JP2000304560A - Device and method for searching route, and medium storing computer program for searching course - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically select a guide route by discriminating a relationship between the current position of a mobile body and each guide route from a start point to an end point which are searched under a plurality of search conditions, and selecting one guide route, based on it. SOLUTION: Priority tables PTD1-PTD3 are read out of a RAM, and a route to a guide destination point is searched in the order of priority under a searching condition corresponding to it. The route is displayed on a display while a required time, route length, and traffic fee, etc., are reported in a voice. A user selects another course after searching of each course, and a route specifying process is performed when no selection is made. When a mobile body starts with a plurality of routes searched, a route among a plurality of routes, in which the mobile body is traveling is automatically judged, and a route selecting process is finished if the mobile body is judged to travel a single searched route.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device for searching a moving route of a moving body based on map information and transmitting the information of the moving route to a driver of the moving body. In particular, the present invention relates to a route search device, a route search method, and a medium storing a computer program for route search, in which the algorithm and method of selecting a plurality of searched travel routes are improved.

[0002]

2. Description of the Related Art Conventionally, a navigation device has a function of specifying the current position of a mobile object based on radio waves emitted from a plurality of sanitary orbits mounted on the mobile object and orbiting the earth. The navigation device has an extremely effective function of supporting the movement from the current position of the moving object to the designated destination by using the function of specifying the current position of the moving object. That is, various information such as a map is displayed on the attached display device, and the user specifies a desired destination based on the various information.

[0003] When a destination is designated, a plurality of routes representing a route from the current position of the moving object to the destination are searched according to different conditions. The different conditions are
For example, there are conditions under which the route of the route is the shortest, conditions under which the arrival time at the destination is the shortest, conditions under which the financial cost is the minimum, and the like. Then, when one route is selected from a plurality of routes according to the user's preference, guidance based on the selected route is started.

[0004] Further, various information displayed by the navigation device includes detailed information such as features of each facility on the map, telephone numbers, addresses, and the like. Therefore, when a destination is specified, the destination may be specified using such detailed information. Furthermore, geographical information such as traffic information or parking information on each road can be exchanged between a navigation device and a road information notification station such as VICS (road traffic information communication system) or ATIS (traffic information service). It has been.

That is, geographical information on roads and parking lots is collected by an information collection center such as the National Police Agency, the Japan Road Traffic Information Center, or the parking lot management center.
This collected information includes optical beacons, radio beacons, F
It is transmitted to the navigation device by a communication means such as an M multiplex (frequency modulation multiplexing) radio broadcast or a radio telephone. This geographical information is
It is used for searching for a route and specifying a destination.

[0006]

As described above, the search for the route from the current position of the moving object to the destination based on the provided map information or the geographic information received from the road information notification station is performed according to each search condition. This is achieved by the continuous extraction of suitable roads. For example, if the search condition is that the user wants to reach the destination earlier (the user arrives at the destination in the shortest time), a route that makes full use of a road with a higher legal speed, such as an expressway, is searched. If the user wants to reach the destination with the minimum cost, a route that bypasses the toll road is searched.

As described above, when a plurality of routes are searched according to different search conditions, it takes a certain amount of time to complete the search for all the routes. In particular,
If the destination is far away, it will take more time.

Therefore, when a plurality of routes are searched, the user must wait until all the plurality of routes have been searched. In addition, if the search condition of the route frequently used by the user is the third search condition at the time of searching for a plurality of routes, the user has to wait until the third route is searched each time the route is searched. In other words, unless two unused routes have been searched, a route that matches the user's preference will not be searched, and the user will always wait for useless time.

When a plurality of routes are searched simultaneously, guidance may not be started until one of the plurality of routes is selected by the user.
That is, even if a user sets a destination and a plurality of routes are searched, an inconvenient state in which route guidance by voice or the like is not started may be continued unless one route is selected as a guidance target.

[0010]

In order to solve the above-mentioned problems, the present invention provides a method for searching for a plurality of guide routes to an end point, based on a relationship with a current position of a moving object. At least one of the guide routes is selected. For example, only the guide route on which the moving body is traveling is selected. Therefore, an unnecessary guide route in which the moving object is not traveling can be excluded from the plurality of searched guide routes.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION SUMMARY OF THE EXAMPLE When it is determined that the moving trajectory of the moving object is running on only one of the searched routes, the only route is regarded as the designated route. When one route is not designated by the user as a guidance target, the priority is changed as needed so as to increase the priority of the search condition for the designated route. When searching for multiple routes to a destination,
A priority is set for the search condition of each route, and the search is performed first from the route having the higher search condition. further,
During or after a route search, if one of the searched routes is specified as a route to be guided / displayed, the priority is changed as needed so that the search condition of the specified route has a higher priority. The navigation device of the present invention described below includes an identification means (step SC2 in FIG. 13) for identifying a traffic route that matches the current position of the moving object, and the priority of the route search condition (priority tables PTD1, PTD2, PTD
3) priority determination means (step SB in FIG. 8)
1) and the route to the destination is sorted according to the priority of the search condition or
The route search means (steps SB3, SB11, SB19 in FIG. 8) for searching a plurality of routes in the reverse order of priority and the route including the traffic route identified by the identification means are the only search routes (FIG. 13). Step SC8), a route selecting means (step SC22 in FIG. 13) for setting the searched route as the selected route, and an information notifying means for notifying the traveling guide information of the moving object on the route selected by the route selecting means ( Step SA6) of FIG.

Further, the navigation device of the present invention may further include a priority changing means (step SC24 in FIG. 13) for changing the priority of each search condition according to the route selected by the route selecting means. Features.

2. FIG. 1 shows an entire circuit of a navigation device including a route search device, a navigation device, and a medium storing a computer program for navigation processing according to the present invention. The central processing unit 1 controls the operation of the entire navigation device. The central processing unit 1 includes a CPU (central processing unit) 2, a flash memory 3, and a ROM (Read).
Only Memory) 4, RAM (Random)
Access Memory 5, sensor input interface 7, communication interface 8, image processor 9, image memory 10, audio processor 11, and clock 14
Composed of Each of the CPU 2 to the clock 14 is a CPU
They are interconnected by a local bus 15. Under the control of the CPU 2, transmission and reception of various information data are performed between devices such as the flash memory 3.

The flash memory 3 is composed of an electrically erasable and writable memory (EEPROM) or the like. The flash memory 3 (internal storage medium / means) includes an information storage unit 3 such as an optical disk or a magneto-optical disk.
7 (external storage medium / means) is transcribed and stored (installed / transferred). In addition, the flash memory 3
May store a program transmitted from an external device such as a road information reporting station or a main information processing device via the data transmitting / receiving device 27.

That is, in the flash memory 3, the CD-
A program stored in a ROM or an external information center or the like is transferred and stored. Therefore, if a program stored in the flash memory 3 is changed, processing by a new routine becomes possible. This program 3
8b is a program corresponding to each flowchart described later, and is various processing executed by the CPU 2. For example, there are information display control and voice guidance control.

Note that another operating system, a system program (OS), and other programs are stored in the apparatus in advance, and the above-described program may be executed together with the OS and other programs. This program only needs to be able to execute the processes and functions described in the claims together with another program or alone when installed and executed in the present apparatus (computer body).

Further, part or all of the program is stored and executed in one or more other devices other than the present device, and data to be processed from now on is communicated between the present device and another device via communication means. The present invention may be executed by transmitting / receiving already processed data / programs and as a whole of this apparatus and another apparatus. These communication means include a data transmission / reception device 27, a transmission / reception device of a mobile phone, and an Internet transmission / reception device, which will be described later. The other device is installed in a center such as ATIS or VICS.

The installation (transfer / copy) is automatically executed when a new information storage unit 37 is set in the navigation device or when the power of the navigation device is turned on. Alternatively, it may be installed by a manual operation by a user. The information storage unit 37 stores disk management information 38a including a label, a file identifier, and the like, and the updated version of the program in the information storage unit 37 is determined based on the disk management information 38a. The information storage unit 37 can be replaced with another information storage unit 37. Therefore, whether or not the new information storage unit 37 has been set is determined based on the information content of the disk management information 38a.

