process that is used for determining the direction guiding.In addition, for general intersection and roundabout, be used for determining that the process of direction guiding at least can partial common.
Second embodiment
According to the navigational system of second embodiment comprise to structure shown in Figure 1 in the similar parts of parts; Therefore, with the explanation of omitting basically for similar parts.Second embodiment display direction guiding with limit virtual link aspect different with first embodiment.
In the present embodiment, in the part of the screen 10a of display device shown in Figure 11 10, show along the zoomed-in view of the intersection of route and the working direction of expression emphatically visually.For example, when the intersection is roundabout, show that zoomed-in view is to represent advance route or direction emphatically, it comprises the part of entranceway, exit road and the roundabout arrow on the end (with towards the relative end points of the end points of rotary island) of exit road between inlet and exit road, shown in Figure 10 A to 10I.
The road data of map datum is similar to first embodiment.Here, will be with reference to the explanation of figure 9,7 addings to link data and node data.As shown in Figure 9, link data comprises coordinate, direction and the roundabout information (attribute) of link ID, road name, linkage length, road width, road type (highway, national highway, state highway etc.), Origin And Destination.When road is state highway or high-grade highway (being national highway and highway) and during for two-way traffic, limit road by two different directions or the link that constitutes by uplink and following link usually.When limiting two links at road, each link has the traffic direction that vehicle should advance.When the road of two-way traffic only has a common link, rather than when having uplink and two links of following link, the traffic direction of link is not described.Roundabout information or attribute comprise " roundabout " or " road diversion " when comprising link in roundabout only.For example, the link A to H that is included in the roundabout shown in Figure 7 has " roundabout " in their roundabout information.
Node data comprises the ID and the attribute of node ID, coordinate, connection link, as shown in Figure 9.Connecting link is connected with node.In the attribute of node data,, then be described as " intersection " if node is the intersection.For example, in Fig. 7, node Uo, Ui, Vo, Vi, Wo, Wi, Xo or Xi represent that intersection and their attribute information comprise " intersection ".The ID of the connection link of node Uo, Ui, Vo, Vi, Wo, Wi, Xo or Xi comprises three link ID alone.For example, the link ID of node Uo comprises the ID of link H, A, g; The link ID of node Ui comprises the ID of link A, B, b.
Next, will be used to calculate and export process with reference to the process flow diagram explanation among the figure 5 in the working direction of roundabout.
Beginning utilizes operating switch group 7 that navigational system 20 is arranged to the destination pattern is set.When importing predetermined destination (S301:YES), the map datum that ECU 8 references obtain from map datum input block 6 retrieves the route (S302) from the current location to the destination.ECU 8 makes the screen 10a of display device 10 that the route that is retrieved is presented on the shown map as guiding route, and the link and the node that will be included in simultaneously in this guiding route are stored in (step S303) in the external memory storage 9.When the user utilizes operating switch 7 to require to start guiding (step S304:YES), ECU 8 starts route guidance along guiding route vehicle is navigated.
After starting route guidance, ECU 8 is used to judge that from the positional information of position detector 1 whether vehicle is near the intersection of giving in the set a distance (for example 300m) on guiding route (step S305).Whether following judgement intersection is in given distance: ECU8 reads the link that is stored in the external memory storage 9 and node and retrieval and is positioned at node to set a distance, consults the link data of map datum simultaneously; And ECU 8 judges whether the node that is included in the node that is retrieved has the attribute information of " intersection "; And when definite node has the attribute information of " intersection ", determine that vehicle is near the intersection of giving in the set a distance.
When definite vehicle during near intersection (step S305:YES), 8 of ECU judge whether this intersection is roundabout (step S306).The roundabout information that whether has " roundabout " by the link that is connected with the node of intersection judges whether the intersection is roundabout.When definite intersection was not roundabout (step S306:NO), ECU 8 obtained the planimetric map of the road that is connected with the intersection from map datum.ECU 8 make screen 100a then half show the enlarged drawing of the planimetric map obtained, also on this enlarged drawing, mark the working direction (step S307) of vehicle.In addition, by sound to the user report working direction.When vehicle passed through the intersection, shown enlarged drawing disappeared.
When definite approaching intersection of vehicle is roundabout (step S306:YES), ECU 8 judge the entranceway of roundabout and leave in the exit road of rotary island each whether be state highway or more low-grade road (for example urban road, town road, land-service road) (step S309).When this road is state highway or more low-grade road (step S309:YES), CEU 8 is by prolonging for example 20m with exit road from the point that is connected with roundabout with entranceway, form extended line, and calculating the angle (step S310) that forms by two extended lines, this will carry out specific description with reference to figure 8.
