JP2000292185A - Route guidance apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To guide along an adequate route according to the gradability of a vehicle on a bad road. SOLUTION: A map data memory 20 stores map data in advance, including road gradients of roads. A navigator controller 12 detects a vehicle being stacked and calculates a route runnable by a vehicle having a lower gradability than a required at a stack point, based on the road gradient included in the map data and the calculated route is presented, using a display 30, etc. The road is set, pref. using the gradient of each road in the map data and road surface condition information of each road acquired from outside. Since the stack point is one at which the vehicle's running ability reaches its limit, a route according to the vehicle's ability is obtained with reference to the road conditions at this point.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route guidance device for guiding a traveling route of a vehicle, and more particularly to a device capable of guiding an appropriate route under bad conditions such as snow.

[0002]

2. Description of the Related Art Conventionally, a navigation device for setting a route to a travel destination of a vehicle and guiding the set route is well known. For example, there are the following navigation devices in consideration of running under bad conditions.

[0003] Japanese Patent Application Laid-Open No. 8-1055752 proposes a navigation device for setting a route to bypass a rough road. When the avoidance point is input by the user, a route that bypasses the avoidance point and reaches the destination is searched.

A dynamic route guidance system (DRGS:
In the Dynamic Route Guidance System, dynamic information such as traffic congestion information and snowfall information is obtained. Then, route guidance based on the dynamic information is performed.

[0005]

When the vehicle runs under bad conditions such as snow conditions, the ability of the vehicle to travel on a bad road greatly depends on equipment specifications such as a driving system, types of tires and various control functions. different. Differences in equipment specifications are particularly apparent in differences in climbing abilities. Conventionally, route guidance considering such a difference in ability has not been performed.

The present invention has been made under such a background, and an object of the present invention is to provide an apparatus which can guide an appropriate route according to the ability of each vehicle to climb a hill on a rough road.

[0007]

(1) A route guidance apparatus according to one aspect of the present invention includes a map storage unit that stores map data including a road inclination of each road, and a position detection unit that detects a current position of a vehicle. And a stack detecting means for detecting that the vehicle is stuck, and, when the vehicle is stuck, can travel with a lower ability than the climbing ability required for traveling at the stack point based on the road inclination included in the map data Route calculating means for calculating a simple route, and means for presenting the calculated route.

As described above, according to the present invention, it is detected that the vehicle is stuck, and a route on a road that is easy to travel from the stack point is obtained. The stack point is a point corresponding to the limit of the climbing ability of the vehicle. Therefore, by using the stack point as a reference, a route corresponding to the ability of the vehicle can be obtained. Then, after the vehicle is stuck once, it can pass through a route that is equal to or less than the limit of its own ability, and can run without being stuck again.

Preferably, the route calculating means calculates a route passing on a road having a smaller inclination than the stack point. According to this embodiment, an appropriate route can be obtained relatively easily.

[0010] Preferably, there is provided state acquisition means for acquiring the road surface condition of each road in the area including the stack point, and the route calculation means determines a route on which the vehicle can travel based on the road surface condition and the road inclination. calculate. According to this embodiment, not only the road inclination but also the road surface condition is considered, so that a more appropriate route can be obtained. That is, the climbing ability of the vehicle is affected by the road surface condition in addition to the road inclination. For example,
Even if the slope of a certain slope is smaller than the stack point, if the slope is slippery, the vehicle cannot travel. As a result of considering such factors, a route that is easier to travel than the stack point is accurately obtained.

[0011] For example, the stack detecting means detects the occurrence of a stack when the vehicle is stopped even though the wheels are rotating. Thus, the occurrence of a stack is automatically detected. Further, for example, the stack detection unit may detect occurrence of a stack when a predetermined operation is performed by a user.

[0012] Preferably, when there is no route that can reach the destination through a road that can travel with a lower ability than the required climbing ability at the stack point, it may be indicated that there is no reachable route. Good. The user can obtain appropriate information and can take appropriate measures such as changing the destination.

(2) A route guidance apparatus according to another aspect of the present invention stores map data storing map data including the road inclination of each road, and stores the vehicle's climbing ability characteristics based on the road inclination and the road surface condition. Climbing ability storage means, a state acquiring means for acquiring the actual road surface condition of each road, and traveling with the climbing ability characteristic based on the acquired road surface state of each road and the road inclination of each road in the map data. It includes a route calculating means for calculating a route through a possible road, and means for presenting the calculated route.