For example, since a program and management information relating to the program are stored in the flash memory 3, when a new information storage unit 37 is set, the management information of the flash memory 3 and the disk management information 38
a is compared. When it is determined that the information storage unit 37 including the new program has been set, the program 38b of the information storage unit 37
Installed in As a result, the latest programs and data are always stored in the flash memory 3. As a result, the latest navigation device is realized by replacing the information storage unit 37.

The information stored in the flash memory 3 includes various parameters used in the navigation operation. The ROM 4 stores display graphic data and various general-purpose data. The display graphic data is various data required for route guidance and map display displayed on the display 33. The various types of general-purpose data are various data used at the time of navigation, such as voice waveform data obtained by synthesizing a guidance voice or recording a real voice.

The RAM 5 stores data input from the outside, various parameters used for calculation, calculation results, a navigation program, and the like.
That is, the RAM 5 is used as a cache memory, a working memory, and the like. The clock 14 includes a counter and a battery backup RAM or an EEPROM. The clock 14 outputs time information.

The sensor input interface 7 has an A / D
It is composed of a conversion circuit or a buffer circuit. Each sensor of the current position detecting device 20 is connected to the sensor input interface 7. Current position detection device 2
From each of the sensors 0, sensor data of an analog signal or a digital signal is input to the sensor input interface 7. The sensors of the current position detecting device 20 include an absolute direction sensor 21, a relative direction sensor 22, a distance sensor 23, a vehicle speed sensor 24, and the like.

The absolute azimuth sensor 21 is, for example, a terrestrial magnetism sensor, and detects the direction of terrestrial magnetism. Then, the absolute direction sensor 21 outputs data indicating the north-south direction as the absolute direction. The relative direction sensor 22 is, for example, a steering angle sensor using a gyro device such as an optical fiber gyro or a piezoelectric vibrating gyro. The steering angle of the wheel is detected by the steering angle sensor. The relative azimuth sensor 22 outputs the relative angle of the traveling direction of the moving body with respect to the absolute azimuth detected by the absolute azimuth sensor 21.

The distance sensor 23 is composed of, for example, a counter linked to a traveling distance meter. From the distance sensor 23, data indicating the traveling distance of the moving body is output. The speed sensor 24 is constituted by a counter or the like connected to a speed meter. From the speed sensor 24, data proportional to the traveling speed of the moving body is output.

An I / O data bus 28 is connected to the communication interface 8 of the central processing unit 1. This I /
The O data bus 28 includes the GPS of the current position detecting device 20.
The receiving device 25, the beacon receiving device 26, the data transmitting / receiving device 27, and the like are connected. Further, the I / O data bus 28 includes a touch switch 3 of the input / output device 30.
4, a printer 35 and a data transmission / reception unit 39 for reading data from the information storage unit 37 are connected. That is,
The communication interface 8 allows each accessory device and CPU
Various data is exchanged with the local bus 15.

As described above, the current position detecting device 20 outputs data for detecting the current position of the moving body. That is, the absolute azimuth sensor 21 detects the absolute azimuth. The relative azimuth sensor 22 detects a relative azimuth with respect to the absolute azimuth. Further, the traveling distance is detected by the distance sensor 23. The traveling speed of the moving body is detected by the speed sensor 24. On the other hand, the GPS receiver 25
PS (Global Positioning System)
em) (microwaves from a plurality of orbiting satellites), and geographical position data such as the latitude and longitude of the mobile object is detected.

Also, the beacon receiving device 26 sets the VI
A beacon wave transmitted by a road information station such as a CS (road traffic information communication system) is received. Then, from the beacon receiving device 26, information on nearby roads (VICS data) or GPS correction data,
It is output to the / O data bus 28. The beacon wave includes a radio beacon, an optical beacon, and the like, but a beacon wave used in VICS can be received only in a relatively narrow geographic range. Therefore, reception of VICS data is not performed unless the moving body on which the navigation device of the present invention is mounted passes near an information transmitting device (such as a transmitting antenna) that transmits a beacon wave.

The information transmitting apparatus is installed near a road facility such as an intersection at a certain distance (above the road or on the ground surface of the road) on a main road. The VICS data transmitted as a beacon wave from each information transmission device indicates the traffic state of each road in the vicinity of the information transmission device transmitting this beacon wave, for example, within a radius of 10 km around the information transmission device. Contains data. The data indicating the traffic state includes comprehensive information such as traffic congestion, congestion, impassable traffic, and the degree of congestion due to the size of traffic, and traffic regulation information such as suspension of construction work. The road having this traffic regulation information is a road that is not suitable for traveling. In addition, each information transmission device is VI
It is controlled by a road information station such as CS.

As the data transmitting / receiving device 27, an FM multiplex radio wave receiver, a cellular phone, a telephone line, or the like is used. ATIS (traffic information service) performs two-way communication such as a telephone line. Further, when information is received from the VICS center by the FM multiplex radio receiver, it is only reception. Further, when bidirectional communication such as a telephone line is performed with the ATIS or VICS center, an area for which information on road traffic information or information on a parking lot or the like can be selected. For example, it is possible to receive traffic information such as only the road conditions near the destination or the congestion status of each road over a wide range from the departure point to the destination. These pieces of information are used as operation assistance information such as a route search. The beacon receiving device 26 and the data transmitting / receiving device 27 may include only one of them, or may include both of them. This data transmitting / receiving device 27 includes:
It may be a radio receiver, television receiver, mobile phone, transceiver, pager, modem or other wireless communicator.

The input / output device 30 includes a display 33, a touch switch 34, a printer 35, and the speaker 13. The display 33 displays route guidance information during the navigation operation. Touch switch 3
4 is attached on the screen of the display 33, and a plurality of transparent touch switches are arranged in a planar matrix. The transparent touch switch is configured by, for example, a contact switch configured by a transparent electrode, a piezoelectric switch, or the like. From the touch switch 34, information necessary for setting a destination, such as a departure point, a destination, and a passing point, is selected and input to the navigation device.

The printer 35 prints various information such as maps and facility guides output via the communication interface 8. Each information is notified to the user by voice from the speaker 13. Note that the printer 35 may not be provided.

As the display 33, CR
A device that can display image information such as a liquid crystal display or a plasma display is used. However, a liquid crystal display with low power consumption, high visibility, and light weight is preferable as the display 33. As the display 33, a wide liquid crystal display having a wider screen may be used, or two or more separable liquid crystal displays may be arranged in parallel. Then, independent information may be displayed on each liquid crystal display, or continuous map information over a plurality of liquid crystal displays may be displayed.

The image processor 9 connected to the display 33 is connected to an image memory 10 such as a DRAM (Dynamic RAM) or a dual-port DRAM. Then, the image processor 9 controls writing of image data to the image memory 10. Further, under the control of the image processor 9, the image memory 10
Is read out from the device, and an image is displayed on the display 33.

The image processor 9 converts map data and character data into display image data in accordance with a drawing command from the CPU 2, and writes the converted image data into the image memory 10. At this time, an image around the screen, which is displayed on the display 33 for scrolling the screen, is also formed.
The data is written to the image memory 10 at the same time.

The audio processor 11 is connected to the speaker 13. The audio processor 11 is connected to the CPU 2 and the ROM 4 via the CPU local bus 15. Then, the voice waveform data for the guidance voice read from the ROM 4 is input to the voice processor 11 by the CPU 2. The audio waveform data is converted into an analog signal by the audio processor 11 and output from the speaker 13. The audio processor 11 and the image processor 9 may be configured by a general-purpose DSP (digital signal processor) or the like. Alternatively, these functions may be substituted by the CPU 2 without the audio processor 11 and the image processor 9.

An information storage section 37 is connected to the I / O data bus 28 via a data transmission / reception section 39. The information storage unit 37 stores disk management information 38a, a program 38b for controlling each navigation operation, and data 38c such as map information. The disc management information 38a stores information on data and programs stored in the information storage unit 37. Data necessary for the navigation operation, such as road map data, is recorded in the data 38c in a nonvolatile manner. The information storage unit 37 is provided with an I / O data bus 28.
Is connected to a data transmission / reception unit 39 for performing data read control.