Fig. 8 utilizes link and node that roundabout and relevant road thereof are shown, and demonstrates guiding route with black body-line simultaneously.Entranceway (link a3, a2, a1) and exit road (link b1, b2, b3, b4) belong to state highway.By being prolonged 20m from tie point (node n1, n2) in the direction separately of connection link towards rotary island inside, the entrance and exit road forms virtual extended line m1, m2.Therefore, thus by two extended line m1, m2 angulation α, as shown in Figure 8 as virtual or virtual link.In link data, describe the coordinate of two end points that connect link a1, b1, thereby can calculate the direction of extended line m1, m2.Can calculate angle [alpha] by utilizing extended line m1, m2.
In contrast, when road is national highway or more high-grade road (for example highway) (step S309:NO), ECU 8 calculate away from or for example leave set point (step S311) from the tie point that is connected with roundabout to set a distance for 500m.Then, ECU 8 calculate comprise (i) set point and (ii) with the straight line (step S312) of the tie point of roundabout, and calculate the angle [alpha] (step S313) that forms by two straight lines then, this will be elaborated below.
Fig. 6 illustrates roundabout and relevant road thereof, with black body-line guiding route is shown simultaneously.Four road P, Q that are connected with roundabout, each among S, the T for two-way traffic and with tie point that roundabout is connected near point on it is divided into two One-Way Traffic branch road part P1, P2, Q1, Q2, S1, S2, T1, T2.Vehicle passes through roundabout clockwise; Therefore, branch road part P1, Q1, S1, T1 enter roundabout (as the current link of inlet); Branch road part P2, Q2, S2, T2 come out from roundabout (as exporting current link).
Fig. 7 comes road in the presentation graphs 6 by utilizing node and link.Link a, h represent that respectively road P's is upper and lower; Link b, g represent the branch road part of road P1, P2 respectively.Link q, n represent that respectively road Q's is upper and lower; Link r, m represent the branch road part of road Q1, Q2 respectively.Link e, d represent that respectively road S's is upper and lower; Link f, c represent the branch road part of road S1, S2 respectively.Link j, t represent that respectively road T's is upper and lower; Link k, s represent the branch road part of road T1, T2 respectively.
Corresponding at entranceway P (link b) with tie point and node Ui between the roundabout; Corresponding at exit road T (link s) with tie point and nodes X o between the roundabout.Can retrieve these tie points from node Ui, Xo respectively.By tie point Ui, Xo being defined as the center of circle next radius draw circles K1, K2, on some L1, L2, to intersect with road P, T away from tie point 500m with 500m.
The coordinate of the point on round K1, the K2 that obtains from the coordinate of node Ui, Xo according to (i) and (ii) comprise the coordinate that coordinate between two end points of link of a L1, L2 comes calculation level L1, L2 respectively.Form straight line M1, M2 by comprising (i) node Ui, Xo and (ii) putting L1, L2 as virtual or virtual link; Then, the drift angle of calculated line M1, M2 (inclination).Calculating is restricted to the angle [alpha] from straight line M1 to straight line M2 along the One-Way Traffic direction, as shown in Figure 6.
Then, ECU 8 according to angle [alpha] determine working direction or direction of passage (step S314) and according to the rules the database of the relation of angle [alpha] and working direction on screen 10a, show determined working direction.For example, when 0≤α≤10 are spent, determine that working direction is " return left side direction " and shown in Figure 10 A; When 10＜α≤60 are spent, determine that working direction is " extremely left direction " and shown in Figure 10 B; When 60＜α≤120 are spent, determine that working direction is " direction left " and shown in Figure 10 C; When 120＜α≤170 are spent, determine that working direction is " direction slightly left " and shown in Figure 10 D; When 170＜α≤190 are spent, determine that working direction is that " craspedodrome direction " also shows as Figure 10 E; When 190＜α≤240 are spent, determine that working direction is " direction slightly to the right " and shown in Figure 10 F; When 240＜α≤300 are spent, determine that working direction is " direction to the right " and shown in Figure 10 G; When 300＜α≤350 are spent, determine that working direction is " extremely to the right direction " and shown in Figure 10 H; And when 350＜α≤360 are spent, determine that working direction is " direction of returning the right side " and shown in Figure 10 I.