[0014] In this embodiment, the hill-climbing ability characteristic according to the road inclination and the road surface condition is stored. If the road slope is large, traveling is impossible even if the road surface condition is relatively good. If the road inclination is small, the vehicle can run even when the road surface condition is relatively poor. The route guidance device acquires information on the actual road surface condition of each road, while acquiring the inclination of each road from the map database. From these information, a route that can be passed within the range of the uphill ability is calculated. In this way, according to the present invention, it is possible to guide an appropriate route according to the ability of the vehicle.

(3) In the present invention, the route calculation may be performed by the vehicle, but may be performed by an information center that communicates with the vehicle. In the latter case, the above-described route calculation means is provided in an information center outside the vehicle, and the calculated route is sent to the vehicle by communication.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention (hereinafter, referred to as embodiments) will be described below with reference to the drawings.

Embodiment 1 FIG. 1 shows an entire configuration of a navigation device 10 having a route guidance function. The navigation device 10 includes a navigation control unit 12 (ECU) that controls the entire device, and a map data storage unit 20. The map data is used by the control unit 12 for calculation of the current position, route calculation, and route guidance.

In this embodiment, a three-dimensional map database is prepared. The three-dimensional map data is map data including the inclination of each road. In the present embodiment, map data is handled in units of road links. The inclination of each link may be represented in the map data in some form. For example, a maximum inclination angle may be added to each road link, and, for example, a length and a height difference between both ends may be added to each road link. Further, the inclination may be calculated from the altitude data of the nodes constituting the link.

Further, the navigation device 10 includes a GPS antenna 22, a gyro sensor 24, and a speed (wheel speed) sensor 26 used for position detection. A GPS (global positioning system) antenna 22 receives a radio wave from a GPS satellite and sends a received signal to the control unit 12. The gyro sensor 24 detects the traveling direction angle of the vehicle and sends it to the control unit 12, and the speed sensor 26
Detects the vehicle speed (wheel rotation speed) and sends it to the control unit 12. In the control unit 12, the vehicle position calculation unit 14 calculates the current position of the vehicle using the input information and the map data.

The operation input unit 28 is used by a user to input various instructions to the navigation device 10.
When the user operates the operation input unit 28 to input a destination, the route calculation unit 16 of the control unit 12 calculates an appropriate route from the current position to the destination. The route search calculation is performed by a method such as the Dijkstra method using map data.

When the route to the destination is set, the route guide unit 18 presents the route to the user using the display 30 and the speaker 32 as output means, and guides the user. A map including the current position is displayed, the set route is displayed so as to be distinguishable from other roads, and necessary information is output by voice at an intersection or the like.

The navigation device 10 further includes a longitudinal G sensor 34 for detecting the longitudinal acceleration of the vehicle. The front and rear G sensor 34 is used to determine whether or not the vehicle is stuck.

The communication unit 36 is used to obtain dynamic traffic information from an external information center. In the present embodiment, the communication unit 36 is used to acquire information on the road condition at each point in the area around the vehicle.

Referring to FIG. 2, navigation device 10
Will be described. As described above, when the user inputs a destination, a destination setting process is performed (S1).
0), a route from the current position to the destination is calculated (S)
12). Here, a route that reaches the destination in the shortest distance or the shortest time is searched. When the route is set, a process of presenting the route is performed (S14). Based on the current position, it is determined whether or not the vehicle has reached the destination (S16). When the vehicle has reached the destination, the route guidance ends.

If the vehicle has not arrived at the destination, it is determined whether or not the vehicle has stuck (S18). This determination is performed by the stack determination unit 19 in the navigation control unit 12 in FIG. FIG. 3 shows details of the stack determination process. In S30, it is determined whether or not the speed of the vehicle is zero. The vehicle speed is calculated from the wheel speed pulse signal input from the speed sensor 26. If the vehicle speed is not zero, it is determined whether the vehicle has moved based on the detection signal of the G sensor 34 (S32). If the acceleration of the vehicle does not change from zero, it is determined that the vehicle is not moving. If S32 is NO, it is determined that a stack has occurred (S34). This is because the vehicle does not move even though the wheels are rotating. If S32 is YES, it is determined that no stack has occurred (S3
6).