Further, as the information storage unit 37 of the present invention,
Not only optical memories such as CD-ROMs and DVD-ROMs but also the following devices may be used. For example,
A recording medium such as an IC memory, a semiconductor memory such as an IC memory card, or a magnetic memory such as a magneto-optical disk, a hard disk, or a floppy disk may be used. When the recording medium of the information recording unit 37 is changed, the data transmitting / receiving unit 39 is provided with a data pickup adapted to the changed recording medium. For example, if the recording medium is a hard disk, the data transmission / reception unit 39 includes a magnetic signal writing / reading device such as a core head. further,
A system for externally reading the navigation program and data via the data transmitting / receiving device 27 may be used. By such external reading, the latest or necessary programs or data are stored and updated as appropriate. Further, the information storage unit 37 is omitted and the flash memory 3 or the RAM of the central processing unit 1 is omitted.
5 may store this program or data directly.

The data 38c of the information storage unit 37 includes map data, intersection data,
It includes node data, road data, photograph data, destination point data, guide point data, detailed destination data, destination reading data, house shape data, and other data. Also,
By the program 38b stored in the information storage unit 37,
The navigation operation is performed using the road map data of the data 38c. The other data 38c includes display guidance data, voice guidance data, simplified guidance route image data, and the like.

Further, as the data of the data 38c, there is also included a link data file F17 corresponding to the link number sent from the road information station and indicating the correspondence relationship with the road number of each road stored in the data 38c. .

The data 38c of the information storage unit 37 stores map data of different scales or map data of one scale. That is, data 38
Either a map of the same area and different scales are recorded in c, or only map data of one scale is recorded in the data 38c. When map data of one scale is recorded, the scale is determined so that detailed information can be displayed when the map is enlarged and displayed on the display 33.

It should be noted that only one map data is the data 38
When a small-scale map, that is, a map with a wide geographical area (wide-area map) is displayed on the display 33 in the case where the information is recorded in the data c, information is thinned out from the map data recorded in the data 38c and displayed. You. This data 38c
In the thinned display of the map data, not only the geographical distance of each road and the like is reduced, but also the thinned display symbol information of facilities and the like. That is, the display about the large facility or the main facility is mainly performed, and the small facility below the predetermined value is not displayed.

3. FIG. 2 shows the contents of each data file stored in the data 38c of the information storage unit 37. The map data file F1 stores map data such as a nationwide road map, a road map of an arbitrary area, or a house map. The road map is
It is composed of major roads, highways, narrow streets, and other roads and landmarks (facilities, etc.). The house map is a city map on which a figure representing an outer shape of a ground building or the like and road names are displayed. The narrow street is, for example, a relatively narrow road having a width equal to or less than a predetermined value below a national road or a prefectural road, and is a road to which traffic control information such as “one-way” is not added. That is,
A road where it is relatively difficult for general vehicles to face each other corresponds to a narrow street.

The intersection data file F2 stores data on intersections such as geographical position coordinates and names of intersections. The node data file F3 stores geographic coordinate data and the like of each node used for a route search on a map. The road data file F4 stores data on roads, such as the position and type of road, the number of lanes, and the connection relationship between roads. The photograph data file F5 stores image data of photographs of places where visual display is required, such as various facilities, sightseeing spots, and major intersections.

In the destination data file F6, data such as locations and names of places and facilities which are likely to become destinations such as corporations and offices described in main sightseeing spots, buildings, and telephone directories are stored. It is remembered. Guide point data file F7
Stores guidance data of points where guidance such as the contents of guidance display boards installed on roads and guidance of junctions is required. The detailed destination data file F8 stores detailed data relating to the destination stored in the destination data file F6. The road name data file F9 stores name data of main roads among the roads stored in the road data file F4. The branch point name data file F10 stores name data of main branch points. The address data file F11 stores list data for searching a destination stored in the destination data file F6 from an address.

The area / city station number list file F12 stores list data of only the city / city station numbers of the destination stored in the destination data file F6. The registered telephone number data file F13 stores telephone number data to be remembered, such as business partners registered by a manual operation of the user. The landmark data file F14 stores data such as the position of a landmark on the way of travel and the position and name of a place to be remembered, which are input by the user through a manual operation.
The landmark data file F is included in the point data file F15.
14 stores detailed data of the landmark point. In the facility data file F16, data such as the position and description of a target such as a place to visit other than the destination such as a gas station, a convenience store, or a parking lot is stored.

The link data file F17 stores data indicating which road in the road data file F4 corresponds to the link number included in the VICS information sent from the road information station or the like.

4. Data Content of RAM 5 FIG. 3 shows a part of a data group stored in the RAM 5.
As the current position data MP, data representing the current position of the moving object, which is detected by the current position detection device 20, is stored. The absolute azimuth data ZD is data indicating the north-south direction, and is obtained based on information from the absolute azimuth sensor 21. The relative azimuth angle data Dθ is angle data that the traveling direction of the moving object makes with the absolute azimuth data ZD. The relative azimuth data Dθ is obtained based on information from the relative azimuth sensor 22.

The travel distance data ML is the travel distance of the moving object and is obtained based on data from the distance sensor 23. The current position data MP is calculated using the data of the relative azimuth sensor 22 and the distance sensor 23 when satellite radio waves cannot be received, for example, when the moving body is traveling in a tunnel (dead reckoning navigation). Relative orientation sensor 22,
The moving direction and the moving distance of the moving body are detected by the distance sensor 23. Therefore, the current position of the moving object is detected based on the relative moving direction and the moving distance with respect to the past position of the moving object.

VICS data VD and ATIS data AD
Is a beacon receiving device 26 or a data transmitting / receiving device 27
This is the data input from. Based on the VICS data VD or the ATIS data AD, local traffic regulations, traffic congestion, facility congestion such as a parking lot, and the like are determined.
In addition, using the VICS data VD, there may be a case where error correction of the position of the moving object detected by the GPS receiver 25 is executed.

The registered destination data TP is data on the destination registered by the user, such as the coordinate position and name of the destination. In the guidance start point data SP, map coordinate data of a point where the navigation operation is started is stored. Similarly, the final guide point data ED stores the map coordinate data of the point where the navigation operation ends.

The guidance start point data SP stores node coordinates on the guide road closest to the current position or the departure point of the moving object. This guidance start point data SP
Is stored because the current position of the moving object according to the current position data MP is, for example, in a site such as a golf course or a parking lot, and is not necessarily on the guide road. Similarly, the guidance final point data ED also stores the node coordinates on the guidance road closest to the registered destination data TP. The reason why the guidance end point data ED is stored also takes into consideration the case where the coordinates of the registered destination data TP are not on the guidance road.

Guide route data MW stored in RAM 5
Is data indicating an optimal route to the destination or a recommended route, and is obtained by a route search process or a re-search process of step SA4 described later. Each road in the road map stored in the data 38c of the information storage unit 37 has a unique road number. The guide route data MW includes a row of road numbers from the guide start point data SP to the final guide point data ED. FIG. 5 shows a specific example of the guide route data MW.

The mode set data MD is data used in the destination setting processing. The mode set data MD is set and input by the touch switch 34.
With this mode set data MD, the display 33
The mode content displayed above is specified. Drop-off place D
P is information on facilities and the like that drop in during the guidance route.

The screen state GJ is data indicating the display state of the display 33. For example, when the display screen of the display 33 is divided and different information is displayed at the same time, it is determined from the data of the screen state GJ whether the display screen of the display 33 is a divided state or a single screen state. . Therefore, every time the display state of the display 33 is switched, the data of the screen state GJ is rewritten.

The time stamp TSP1 indicates the issue time of the latest received VICS data VD. That is, the VICS data VD includes information on each road monitored by the road information station. However, road conditions change from moment to moment. Therefore, the VICS data announced from the road information station includes time information indicating the time of the absolute time of the road information. This time information is a time stamp TSP1
Is stored in the RAM 5.