When definite working direction (step S314:YES), ECU 8 on the screen 10a of display device 10 shows simultaneously that via the determined working direction of loudspeaker 13 outputs the view based on determined working direction also further shows corresponding zoomed-in view (step S315) in the right half of screen 10a.When vehicle passed through roundabout (step S316:YES), zoomed-in view disappeared from screen 10a.
In each intersection or roundabout repeat above-mentioned direction bootup process at general intersection and roundabout, arrive destination (step S317:YES) up to vehicle.
Therefore, present embodiment goes for following situation.Suppose that exit road P2, the Q2, S2, the T2 that wherein make entranceway P1, Q1, S1, the T1 of roundabout R and leave roundabout R become curved or crooked situation, as shown in Figure 6.In this case, determine working direction by the angle [alpha] that forms by two dotted line M1, M2, described two dotted line M1, M2 connect (i) tie point and (ii) on entranceway and exit road from the point of the tie point 500m of roundabout.For example, even entranceway or exit road have the forked branch road part of One-Way Traffic, also can correctly determine working direction and be not subjected to the influence of the sweep of branch road part.This allows the direction boot symbol to share the identification or the sensation at family.
Suppose that wherein entranceway or exit road are the another kind of situation of state highway or more low-grade road.In this case, road has more sweep, to such an extent as to enter on the different direction of the direction of roundabout from being positioned at entranceway with the point of the tie point 500m of roundabout.If by utilizing from determining working direction with the aforementioned calculation method of the point of the tie point 500m of roundabout, then this can cause direction to guide actual identification or the sensation that does not meet the user.
Therefore, in the present embodiment, replace the point that utilizes from tie point 500m, prolong the road part that 20m length is arranged from tie point on inlet or exit road.The angle that is formed by the extended line (or dotted line) at the entrance and exit road is used for determining working direction.This allows the direction boot symbol to share the identification or the sensation at family.
Other examples
Figure 12 illustrates another example of present embodiment.In this example, at entranceway and exit road, to from the tie point of roundabout for to take a sample to the set point of set a distance (for example, 500m or 100m); Appointment has the road part of certain-length towards tie point from set point; Specified road is partly extended to the inside of roundabout, and the road part or the line (for the virtual extended line of entrance and exit road) that pass through to be prolonged come predetermined angle, and this angle is used to determine the working direction at roundabout.
Other modifications
Can make amendment to second embodiment below, and not be considered as being limited by the foregoing description.
For at inlet or exit road from the tie point of roundabout for to take a sample to the set point of set a distance, should be decided to be for example 500m to set a distance; Yet, can change this according to road type and give set a distance, be 500m for example for national highway or more high-grade road, be 200m perhaps for state highway or more low-grade road.
In Fig. 8, when entranceway or exit road be national highway (promptly, in map datum, limit uplink and following link) time, adopt following method to determine angle [alpha] and working direction: for national highway, the tie point by comprising (i) and roundabout and (ii) draw the first straight line extended line from the point of tie point 500m; On the contrary, for state highway or more low-grade road, draw the second straight line extended line from the scope of tie point 20m by utilizing; And determine working direction according to the angle that forms by two first and second straight line extended lines.
Be not that radius centered is that the circle of 500m comes definite point from tie point 500m always by drawing with the tie point; Perhaps, the point from tie point 500m can be defined as along the point of road from tie point 500m.
In addition, can only be reported in the working direction of roundabout via screen 10a or loudspeaker 13.
For example utilize process flow diagram, the individual processing that describes in the above-described embodiments or enforcement can be configured to be stored among ROM etc. and by unit or module in the program of utilizing CPU to wait to carry out.In addition, this unit can also be embodied as firmware or device.
To those skilled in the art, it is conspicuous the above embodiment of the present invention being made various modifications.Yet scope of the present invention should have following claims to determine.
Claims (16)
1, a kind of onboard navigation system, this system comprises:
Position sensor is used for the current location of detection vehicle;
The map datum storage unit is used to store the road-map-data of representing road by link;
The route designating unit is used for specifying the guiding route that arrives the destination according to described road-map-data; And
Navigation elements, be used for when described current location when being included in the guiding target of described guiding route, the working direction of indicating described vehicle to advance at this guiding target place, wherein
Described road-map-data comprises the virtual link that the terminal point by center that connects roundabout and linking-up road link limits, and this linking-up road link is connected with the roundabout link with attribute relevant with described roundabout at described terminal point, and
When roundabout is described guiding target,
Described navigation elements
Specify (i) with corresponding to link-attached first virtual link of the linking-up road of the guiding route that enters described roundabout and (ii) with corresponding to link-attached second virtual link of the linking-up road of the guiding route of going out from described roundabout, and
Indicate the working direction of described vehicle according to the differential seat angle between described first virtual link and described second virtual link at described roundabout.