Although the output of the G sensor 34 is used in FIG. 3, a similar determination may be made using a GPS signal in a modified example. That is, if the position coordinates calculated from the GPS signal do not change, it is determined that the vehicle is not moving. If the vehicle does not move even though the vehicle speed is not zero, it is determined that a stack has occurred.

In another modification, the operation input unit 28 is provided with a stack notification switch. The user presses the notification switch when the vehicle is stuck. When this operation is performed, the stack determination unit 19 determines that the vehicle has stuck.

Returning to FIG. 2, if it is determined in S18 that the vehicle is not stuck, the flow returns to S14 to continue the route guidance. On the other hand, when it is determined in S18 that a stack has occurred, a re-search process for finding a detour is performed (S2).
0). The detour search is performed by the detour calculation unit 1 of the route calculation unit 16.
6a.

In step S20, based on the road inclination, a route which can be traveled with a lower ability than the climbing ability required to run through the stack point where the vehicle is currently located is calculated.
With such a route, the vehicle can travel without being stuck with its own ability. Specifically, a route that passes through a road having a smaller inclination than the stack point is calculated. That is, the route calculation unit 16 calculates the inclination angle of each road in a predetermined area including the stack point and the destination. The information on the inclination angle is obtained from the three-dimensional map data in the map data storage unit 20. Then, a route that reaches the destination through a road that is smaller in inclination than the stack point is calculated.

The route search is performed by a method such as the Dijkstra method as in the initial search processing. At this time, for example, a road link having a slope equal to or higher than the stack point is excluded from the calculation target. Further, for example, a plurality of route candidates are calculated, and then a route candidate that does not include a road link having a large inclination is selected.

In S22, it is determined whether an appropriate detour has been found. If there is a detour, the process returns to S14 to guide the detour. When S22 is NO, the display 30 and the speaker 3 indicate that there is no detour.
2 is notified to the user (S24).

Referring to the example of FIG. 4, the destination D of the vehicles A and B is a ski slope on the middle of the mountain 100. Initial route 1
02 is the shortest route to the destination D. Vehicle A is a normal two-wheel drive vehicle, vehicle B is a four-wheel drive vehicle, and the initial route is the same for both vehicles.

It is assumed that the vehicle A is stuck at the point Sa.
The vehicle A is provided with a detour route that passes only through road links having a slope smaller than the slope a of the point Sa.

On the other hand, since the vehicle B has a higher climbing ability than the vehicle A, the vehicle B is stacked at the point Sb where the inclination is larger than the point Sa. For the vehicle B, the inclination b of the point Sb (b>
a) A detour is provided that only passes through road links with a smaller slope. As a result, a route that reaches the destination D at a shorter distance than the vehicle A is guided.

As described above, according to the present embodiment, the detour route is calculated based on the road conditions at the stack point.
The stack point is a point corresponding to the limit of the climbing ability of the vehicle, and the stack point differs depending on the ability of the vehicle. Therefore, by using the stack point as a reference, an appropriate route according to the ability of each vehicle is provided. As a result, after the vehicles (for example, vehicles A and B in FIG. 4) are stacked once, they can reach the destination through a route that is equal to or less than the capacity limit of the vehicle without stacking again.

Further, as described in S22 and S24 in FIG. 2, when an appropriate route cannot be found, the user is notified of the fact. The user can know that there is no possibility of reaching the destination, and can take appropriate measures such as turning back or changing the destination. It is also preferable to provide the user with an instruction for returning and an alternative to the destination.

Embodiment 2: "Route calculation process using road surface condition" In the above-described embodiment 1, when a stack occurs, a route that can be traveled is searched based on the road inclination. However, whether or not the vehicle can run depends not only on the inclination of the road but also on the condition of the road surface. When the condition of the road surface is bad, it is impossible to travel even if the inclination is small. Conversely, if the condition of the road surface is good, it is possible to travel on a road that is steeper than the stack point. Therefore, the route guidance device of the present embodiment calculates the route based on the road surface state information acquired from the outside in addition to the road inclination.