The current road GR stores the geographical coordinates indicated by the current position data MP or the number of the road that matches the current position of the moving object by a map matching technique using the geographical coordinates. That is, the road number of the road where the moving object is currently located is always stored.

Priority tables PTD1, PTD2, PT
D3 indicates a numerical value proportional to the use frequency of the route searched based on each search condition. That is, as described later, a plurality of routes are searched for under different search conditions. Then, one of the plurality of searched routes is selected by the user. The search for a plurality of routes and the selection are performed for each navigation operation. Therefore, each time the navigation operation is performed, the priority tables PTD1 and PTD1 corresponding to one of the plurality of routes selected by the user.
The numerical value of TD2 ... is increased.

For example, when a route according to the first search condition is selected, only the numerical value of the priority table PTD1 is increased. That is, numerical values proportional to the selection frequency of the route corresponding to each search condition are stored in the priority tables PTD1, PTD2, PTD.
D3 and saved to it. The numerical values stored in the priority tables PTD1, PTD2, and PTD3 are as follows.
The selected cumulative number of routes may be used, or a percentage of the total selected cumulative number may be used. In any case, any numerical value can be used as long as the degree of selection of each route according to each search condition can be compared. Therefore, the value of the priority table of the search condition with the highest selection frequency is small, and the value of the priority table of the search condition with the lowest selection frequency is the largest.
The correlation between the selection frequency and the priority table may be inversely proportional.

FIG. 4 shows the priority tables PTD1, PTD.
2 shows the relationship between the data value of PTD3 and the priority. The data stored in the priority tables PTD1, PTD2, and PTD3 in FIG. In this case, since the priority table PTD1 corresponding to the first search condition (the shortest time) has the largest value, the priority is the highest. Conversely, since the priority table PTD3 of the third search condition (minimum cost) has the smallest value, the priority is the lowest.

These search conditions are as follows except for the shortest time, the shortest distance, and the minimum cost. The minimum number of right turns that minimizes the number of right turns in the route, the minimum number of left turns that also minimizes the number of left turns in the route, the maximum road width priority search condition that preferentially selects a road with a wider road width, or the route has less traffic It is a search condition or the like that becomes the minimum traffic volume constituted by the road. Furthermore, priority tables PTD1, PTD2, PTD3,.
.. May be used to search for a route under the above three search conditions with high priority.

Further, the search condition may be fixedly designated by the user. For example, the first search condition is designated as "minimum time", the second search condition is designated as "minimum time", and the third search condition is designated as "minimum right turn count". The priority tables PTD1, PTD2, and PTD3 may store values proportional to the frequency of use of each of the "minimum time", "minimum time", and "minimum right turn count" of each search condition.

[0062] 5. Guide Route Data MW FIG. 5 shows a specific example of the data configuration of the guide route data MW. The navigation device of the present invention searches for a plurality of routes from the guidance start point data SP to the guidance end point data ED. Each of these routes is searched under different search conditions. For example, the time required for the first search condition to reach the destination from the current position is the shortest. Second
The search condition is the one that minimizes the distance along the route from the current position to the destination. The third search condition is such that the toll required to move from the current position to the destination is the lowest.

The guide route data MW100 in FIG. 5 indicates, for example, set data of road numbers constituting a route searched under the first search condition. Similarly, the guide route data MW200 indicates a set of road numbers constituting the route searched under the second search condition. Guidance route data MW3
00 indicates a group of road numbers constituting the route searched under the third search condition.

The data SD2 is data indicating the first road number in the guide route data MW100. Similarly, the data SD4 is the guidance route data MW10
0 indicates the second road number, and the data SD6 indicates the third road number of the guide route data MW100. Therefore, when moving along the guide route data MW100, the moving body travels in the order of the road number “1”, the road number “2”, the road number “20”, the road number “21”, and so on. .

Data SE2, SE4, SE6 ...
Indicates the road numbers of the roads constituting the guide route data MW200, and includes data SF2, SF4, SF6,.
Indicates a road number of a road constituting the guidance route data MW300.

6. Road Data FIG. 6 shows a part of the road data in the road data file F4 stored in the information storage unit 37. The road data file F4 includes information on roads having a certain width or more that exist in the area stored in the map data file. Assuming that the number of roads included in the road data file F4 is n, road data on n roads is included. Each road data includes road number data, guidance target flag, road attribute data, shape data, guidance data, length data, and time data.

The national roads and the like included in the map data in the information storage unit 37 are divided into minimum units. The identification number given to each of the divided roads is road number data. In the guidance target flag of the road data file F4, "1" is stored for a guidance target road, and "0" is stored for a non-guide target road. The guidance target road is a predetermined width such as a main road or a general road that is equal to or larger than a prefectural road, for example, a width of 5.
It is a road that is 5 meters or longer and is a route search target. The non-guidance target road is a narrow narrow street having a width equal to or less than a predetermined width such as a road or an alley, for example, a width of less than 5.5 meters, and is a road that is not targeted for route search. Further, the guide target road may be set as a trunk road equal to or higher than a prefectural road, and the non-guide target road may be set as a trunk road equal to or lower than a prefectural road.

The road attribute data is data indicating attributes of an elevated road, an underpass, an expressway, a toll road, and the like. The shape data is data indicating the shape of the road. For example, shape data is composed of the coordinate data of the starting point and the ending point of the road and the coordinate data of each node between the starting point and the ending point.

The guidance data is composed of intersection name data, attention point data, road name data, road name voice data, and destination data. The intersection name data is data representing the name of the intersection when the end point of the road is an intersection. The caution data is data relating to caution points on the road, such as railroad crossings, tunnel entrances, tunnel exits, and width reduction points. The road name voice data is voice data representing a road name used for voice guidance.

The destination data is data relating to a road connected to the end point of the road (this is referred to as a destination), and is composed of the number k of destinations and data for each destination. The data relating to the destination includes destination road number data, destination name data, destination name voice data, destination direction data, and travel guidance data.

The destination road number data indicates the road number of the destination. The name of the destination road is indicated by the destination name data. The destination name voice data stores voice data for voice guidance of the destination name. The direction of the destination road is indicated by the destination direction data.

The travel guidance data is guidance data for guiding the user to approach the right lane, the left lane, or the center of the road to enter the destination road. The length data is data on the length from the start point to the end point of the road, the length from the start point to each node, and the length between each node. The time data is an average time required for passing when the moving body travels between the nodes at a legal speed or less.

7. VICS Data VD The data structure of the VICS data VD received via the beacon receiving device 26 will be described. One VICS
The data VD includes a congestion degree GD, a congestion head position GST, a congestion length GL, regulation information GK, a travel time RT, and the like. These data are stored in each VICS link number VRB
Are attached to each of the roads represented by. VI
The CS link number is a number defined in a road information station that transmits VICS information, and is a number for identifying each road managed by the road information station.

Therefore, the VICS link number does not always match the road number of the road data file F4 stored in the information storage unit 37. Road data file F
The correspondence between the road number of No. 4 and the VICS link number is represented by a link data file F17. However,
The road number of the road data file F4 and the VICS link number VRB can be made to correspond one-to-one. In this case, the link data file F17 is not required.

The congestion degree GD is data indicating the degree of congestion of the road designated by the VICS link number. Therefore, if the numerical level of the congestion degree GD is relatively high, the road is congested and it is difficult for vehicles to pass. The degree of congestion GD may be a stepwise and simple representation of the degree of congestion, such as impassable traffic, congestion, congestion, heavy traffic, normal, and the like. Traffic congestion position G
ST is data representing the start point coordinates of a traffic jam on the road specified by the VICS link number. In addition,
This traffic jam head position GST is the VICS link number VRB
May be a relative geographical distance from the starting point of the road specified by, or may be actual geographical coordinates. The congestion length GL is data obtained by measuring a row of congested cars at a geographic distance.

The regulation information GK is data representing the regulation content of the road specified by the VICS link number. For example, road works, events, closed roads, and the like are represented by the regulation information GK. The travel time RT is the time required to pass the entire road specified by the VICS link number at a predetermined speed (for example, a legal speed).