2, the described navigational system of claim 1, wherein
Limit described virtual link with respect to a certain roundabout link, described a certain roundabout link is relevant with a certain roundabout and be connected with at least one linking-up road link via current link of inlet and the outlet link that passes through, the current link of wherein said inlet is used to enter described roundabout link and exports current link and be used to leave described roundabout link, and the current link of wherein said inlet has different directions from each other and different with the direction of described at least one linking-up road link with the current link of described outlet; And
With respect to described a certain roundabout link, the center by connecting described a certain roundabout and the terminal point of described at least one linking-up road link limit virtual link, and get rid of current link of described inlet and the current link of described outlet.
3, the described navigational system of claim 1 also comprises:
Display unit; And
Indicative control unit is used to make described display unit to show the road-map that comprises described guiding route based on described road-map-data by utilizing link except that any virtual link.
4, the described navigational system of claim 1, wherein
Described navigation elements is indicated described working direction by output sound.
The described navigational system of 5 claims 1, wherein
Described road-map-data comprises with respect to the virtual link that is included in all the roundabout links in the described road-map-data.
6, a kind of navigational system, it is arranged in the vehicle and comprises the function of the guiding route of retrieval from the starting point to the destination, and this system comprises:
Position sensor is used to obtain the current location of vehicle;
The map datum acquiring unit is used to obtain map datum;
Output unit is used to export navigation information;
The working direction computing unit is used for calculating working direction at described roundabout according to described map datum in described current location when being included in the roundabout of described guiding route; And
The Navigation Control unit is used for according to the working direction of being calculated guidance information being exported to described output unit, wherein
Described working direction computing unit
At to the entranceway of described roundabout with leave in the exit road of described roundabout each, calculate and comprise tie point that (i) be connected with described roundabout and be straight line (ii) to the set point of set a distance from described tie point;
Calculating is by two formed angles of straight line at described entranceway and described exit road;
Calculate working direction according to the angle of being calculated at described roundabout.
7, the described navigational system of claim 6, wherein
When the direction calculating unit of advancing was calculated described straight line, the described set a distance of giving changed according to each the road type in described entranceway and the described exit road.
8, the described navigational system of claim 6, wherein
When by at least one road in described entranceway and the described exit road being divided into direction and downward direction when coming on described map datum described at least one road of expression upwards,
At described at least one road, calculate and to comprise tie point that (i) is connected with described roundabout and be straight line (ii) to the set point of set a distance from described tie point, yet
At another road outside described at least one road, calculate the straight line that prolongs described another road from described tie point, and
By utilizing the straight line that whether obtains according to road to come angulation by described direction that makes progress and described downward direction indication.
9, a kind of navigational system, it is arranged in the vehicle and comprises the function of the guiding route of retrieval from the starting point to the destination, and this system comprises:
Position sensor is used to obtain the current location of described vehicle;
The map datum acquiring unit is used to obtain map datum;
Output unit is used to export navigation information;
The working direction computing unit is used for calculating working direction at described roundabout according to described map datum in described current location when being included in the roundabout of described guiding route; And
The Navigation Control unit is used for according to the working direction of being calculated guidance information being exported to described output unit, wherein
Described working direction computing unit
At to the entranceway of described roundabout with leave in the exit road of described roundabout each, calculate the extended line that on the road direction of described set point, prolongs, described set point is to set a distance from the tie point that links to each other with described roundabout;
Calculating is by at the formed angle of the extended line of described entranceway and described exit road; And
Calculate working direction according to the angle of being calculated at described roundabout.
10, a kind of navigational system that in vehicle, is used for navigating to the destination along guiding route, this system comprises:
Position sensor is used to survey the current location of described vehicle;
The virtual link acquiring unit is used for obtaining the virtual link at the linking-up road that is connected with the roundabout that is included in described guiding route, according to road-map-data this virtual link is defined as towards the inside of described roundabout and extends;
The working direction computing unit, be used for by utilizing an angle to calculate working direction at described roundabout place, described angle by at (i) as described vehicle thereon near the entranceway of the described linking-up road of described roundabout and (ii) conduct thereon two virtual links of the exit road of the described linking-up road that leaves from described roundabout of described vehicle limit; And
Navigation elements is used for indicating guidance information at described roundabout according to the working direction of being calculated in the described current location of described vehicle during near described roundabout.