In the present embodiment, "bad road degree" is used as information indicating the road surface condition of each road. The degree of bad road is a parameter indicating how bad the road is. The degree of bad road is determined based on the amount of snow, the temperature, the frozen state, the traffic volume, and the like, and is represented by numerals such as 1, 2, 3,. i) the more snow, the more ii) the lower the temperature, the more i
ii) When it is frozen, iv) The degree of bad road is set to be larger as the traffic volume is smaller.

In FIG. 5, the horizontal axis is the inclination angle of the road, and the vertical axis is the degree of bad road. A vehicle has an inclination angle of 4
° Assume that the vehicle is stuck at a point of bad road degree 3. The line m indicates the condition of the road where the stack is likely to occur as well as the point where the stack actually occurred. That is, the line m indicates the limit of the climbing ability of the vehicle. The larger the inclination angle, the more the vehicle gets stuck even if the degree of the rough road is low. Conversely, if the inclination angle is small, a stack occurs when the degree of the rough road is higher than the stack point.

Accordingly, in FIG. 5, the line m and the upper side thereof are non-travelable areas, while the lower side of the line m is a travelable area. In the runnable area, the vehicle can run without the ability to run through the stack point.

Therefore, in the present embodiment, as described below, when a stack occurs, a detour route passing through a road belonging to the travelable area in FIG. 5 is calculated. As a result, a route that passes through a road that can travel with a lower ability than the required uphill ability when trying to run through the stack point is calculated.

Referring to FIG. 1, an information center 40 is a facility that communicates with a large number of vehicles and provides useful information. The degree of bad roads on each road is monitored by the information center 40. That is, the information center 40 constantly collects information such as the amount of snow on each road, the temperature, the frozen state, the traffic volume, and the like, and updates the bad road degree of each road at regular intervals based on the information. . The vehicle-side navigation control unit 12 performs data communication with the information center 40 using the communication unit 36, and acquires information on a required degree of bad road.

FIG. 6 shows the operation of the route guidance device of the present embodiment. The processing up to the stack determination step of S18 is the same as in FIG. When it is determined in S18 that the stack has occurred, the navigation control unit 12 acquires the bad road degree information from the information center 40 using the communication unit 36 (S60). The control unit 12 requests bad road degree information of each road in a predetermined area around the stack point and the destination. In response, the information center 40 transmits the information of the corresponding area.

In S62, the detour calculating unit 16a of the route calculating unit 16 calculates a route based on the information on the degree of bad road obtained by communication and the information on the inclination angle of each road obtained from the map data. Here, a route that only passes through the roads belonging to the travelable area shown in FIG. 5 is calculated. Preferably,
A road belonging to the travelable area is selected, and a route is obtained using the selected road. Alternatively, the route may be calculated first, and then it may be determined whether or not the route includes only a travelable road.

The route calculation unit 16 may determine whether each road belongs to the drivable area in FIG. 5 by using an appropriate calculation formula (such as an inverse proportional formula) indicating the determination line m. Also, other suitable mapping functions may be used. It is also preferable to prepare a map or a table corresponding to the mapping function in advance. That is, a large number of lines obtained by slightly shifting the line m in FIG. 5 are prepared and stored in advance. Then, a line corresponding to the road inclination and the road surface state at the stack point is selected.

FIG. 7 shows that the operable area is different depending on the equipment specifications such as the vehicle weight, the driving method, and whether or not snow tires are mounted. The vehicle C is a four-wheel drive vehicle, and the vehicle D is a normal two-wheel drive vehicle. In this example, the vehicle C stuck at a point with an inclination angle of 4 ° and a degree of bad road 3, and the vehicle D stuck at a point with an inclination angle of 6 ° and a degree of bad road 1.

Lines mc and md in FIG. 7 show the conditions of the road where the vehicles C and D are likely to be stuck similarly to the point where the stack actually occurred, as in FIG. On each line, the conditions are the same as the stack point from the viewpoint of the ability to drive on rough roads. Since the vehicle C has a higher ability, the line mc is above the line md.
Therefore, the travelable area of the vehicle C is wider than the travelable area of the vehicle D. As a result, in the detour route search processing,
Vehicle C can calculate a route using more roads than vehicle D.