Since an actual road has an up lane and a down lane, the VICS link number is also given an independent number for each of the up lane and the down lane. Then, the VICS data VD including the traffic congestion degree GD to the travel time RT is transmitted from an information transmitting device such as a radio beacon or an optical beacon installed on the road, for each road where traffic congestion or the like occurs. .

On the other hand, in the present navigation device, the VICS data VD is received and stored in the RAM 5 when passing immediately below or immediately above the information transmitting device. When the VICS data VD is received,
The issue time of the VICS data VD is the time stamp T
It is stored in the RAM 5 as SP1. By the way, the congestion status of each road changes every moment. Further, the VICS data is received every time the moving object passes directly below the information transmitting device. Therefore, depending on the issuance time, there may be a case where VICS data having a content that does not change much from the previously received VICS data VD is received. Therefore, when the time stamp TSP1 has a small time difference from the time stamp of the newly received VICS data, the new VICS data VD is ignored.

8. Overall Processing FIG. 7 shows a flowchart of overall processing executed by the navigation device according to the present invention. This process starts when the power is turned on and ends when the power is turned off. The turning on and off of the power is executed when the power of the navigation device itself is turned on and off, or when the engine start key (ignition switch) of the vehicle is turned on and off.

In the initialization processing of step SA 1, first, the navigation program is read from the information storage unit 37. The read navigation program is copied (installed) in the flash memory 3. Thereafter, the program of the flash memory 3 is executed. Further, the CPU 2 clears a general-purpose data storage area in each RAM such as the work memory of the RAM 5 and the image memory 10.

The copying of the program to the flash memory 3 is executed when a new program 38b is set in the navigation device by exchanging the information storage unit 37. That is, the copying of the program to the flash memory 3 is performed only when the new information storage unit 37 is set in the navigation device for the first time. Therefore, if it is determined based on the disc management information 38a that the information storage unit 37 has not been replaced, the program is not copied to the flash memory 3.

When the initialization processing in step SA1 is completed, the current position processing (step SA2), destination setting processing (step SA3), route search processing (step SA4), route selection processing (step SA5), guidance / display The process (step SA6) and other processes (step SA7) are cyclically executed. Note that the destination setting process (step SA3), the route search process (step SA4), and the route selection process (step SA5) are not performed when the destination does not change or the moving object leaves the route. Not run.

If the moving object deviates from the route during the guidance / display process, whether or not the route search process is executed again depends on whether or not the auto reroute function is turned on. If the auto reroute function is on, there are multiple optimal routes from the current location of the mobile object to the final guidance point,
Search again. The plurality of routes are stored in the priority table PT
D1, PTD2, and PTD3 in descending order of value,
The search is performed according to the corresponding search condition. That is, the route with the search condition with the highest priority is searched first, and the route search with the search condition with the lowest priority is sequentially performed. Thereafter, a route selection process (step SA5) is performed.

Alternatively, the route from the current position to the destination may be searched only by the search condition with the highest priority. That is, when the moving body deviates from the route during the guidance, only one route may be searched again. In this case, the route selection processing (step SA5) is not performed.
If the auto-reroute function is not turned on, the route is not automatically searched again. In addition, when a stop place is set as the guide route, a route that passes through the stop place may be searched.

In the current position processing (step SA2), the geographical coordinates (latitude, longitude, and altitude) of the moving object on which the navigation device is loaded are detected. That is, GP
The S receiver 25 receives radio waves from a plurality of satellites orbiting the earth. From the radio waves from each satellite, the coordinate position of each satellite, the radio wave transmission time at the satellite, and the radio wave reception time at the GPS receiver 25 are detected. From these information, the distance to each satellite is obtained by calculation. From the distance from each satellite, the coordinate position of the moving object on the earth surface is obtained. The obtained coordinate position of the moving object is stored in the RAM 5 as the current position data MP.
Is stored. The current position data MP may be corrected by information input from the beacon receiving device 26 or the data receiving device 27.

In the current position processing (step SA2), the absolute azimuth data ZD and the relative azimuth data Dθ
And the travel distance data ML are obtained using the absolute direction sensor 21, the relative direction sensor 22, and the distance sensor 23. Calculation processing for specifying the position of the moving object is performed from the absolute azimuth data ZD, the relative azimuth data Dθ, and the traveling distance data ML. The position of the moving object obtained by this arithmetic processing is compared with the map data stored in the data 38c of the information storage unit 37, and correction is performed so that the current position on the map screen is accurately displayed. By this correction processing, the current position of the moving object can be obtained even when a GPS signal cannot be received in a tunnel or the like.

In the destination setting process (step SA3),
The geographical coordinates of the destination desired by the user are set as the registered destination data TP. For example, the coordinates of the destination are specified by the user using a road map or a house map displayed on the display 33. Or, from the itemized list of destinations displayed on the display 33,
The destination is specified by the user. When the user performs a destination designation operation, information data such as geographic coordinates of the destination is stored in the RAM 5 as registered destination data TP.

In the route search processing (step SA4), a plurality of routes from the guidance start point data SP to the final guide point data ED are searched. The route search is performed in the order of the values of the priority tables PTD1, PTD2, and PTD3. That is, if the magnitude of the value is priority table PTD2> priority table PTD1> priority table PTD3, a route is searched in the order of the second search condition, the first search condition, and the third search condition. In the guidance start point data SP, the same data as the current position data MP is set, or node data on a guidance target road close to the current position data MP is set.

Also, the route search processing in step SA4,
During the guidance / display processing in step SA6, the received VI
A determination as to whether or not to change the route may be made based on the CS data. As described above, the VICS data indicates that the moving object loaded with the navigation device
The data is received only when the data passes immediately below a transmitting device such as an antenna for transmitting data, or in the case of a telephone line, only at the time of telephone communication. The VICS data includes information on each road having a traffic obstacle such as traffic congestion or impassable traffic. In the case of FM multiplex radio wave, VIC
S data has been received.

Based on the received VICS data VD, it is possible to detect the presence of a traffic obstruction factor such as traffic congestion or regulation ahead of the route being guided. When the presence of a traffic obstacle is detected, whether or not to change the route is determined based on whether or not there is enough time to perform the route change and a series of processes associated therewith. Then, when the route change is executed, the process of displaying the route after the change and the route before the change in parallel is performed in the guide / display process of the next step SA6.

In the route selection process (step SA5), a process of selecting one route from the plurality of routes searched in the route search process of step SA4 is performed according to a change in the position of the moving object. That is, when the moving object starts moving in a state where a plurality of routes have been searched in the route searching process of step SA4, a process of automatically determining which of the plurality of routes the moving object is moving is performed. Done. Then, when it is determined that the moving object is traveling on only one search route, the route selection processing (step SA5) is ended.

In the guidance / display processing (step SA6),
The guidance route obtained by the route selection process (step SA5) or the route re-search process is displayed on the display 33 centering on the current position of the moving object. The guidance route displayed on the display 33 is displayed on the display map so as to be identifiable. For example, on the map displayed on the display 33, the guide route is displayed in a different color, for example. Further, according to this guidance route, road guidance information is output from the speaker 13 so that the mobile body can travel favorably. Accordingly, various types of guidance information are displayed on the display 33 as needed. The image data for displaying the guidance route is
The road map data around the current position of the data 38c in the information storage unit 37 or the house map data around the current position is used.

The switching between the road map data and the house map data is performed under the following conditions. For example, a guide point (destination, drop-in place, intersection, etc.) from the current position
Distance, the speed of the moving object, the size of the displayable area, the user's switch operation, or the like. In addition, guidance points (destinations, stopovers, intersections, etc.)
In the vicinity, an enlarged map near the guide point is displayed on the display 33. Note that a simplified guidance route image may be displayed on the display 33 instead of the road map.
In the simplified guide route image, for example, display of geographical information is omitted, and only necessary minimum information such as a guide route, a direction of a destination or a stopover place, and a current position is displayed.

After the guidance / display processing in step SA6,
"Other processing" (step SA7) is executed. In this “other processing”, the nearest facility processing may be executed. The nearest facility process is a process of searching for and specifying a stopover place (facility, etc.) other than the registered destination data TP. The data about this stopover is
It is determined using a map displayed on the display 33 or information on each item. The nearest facility processing is performed in the same manner as the destination setting processing in step SA3.