11, the described navigational system of claim 10, wherein
Described virtual link is defined as the inside center of the described roundabout of connection and the terminal point of described linking-up road, and described linking-up road is connected with described roundabout at described terminal point.
12, the described navigational system of claim 11, wherein
At least at first linking-up road that is connected with roundabout via the current link of One-Way Traffic, described virtual link is defined as extends described first linking-up road towards the inside of described roundabout, and the current link of described One-Way Traffic is foreclosed, the current link of described One-Way Traffic bending point be connected with described first linking-up road and be used for (i) enter described roundabout and (ii) with a kind of situation of leaving described roundabout.
13, the described navigational system of claim 10, wherein
At in described entranceway and the described exit road each, described virtual link is defined as comprises the tie point that (i) is connected with described roundabout and (ii) be set point to set a distance from described tie point.
14, the described navigational system of claim 13, wherein
When described working direction computing unit calculates described virtual link, change the described set a distance of giving according to each the road type in described entranceway and the described exit road.
15, the described navigational system of claim 13, wherein
At second linking-up road of on described road-map-data, representing by utilizing direction upwards and downward direction, described virtual link is defined as comprises tie point that (i) is connected with described roundabout and (ii) be set point to set a distance from described tie point, yet
At the 3rd linking-up road not, described virtual link is defined as from described tie point extends described the 3rd linking-up road by utilizing direction upwards and downward direction on described road-map-data, to represent.
16, the described navigational system of claim 10, wherein
At linking-up road, described virtual link is defined as on the road direction of set point extends, described set point from the tie point that is connected with described roundabout for to set a distance.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP082257/2005 | 2005-03-22 | ||
| JP2005082257A JP4148232B2 (en) | 2005-03-22 | 2005-03-22 | Route guidance device |
| JP2005198789A JP2007017266A (en) | 2005-07-07 | 2005-07-07 | Car navigation system |
| JP198789/2005 | 2005-07-07 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1837752A true CN1837752A (en) | 2006-09-27 |
| CN1837752B CN1837752B (en) | 2011-04-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006100598627A Expired - Fee Related CN1837752B (en) | 2005-03-22 | 2006-03-21 | Vehicular navigation system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4148232B2 (en) |
| CN (1) | CN1837752B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101046382B (en) * | 2007-04-27 | 2010-07-21 | 江苏华科导航科技有限公司 | Circular navigation method for navigation instrument |
| CN102313556A (en) * | 2010-07-01 | 2012-01-11 | 北京四维图新科技股份有限公司 | Method and device for matching paths on round island |
| CN102788590A (en) * | 2011-05-18 | 2012-11-21 | 阿尔派株式会社 | Navigation unit |
| CN101639893B (en) * | 2008-07-31 | 2013-03-13 | 东软集团股份有限公司 | Method and device for identifying road direction |
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| CN106027681A (en) * | 2007-12-20 | 2016-10-12 | 艾利森电话股份有限公司 | Provision of communication information service through mobile network |
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| US5910177A (en) * | 1996-12-09 | 1999-06-08 | Visteon Technologies, Llc | Navigating close proximity routes with a vehicle navigation system |
| JP3719315B2 (en) * | 1997-08-08 | 2005-11-24 | アイシン・エィ・ダブリュ株式会社 | Vehicle navigation device and storage medium |
| JP2004085485A (en) * | 2002-08-28 | 2004-03-18 | Honda Motor Co Ltd | Vehicle navigation server, vehicle navigation system using the same and vehicle navigation system |
| CN100338436C (en) * | 2003-03-11 | 2007-09-19 | 行毅科技股份有限公司 | Simple navigation method and system |
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| CN101639893B (en) * | 2008-07-31 | 2013-03-13 | 东软集团股份有限公司 | Method and device for identifying road direction |
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| CN102313556B (en) * | 2010-07-01 | 2014-04-02 | 北京四维图新科技股份有限公司 | Method and device for matching paths on round island |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2006266739A (en) | 2006-10-05 |
| JP4148232B2 (en) | 2008-09-10 |
| CN1837752B (en) | 2011-04-06 |
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