As described above, according to the present embodiment, it is possible to obtain a route according to the ability of the vehicle. In particular, an appropriate route can be obtained by referring to the road surface condition in addition to the road inclination. That is, it is avoided that the vehicle travels on a "road having worse conditions than the stack point because the road surface condition is poor even if the slope is gentle". In addition, "a road having better conditions than the stack point because the road surface condition is good even when the inclination is steep" can be included in the route.

In the present embodiment, the degree of bad road obtained from the totaling result of various conditions such as snow cover is used as the information of the road surface condition. However, the road surface condition is not limited to this. For example, the snow amount may be used as a parameter of the road surface condition. The road surface friction coefficient itself may be used as a parameter of the road surface state.

It is also preferable that each vehicle detects the road surface condition and sends the road surface condition to the information center together with the current position. The information center stores road surface conditions sent from many vehicles. Then, in response to a request from each vehicle, a road surface condition of each road in a necessary area is transmitted. An in-vehicle device capable of detecting a road surface state is disclosed in, for example, Japanese Patent Application Laid-Open No. H8-1057.
No. 52 has proposed this.

Embodiment 3: "Configuration for pre-storing uphill performance characteristics" In the above embodiment, the detour path was calculated after the occurrence of a stack. On the other hand, the route guidance device according to the present embodiment stores the climbing ability characteristic in advance, and sets an appropriate route from the beginning using the characteristic.

FIG. 8 shows a navigation device with a route guidance function according to this embodiment. The same components as those in FIG. 1 are denoted by the same reference numerals, and descriptions of items that are the same as those in the above-described embodiment will be appropriately omitted.

As shown in FIG. 8, in the present embodiment, a switch for inputting the equipment specifications of the vehicle to the operation input unit 28 is added. Two-wheel drive SW52 and four-wheel drive SW54 for inputting the driving method, normal tire SW56 and snow tire SW for inputting the mounted tire
58 are provided.

The uphill ability characteristic map storage section 60 stores
A plurality of uphill ability characteristic maps 62 to 68 respectively corresponding to specifications of a plurality of vehicles are stored. Maps 62-68
Are maps of "2WD and normal tire", "2WD and snow tire", "4WD and normal tire", and "4WD and snow tire", respectively.

FIG. 9 shows one characteristic map. A characteristic line F indicates the limit of the climbing ability of the vehicle. On a road in which the combination of the road inclination and the degree of bad road belongs to an area above the line F (impossible area), the vehicles are stuck. Conversely, on a road belonging to an area below the line F (a travelable area), the vehicle can travel without being stuck.

FIG. 10 also shows characteristic lines F2n, F2s, F4n, and F4s corresponding to the above four types of equipment specifications. Since the ability to climb a rough road changes according to the equipment specifications, the characteristic line is also different.

Next, the operation of the route guidance apparatus according to the present embodiment will be described with reference to FIG. When the user inputs a destination, a destination setting process is performed (S110). Next, road surface state information (degree of bad road) of each road in the area including the current position and the destination is acquired from the information center (S1).
12). As described in the previous embodiment, the information center monitors the actual degree of bad road on each road. Then, in response to a request from the vehicle, bad road degree information is returned.

Next, the navigation control unit 12 reads a map corresponding to the equipment specifications of the vehicle from the uphill ability characteristic map storage unit 60 (S114). The specification equipment is set by the user using the switches 52 to 58 of the operation input unit 28.

In S116, the route calculation unit 1 of the control unit 12
6 calculates a route that can reach the destination with the ability of the vehicle, based on the slope performance characteristic map, the inclination of each road obtained from the map data, and information on the degree of bad road obtained from outside. Here, a route that reaches the destination through a road belonging to the travelable area of the uphill ability characteristic map is calculated.

In S118, it is determined whether an appropriate route has been found. If a route that passes only through the road in the travelable area is not obtained, S118 is NO, and the user is notified that the route cannot be set (S120).

If S118 is YES, the route guidance unit 18
Guides the set route using the display 30 and the speaker 32 (S122). Whether or not the vehicle has reached the destination is determined based on the current position information (S124). If the vehicle has not arrived, the guidance process is continued, and if it has arrived, the guidance process ends.