In the “other processing”, for example, it is determined whether or not the traveling position of the moving object is along the calculated guide route. That is, when it is detected that the moving object has deviated from the guide route, the state flag for starting each process is set so that the route is searched again. Also, it is determined whether or not a destination change command has been input by a user's switch operation.

When the processing in step SA7 ends, the processing is repeated again from the current position processing (step SA2). Note that, even when the moving object has reached the destination, the route guidance / display process (step SA6) is ended, and the process returns to step SA2 again. Thus, step S
The processing from A2 to step SA7 is sequentially repeated.

9. Route Search Process (Step SA5) FIG. 8 shows a flowchart of the route search process performed in the present embodiment. FIG. 9 shows the display 33 during the route search.
Shows the display state of. In this route search processing, as described above, a plurality of routes from the guidance start point data SP to the guide end point data ED are searched. Moreover, each route is searched according to different search conditions. In this embodiment, three search conditions are used. The first is a condition that minimizes the time required to reach the destination from the current position. The second condition is that the distance along the route from the current position to the destination is the shortest. The third condition is that the toll (cost) required to move from the current position to the destination is the lowest. The number of search conditions may be two or three or more.

At the beginning of the route search process, the priority tables PTD1, PTD2, and PTD3 of the RAM 5 are read (step SB1). And the priority table PTD
A comparison is made between the numerical values of 1, PTD2, and PTD3, and the search condition with the highest priority is selected. For example, if the data stored in the priority tables PTD1, PTD2, and PTD3 is the cumulative number of selected routes, the priority table having the largest value is selected. Then, a search condition corresponding to the selected priority table is obtained. A route from the guidance start point data SP to the guidance end point data ED is searched based on the search conditions (step SB3).

For example, the priority tables PTD1, PTD
2. By comparing the values of PTD3 with each other, assuming that the destination having the highest priority can reach the destination in the shortest time of the first search condition, a search for a route utilizing a road having a higher legal speed is performed. Then, it is determined whether the search for the route having the first priority has been performed up to the guide final point data ED (step SB5).

The first that can reach the guidance end point data ED
When the search for the second route is completed (the determination in step SB5 is Yes), the road number column of the completed route is stored in the RAM 5 as in the guide route data MW100 in FIG.
(Step SB7). Along with storing the first path, the first path is displayed on the display 33 (step SB9). Display 33 at this time
Is shown in FIG. The first route displayed on the map is displayed with a different display color, brightness, brightness, shape, pattern, additional symbol, and the like so as to be distinguished from other roads.
Further, the completion of the search for the first route is reported by the guidance voice, and the features of the first route, that is, the required time, the travel distance, the toll, and the like are reported by voice.

A route 142 that can reach the destination in the shortest time, which is the first search condition, is displayed on the display 33 (FIG. 9).
Along with the time required to reach the destination by the route 142 is displayed as information 161.
The travel distance of No. 2 is displayed as information 162, and the necessary toll is displayed as information 164. Note that the remaining second and third routes are still being searched,
The character “Searching” is displayed on the display 33. FIG. 10 is an enlarged view of the left portion of the display 33 shown in FIG.

Subsequently, the search condition having the second priority is
Selection is performed based on a numerical comparison between the priority tables PTD1, PTD2, and PTD3. The second route from the guidance start point data SP to the guidance end point data ED is searched for based on the second search condition with this priority (step SB11). For example, if the second priority is to reach the destination in the shortest distance of the second search condition,
The route is searched for a shorter journey. And
It is determined whether or not the search for the route having the second priority has been performed up to the guidance final point data ED (step SB1).
3).

The second that can reach the guidance final point data ED
When the search for the second route is completed (the determination in step SB13 is Yes), the road number column of the completed route is stored in the RAM as in the guide route data MW200 in FIG.
5 (step SB15). Along with the storage of the second path, the second path is displayed on the display 33 together with the first path (step SB1).
7). FIG. 11 is a diagram showing the information contents of each of the first route and the second route shown on the display 33.
The time required to reach the destination by each of the first and second routes, the travel distance, and the required toll are displayed on the display 33.

Further, the search condition having the third priority is
A determination is made based on the priority tables PTD1, PTD2, and PTD3, and a search for a third route is performed based on the third search condition (step SB19 in FIG. 8). For example, if the third priority is such that the destination can be reached with the minimum cost of the third search condition, a route that uses the toll road as little as possible is searched. Then, it is determined whether or not the search for the third route has been performed up to the guidance final point data ED (step SB21).

The third that can reach the guide final point data ED
When the search of the second route is completed (Yes in step SB21), the road number column of the searched route is stored in the RAM 5 as in the guide route data MW300 of FIG.
(Step SB23). Along with the storage of the third route, information on the third route is displayed on the display 33 together with the first and second routes (step SB25). Then, the process returns to the main process of FIG. FIG. 12 is a diagram showing information contents of the first route, the second route, and the third route shown on the display 33. Thus, the time required to reach the destination by each of the first to third routes, the travel distance, and the required toll are displayed on the display 33.

The display of the first to third routes on the map is as follows.
The display state, output state, guidance state, and the like of the display color, luminance, brightness, shape, pattern, additional symbol, or guidance voice of each other are different so that they can be identified. further,
By voice, the "time required", "distance", and "toll", which are the characteristics of each route, are repeatedly reported. At this time, when the feature such as the required time of each route is notified by voice, the display of the route to be notified is indicated by blinking or indicated by an arrow so that it can be easily distinguished from other routes. Changed temporarily. In addition, the voice guidance content of each route also uses words such as “search condition” of each route and “first route”, “second route”... So that the routes can be distinguished from each other. Is also good. In this way, the content of the guidance voice of each route is made different for each route, so that they can be easily distinguished from each other.

10. Route Selection Process FIG. 13 shows a flowchart of the route selection process (step SA5). In this route selection processing, after each route is searched based on a plurality of search conditions as described above, a route to be guided is specified. First, it is determined whether or not one of the plurality of routes has been designated by the user (step SC1). If specified, the subsequent processes are passed, and the process returns to the main process of FIG. 7 (YES in step SC1).

However, if the route is not selected by the user, the process of specifying the route is performed by the following process (NO in step SC1). First, the existing road of the moving object is determined (step SC2). RAM5
, The geographical current position of the moving object is stored as described above. On the other hand, in the shape data of each road in the road data file F4, geographic coordinates of each node included in this road are stored.
Therefore, a geographical straight-line distance between each node on the road and the current position of the moving object is calculated. Then, a road of a node whose straight-line distance is within a predetermined value is selected as a “candidate road”.

The road on which the mobile unit was traveling immediately before is stored as the current road GD. Therefore, one of the “candidate roads” having the strongest correlation with the road stored in the current road GD is the road on which the moving object is currently traveling. The road having a strong correlation is a connected road on a map, and means a road on which a moving object can physically travel. Therefore, two parallel roads have a low correlation, and two roads connected at an intersection or the like have a high correlation. The road number of the road on which the moving object is currently traveling is stored in the RAM 5 as the current road GR (step SC2).

Next, it is determined whether or not the road on which the moving object is detected as traveling is a road belonging to a plurality of routes searched by the route search process of step SA4 (step S4).
C4). If the road does not belong to the searched route (the determination result in step SC4 is NO), the route search process in FIG. 8 is executed again assuming that the moving object has deviated from the plurality of searched guide routes (step SA4). . Thereafter, the processing is started again from step SC1 in FIG.

However, if the road on which the mobile body is currently traveling is a road belonging to the searched route (step SC
4 is YES), it is determined whether or not the road number is different from the road number stored in the current road GR (step SC).
6). That is, it is determined whether or not the moving body has proceeded to a different road via a branch or the like based on a change in the road number of the road on which the moving body is traveling.