As described above, according to the present embodiment, the ability of the vehicle is stored in advance, and a route is set on a road on which the vehicle can travel based on that ability. You can reach your destination. In particular, by utilizing the road inclination and the road surface condition, an appropriate route is accurately and reliably obtained.

In the present embodiment, a plurality of maps corresponding to a plurality of equipment specifications are prepared, and one of them is selected. However, only one map corresponding to the vehicle may be prepared.

In this embodiment, the equipment specifications of the vehicle are input by the user. However, it is also preferable to connect the navigation control unit 12 to various types of in-vehicle ECUs and acquire equipment specification information from these ECUs.

In the present embodiment, the calculation using the map, that is, the route calculation based on the hill-climbing ability characteristic is performed at the stage of the first route setting. However, as in the first embodiment, the calculation based on the stored climbing ability characteristics may be performed after the stack is generated. In this case, FIG.
1 is added to the navigation control unit 12 of FIG.

Embodiment 4: "Route Calculation by Information Center" In the above-described embodiment, the route calculation is performed by the vehicle-mounted device. However, the route calculation may be performed at the information center, and the calculated route may be sent to the vehicle by communication. That is, the route calculation unit is provided outside the vehicle. Such a configuration is also included in the technical scope of the present invention.

FIG. 12 shows a route guidance system according to this embodiment. The navigation device 10 has a basic configuration similar to that of the above-described embodiment. The information center 40 includes a center control unit 42 and a communication unit 44 for performing data communication with a vehicle.
And a map data storage unit 46 for storing three-dimensional map data
And a road condition storage unit 48 for storing information on the degree of bad road of each road, and a climbing ability map storage unit 49 for storing a plurality of climbing ability characteristic maps according to the equipment specifications of the vehicle.

The control section 42 has a rough road degree setting section 42a. The setting unit 42a acquires information such as the amount of snow on each road, the frozen state, and the like from outside through communication or the like. Then, the degree of bad road on each road is determined using the acquired information, and the determined bad road degree is stored in the road surface state storage unit 48. In addition, the control unit 42 includes a route calculation unit 42b that searches for a route for each vehicle.

The operation of the route guidance system according to this embodiment will be described.

(1) Processing when a Stack Occurs When the vehicle is stuck, the in-vehicle navigation device 10 determines the stack point (own vehicle position) and the destination by the information center 4.
Send to 0. In the information center 40, the route calculation unit 42b searches for a route from the stack point to the destination.
At this time, using the three-dimensional map data, a route that passes only on a road whose inclination is smaller than the stack point is searched. More preferably, as described with reference to FIGS. 5 to 7, a route that can be driven on a road that can travel is calculated based on the inclination of each road and the degree of bad road degree information. The calculated route is transmitted to the vehicle-mounted device. The in-vehicle device presents the received route to the user.

(2) Initial Route Setting When the destination is input by the user, the in-vehicle navigation device 10 sends information indicating the equipment specifications of the vehicle to the information center 40 together with the current position and the destination. In the information center 40, a climbing characteristic map corresponding to the received equipment specification is read. Then, a route to the destination is calculated based on the characteristic map, the road inclination and the bad road degree information. The calculated route is transmitted to the in-vehicle device, and the in-vehicle device presents the received route to the user.

As described above, according to the present embodiment, since the route calculation is performed in the information center, the load on the vehicle-mounted device can be reduced. Then, accurate information can be provided to the vehicle in a short time by using the abundant information and the calculation ability of the information center.

Also in this embodiment, if the route calculation unit cannot find an appropriate route, a route setting addition message is sent to the vehicle-mounted device via communication and presented to the user by the vehicle-mounted device.

[0074]

As described above, according to the present invention, it is possible to obtain an appropriate route according to the uphill ability of each vehicle on a rough road. Therefore, the vehicle can be guided along an appropriate route even under bad conditions such as snowfall, and the usefulness of the route guidance device can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a route guidance device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a route guidance process performed by the apparatus shown in FIG. 1;

FIG. 3 is a flowchart illustrating a stack determination process in FIG. 2;

FIG. 4 is a diagram illustrating an example of a route guided by the apparatus of FIG. 1;

FIG. 5 is a diagram showing conditions of a road that can travel using an inclination angle and a degree of a bad road.

FIG. 6 is a flowchart illustrating a route guidance process according to the second embodiment.

FIG. 7 is a diagram showing that conditions of a road on which a vehicle can travel differ according to a difference in ability of a vehicle;

FIG. 8 is a diagram illustrating a configuration of a route guidance device according to a third embodiment.

FIG. 9 is a view showing a climbing ability characteristic map stored in the apparatus of FIG. 8;

FIG. 10 is a diagram showing four types of uphill ability characteristic maps according to the specifications of the vehicle.

11 is a diagram showing a route guidance process by the device of FIG.

FIG. 12 is a diagram illustrating a route guidance system according to a fourth embodiment.

[Explanation of symbols]

Reference Signs List 10 navigation device, 12 navigation control unit, 14 own vehicle position calculation unit, 16 route calculation unit, 16a
Detour calculation unit, 18 route guidance unit, 20 map data storage unit, 22 GPS antenna, 24 gyro sensor, 26 speed sensor, 28 operation input unit, 30
Display, 32 speakers, 34 front and rear G sensor,
36 communication unit, 40 information center.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) G09B 29/10 G09B 29/10 A F-term (Reference) 2C032 HB06 HB21 HC02 HD16 HD24 2F029 AA02 AB01 AB07 AB09 AB12 AB13 AC02 AC03 AC09 AC13 AC14 AC18 5C086 CA21 CA22 CB27 DA40 EA41 FA06 GA02 5H180 AA01 BB04 CC12 CC27 DD01 EE02 EE13 FF04 FF05 FF12 FF22 FF25 FF27 FF35

Claims (12)

[Claims] 1. A route guidance device for guiding a traveling route of a vehicle, wherein: a map storage means for storing map data including a road inclination of each road; a position detection means for detecting a current position of the vehicle; A stack detecting means for detecting that the vehicle is stuck, and a route for calculating, based on the road inclination included in the map data, a route that can travel with a lower ability than the hill-climbing ability required to travel through the stack point when the vehicle is stuck A route guidance device comprising: a calculating unit; and a unit that presents the calculated route. 2. The route guidance device according to claim 1, wherein the route calculation means calculates a route passing on a road having a smaller inclination than a stack point. 3. The route guidance device according to claim 1, further comprising a state acquisition unit that acquires a road surface state of each road in an area including a stack point, wherein the route calculation unit is configured to calculate the road surface state based on the road surface state and the road inclination. And calculating a route on which the vehicle can travel. 4. The route guidance device according to claim 3, wherein the road surface condition is information indicating a degree of a bad road. 5. The route guidance device according to claim 1, wherein the stack detecting means detects the occurrence of a stack when the vehicle is stopped despite the rotation of the wheels. Route guidance device. 6. The route guidance device according to claim 1, wherein the stack detection unit detects occurrence of a stack when a predetermined operation is performed by a user. 7. The route guidance device according to claim 1, wherein the route is reachable when there is no route that can reach the destination through a road that can travel with a lower ability than the climbing ability required at the stack point. A route guidance device for presenting that there is no simple route. 8. A route guidance device for guiding a traveling route of a vehicle, wherein: a map storage means for storing map data including a road inclination of each road; and a slope climbing capability characteristic of the vehicle based on the road inclination and road surface condition. Climbing ability storage means; state acquiring means for acquiring the actual road surface condition of each road; traveling is possible with the above-mentioned climbing ability characteristic based on the acquired road surface condition and the road inclination of each road in the map data. A route guidance device comprising: a route calculation unit that calculates a route that passes through a simple road; and a unit that presents the calculated route. 9. The route guidance device according to claim 8, wherein the traveling ability characteristic is determined according to a specification of the vehicle. 10. The route guidance device according to claim 8, further comprising: a stack detection unit that detects that the vehicle is stuck, wherein the route calculation unit is configured to determine whether the vehicle is stuck based on the climbing ability characteristic. A route guidance device for calculating a route. 11. The route guidance device according to claim 8, wherein when there is no route that can reach a destination through a road that can travel with the climbing ability characteristic, it is presented that there is no reachable route. A route guidance device, characterized in that: 12. The route guidance device according to claim 1, wherein the route calculation means is provided in an information center outside the vehicle, and the calculated route is sent to the vehicle by communication. .