If there is no change in the road number (NO in step SC6), the flow returns to step SC2 again to perform the process of identifying the road on which the mobile is currently traveling. However, when there is a change in the number of the road on which the moving object is traveling (the determination result of step SC6 is YE
S), the route including the road with the new road number is
It is determined whether the route is the only route (step SC8). In other words, when traveling from the current position of the moving body to the destination,
It is determined whether or not a moving object is currently on a road that can branch and progress to two or more routes among the routes searched in step SA4.

The judgment process in step SC8 is described with reference to FIGS.
This will be described with reference to FIG. FIG. 14 shows the display state of the display 33 immediately after searching for a plurality of routes in step SA4. The mark 130 indicates the current position of the moving object,
The mark 132 indicates a destination specified by the user. Paths 138, 140, and 142 are paths of each search condition searched in step SA4. Moving object is mark 13
When the user is at the geographical position of 0, the user can proceed to any of the routes 138, 140, and 142 by the branch points 134 and 136.

Therefore, when the moving object is at the geographical position of the mark 130, it is determined that there is no moving object on the only route. That is, the determination in step SC8 is “NO”. Conversely, as shown in FIG. 16, when the moving object is at the geographical position of the mark 146, the branch points 134, 136
, The routes 138 and 142 cannot proceed. In this case, since only the route 140 is a route on which the mobile body can travel, the route 140 becomes “the only route” and the step S
The result of the determination at C8 is "YES".

Similarly, in FIG. 15, since the moving body is at the position of the mark 144, the branch
Since it is possible to proceed to 38 and 140, the road at the mark 144 where the moving object is located is not the only route. Therefore, the determination result of step SC8 is “NO”.

As described above, when it is determined in step SC8 that the route on which the moving object is currently traveling is not the only route, the traveling route cannot be traveled among the searched routes, ie, it has not been selected by the user. The display of the route is canceled (step SC12). For example, the blinking display or the display in a different color is changed to the same display state (display color) as the road other than the searched route. In FIG.
Since the moving object passes through the junction 134, the route 142
Can not proceed to Therefore, the characteristic display of the route 142 is released as the “route that does not match the vehicle position”. Thereafter, the process returns to step SC2, and the road on which the moving object is currently traveling is identified again.

When it is determined that the moving object is traveling on the only route (YES in step SC8), a characteristic display of a search route other than the only route (blinking or display in a different color). Is released (step SC14). This state is shown in FIG. The feature display of the routes 138 and 142 is canceled.

Thereafter, it is determined whether or not the vehicle has traveled the only route a predetermined distance (step SC16). That is,
It is determined whether or not the moving object has traveled a certain distance on one of the routes searched in step SA4. That is, it is confirmed that the moving object is traveling on one of the routes that have been reliably searched. If the vehicle has not continuously traveled on the only route for a predetermined distance (NO in step SC16), it is determined whether the moving object has deviated from the searched route (step SC18). If the vehicle deviates from the route, the route search process is executed again (step SA4). Conversely, if the vehicle does not deviate from the route (the determination result of step SC18 is NO), the determination process of step SC16 is repeated.

When the vehicle has traveled the only route for a predetermined distance (YES in step SC16), the only route is regarded as the route selected by the user (step SC22). Then, the value of the priority table corresponding to the only route is increased (step SC24). For example, if the only route is the shortest route, the value of the priority table PTD1 is increased. Priority table PT
If D1, PTD2, and PTD3 are percentages of the total number of selections, the respective priority tables PTD1, PTD2,
Calculation of the value of PTD3 is performed. If the selection frequency is simple, the value of the priority table corresponding to the selected route is increased.

The priority tables PTD1, PTD
2. If the PTD 3 is data indicating the selection frequency, when the value of one priority table reaches a predetermined maximum value, the value of each priority table is divided by the predetermined value. In other words, numerical processing such as truncation is performed so that the priority tables PTD1, PTD2, and PTD3 can be correctly compared in magnitude.

After the priority table value is updated,
The process returns to the main process of FIG. While the route selection process of FIG. 13 is being performed, the guidance and display processes by voice and display on the display 33 are simultaneously executed. Then, when the moving body approaches the branch point to the two searched routes, information on the approach to the branch point is displayed on the display 33.

FIG. 17 shows the state of the display 33 when the moving body approaches the junction 134. When the moving body approaches the junction 134, an enlarged view of the vicinity of the junction 134 is displayed on one of the divided screens of the display 33. The direction of travel to the routes 138 and 140 is indicated by the arrow 151, and the direction of travel to the route 142 is clearly indicated by the arrow 153. Moreover, features such as a search condition of a route to be advanced by the arrows 151 and 153 are displayed as information 152 and 150. The route 142 advanced by the arrow 153 is a route utilizing a highway or the like.

As described above, in the present embodiment, in order to select a specific route from a plurality of searched routes as a guide target route, not only the user can manually select the route but also the route of the moving object is tracked. And automatically select it.

In the above embodiment, the priority table P
TD1 is a search condition for a route having the shortest time, and a priority table PTD2 is a search condition for a route having a shortest distance.
The priority table PTD3 is made to correspond to the search condition of the route with the lowest cost. Then, the priority table PTD1>
Although it is assumed that the priority table PTD2> the priority table PTD3 has a numerical relationship, if the value of the priority table PTD2 is the largest, the first search condition is the shortest distance. That is, assuming that the route having the shortest distance is used most often, in the route search process in step SA4,
The search condition of the route searched first is "shortest distance". Similarly, if the value of the priority table PTD3 is the highest, the condition of the route searched first is "minimum cost".

Further, in FIG. 13, a plurality of routes are searched for in re-searching the route when a deviation from the route of the moving object is detected. However, only one route search with the highest priority search condition is performed. May be done.

11. Second Embodiment FIG. 18 is a flowchart of a main process according to a second embodiment of the present invention. In the second embodiment, route search and route selection are performed simultaneously (step SA9). Other initialization processing (step SA1), current position processing (step SA2), destination setting processing (step SA1)
3), guidance / display processing (step SA6) and other processing (step SA7) are the same as in the first embodiment.

12. Route Search / Selection Process FIG. 19 shows a flowchart of the route search / selection process (step SA9) in the second embodiment. Also in the second embodiment, the guidance start point data SP is used to convert the guidance end point data E
A plurality of routes to D are searched. However, each time one route is searched, it is determined whether the user has selected a route.

First, the priority table PTD in the RAM 5
1, PTD2 and PTD3 are read. Then, the numerical values of the priority tables PTD1, PTD2, and PTD3 are compared in magnitude, and the search condition having the highest priority is identified by the first.
This is performed in the same manner as in the embodiment. Based on the search condition with the highest priority, a route from the guidance start point data SP to the guidance end point data ED is searched (step SG).
2). Then, it is determined whether the search for the route having the first priority has been performed up to the guide final point data ED (step SG4).

[0129] The first that can reach the guidance final point data ED
When the search for the second route is completed (the determination in step SG4 is Yes), information on the searched first route is displayed on the display 33 characteristically (flashing display of the route, etc.) and the first route is displayed. The road number column of the route is RAM5
(Step SG6). The state of the display 33 at this time is shown in FIG. Then, it is determined whether or not the displayed first route has been selected by the user (step SG8). If the first route is selected by the user (YES in step SG8), the first route is registered as a guide route (step SG2).
6). Thereafter, the process returns to the process of FIG. 18 (step S
G32). That is, the routes of the second priority and the third priority are not searched.

However, if the first route is not selected by the user (NO in step SG8), the search condition having the second priority is set in the priority tables PTD1 and PTD1.
It is identified based on a numerical comparison between TD2 and PTD3. A second route from the guidance start point data SP to the guidance end point data ED is searched for based on the second search condition with this priority (step SG10). Then, the search for the route having the second priority is performed by the guidance final point data E.
D is determined (step SG1)
2).

The second which can reach the guidance final point data ED
When the search for the second route is completed (Yes in step SG12), the second route is characteristically displayed on the display 33 together with the first route, and the road number column of the second route is stored in the RAM5. (Step S
G14). After the first route and the second route are displayed on the display 33, it is determined whether the user has selected either the first route or the second route (step SG16). When a route is selected (step S
The determination at G16 is YES), and the selected route is registered as a guide route (step SG28). Then, the process returns to the main process of FIG.

However, if the route is not selected by the user, the search condition having the third priority is determined based on the priority tables PTD1, PTD2, and PTD3. Based on the search, a third route is searched (step SG18). Then, it is determined whether the search for the third route has been performed up to the guidance final point data ED (step SG20).

The third which can reach the guidance final point data ED
When the search for the third route is completed (the determination in step SG20 is Yes), the third route for which the search has been completed is displayed on the display 33 together with the first and second routes, and the third route is displayed. The road number column is stored in the RAM 5 (step SG22). And the first by the user
It is determined whether any of the third to third routes has been selected (step SG24). When a route is selected (YES in step SG24), the selected route is registered as a guide route (step SG30). Thereafter, the processing returns to the main processing of FIG. 18, and the guidance / display processing is performed.

However, when the route is not selected by the user (NO in step SG24), FIG.
The route selection process of No. 3 is executed (step SA5), and thereafter, the process returns to the main process of FIG.

Note that the display of the first to third routes on the map is as follows.
The display state, output state, guidance state, and the like of the display color, luminance, brightness, shape, pattern, additional symbol, or guidance voice of each other are different so that they can be identified. further,
By voice, the "time required", "distance", and "toll", which are the characteristics of each route, are repeatedly reported. At this time, when the feature such as the required time of each route is notified by voice, the display of the route to be notified is indicated by blinking or indicated by an arrow so that it can be easily distinguished from other routes. Changed temporarily. In addition, the voice guidance content of each route also uses words such as “search condition” of each route and “first route”, “second route”... So that the routes can be distinguished from each other. Is also good. In this way, the content of the guidance voice of each route is made different for each route, so that they can be easily distinguished from each other.

As described above, in the second embodiment, a plurality of routes are sequentially searched in descending order of priority, and the user can arbitrarily select one of the searched routes during the search. I made it. In addition, when no selection is made by the user, the moving path of the moving body is determined, and the route is automatically selected.

The present invention is not limited to the above embodiments, but can be variously modified without departing from the spirit of the present invention. For example, the recording medium for storing various data shown in FIG. 2 may be a writable recording medium such as a floppy disk. Further, the navigation device may include a voice input device including an analog / digital converter. Each operation and selection may be executed by a voice command input by the voice input device. Further, based on the VICS data VD received during or before the traveling of the moving object on the route, the process of searching or re-searching for a route bypassing a congested road may be performed.

Further, in the navigation device according to the present invention, all or part of the processing of the above-described flowchart may be executed in an information management center such as VICS or ATIS. This processing result (processing information) is received by the data transmitting / receiving device 27. For example, the destination setting process (step SA3) and the route search process (step SA4) in FIG. 7 are executed in the information processing center in which the map information is stored. Then, the searched route data is transferred to the navigation device of the present invention via the data transmitting / receiving device 27. However, the priority table PTD
1. Data relating to the priority of PTD2, PTD3 or the search condition is sent from the navigation device of the present invention to the information management center.

[0139] Then, in the navigation device of the present invention, a route selection process and a guidance display process are executed based on the route data sent. That is, information such as a search condition of a destination or a drop-in facility and a route search condition are transmitted from the navigation device of the present invention to the information management center. In the information management center, a search for a desired facility and a search for a route to a destination are performed based on the transmitted conditions. Then, information on the search, extraction, and search results is transmitted from the information management center to the navigation device together with map information and the like.

In the navigation device, the search facility is displayed on the display 33 based on the received search / extraction / search results. In this way, it is possible to search, extract, and search for each facility based on the detailed and up-to-date information on each facility around the current position of the moving object. Further, in the facility search, it is possible to perform a search in consideration of environmental changes of surrounding roads (new construction of a one-way road or the like). In this case, the information on each facility stored in the information management center needs to be constantly updated.

Further, the information storage unit 37 storing the programs described in the present invention and information such as maps and display symbols may be made available to general computer devices. That is, the program stored in the information storage unit 37 is a program that can be executed by a general computer. If the information storage unit 37 is connected to a portable computer device together with a device whose current position can be detected by the GPS receiving device 25, the computer device can also perform navigation processing. Further, the present invention can be applied to a navigation device such as a vehicle other than an automobile, a ship, an aircraft, a helicopter, and the like, and a map used for navigation may be a marine chart, a seabed map, or the like in addition to a road map. Furthermore, the present invention may be applied not only to a navigation device mounted on a moving body such as an automobile, but also to a portable navigation device. That is, the present invention may be applied to a small-sized navigation device that can be carried by a human and used in cycling, travel, mountain climbing, hiking, fishing, and the like.

As described above in detail, according to the present invention, when searching for a plurality of routes to a destination, the priority is determined based on the frequency of use of the selected route. Then, when searching for a plurality of routes, the route search is performed first from the search condition having the higher priority. In addition, each piece of information on the searched route is directly displayed on the display device as a numerical value. In addition, one route can be selected during the search, and the route search process is immediately stopped at the time of the selection. Therefore, a route that matches the user's preference is searched earlier. Moreover, the comparison between the searched routes can be directly performed by the numerical value of the information on the route, and the selection of the route is easy and quick. Further, since the search process is stopped by specifying an arbitrary route even during the search, the total time required for searching and selecting the route can be reduced. As a result, even when a plurality of routes are searched, it is possible to more quickly start the guidance / display process using a route that matches the preference.

Since the above-mentioned priority data is always updated at the time of selecting a route, each time the route is searched, the route is searched in preference to the route more suitable for the user's preference. As the number increases, it is possible to customize the navigation device to suit the user's preference.
Further, even if the user's preference changes every year, the search order that always matches the preference can be maintained.
In addition, the time from the search of the route to the start of the guidance / display process through the designation of the route can be further expedited, even though a plurality of routes are searched.

Further, after a plurality of routes have been searched, guidance / display by voice or the like is performed even if the user does not specify a route. In addition, when the moving object arrives at a branch point to a plurality of routes in a state where the route is not specified, characteristic information of each branchable route is displayed by voice or display (voice and display may be used together). Since guidance is provided, selection of a route at a branch point can be performed easily and quickly.

The present invention may have the following features in addition to the above embodiment. That is, (1) means for searching a plurality of guidance routes from the start point to the end point based on a plurality of search conditions, and the plurality of guidance routes based on the relationship between each of the plurality of searched guidance routes and the current position of the moving object. Means for excluding at least one of the routes.

(2) A plurality of guide routes from the start point to the end point are searched based on a plurality of search conditions, and the plurality of guide routes are determined based on a relationship between each of the searched guide routes and the current position of the moving object. Characterized in that at least one is excluded.

(3) Processing for searching a plurality of guidance routes from the start point to the end point based on a plurality of search conditions. Based on the relationship between each of the plurality of searched guidance routes and the current position of the moving object, the plurality of guidance routes are determined. A storage medium storing a computer program for searching for a route, characterized by storing a program for causing a computer to execute processing for excluding at least one of the routes.

(4) In addition to the features of the above (1), the starting point is a departure point, a current position, or a departure point or a current position at the time of searching for a set or departure point of a moving object.
The end point is a set destination or a destination of the moving object, a destination, a final destination, a final destination, or a stop. The route search device is used in a navigation device, and the plurality of searched guidance routes are used. Are distinguished from each other by their color, brightness, brightness, shape, pattern,
The display state, the output state, or the guidance state of the additional symbol or the guidance voice is different, and the guidance where the current position of the moving body does not exist or the current position of the moving body does not exist in the vicinity of the plurality of searched guidance routes. The route is excluded, and the excluded guidance route is deleted, deleted, or distinguished from the other selected guidance route in display state, output state, or guidance state. Excluding at least one of the plurality of guidance routes from the relationship between each route and the current position of the moving object is repeatedly executed for the current position of the moving object that changes sequentially, whereby a plurality of guidances are sequentially excluded, and The plurality of search conditions are a shortest time, a shortest distance, a minimum fare, a minimum number of right turns, a minimum number of left turns, a maximum road width or a minimum traffic volume, or the plurality of search conditions is The plurality of guidance routes, which are the higher-order plurality of search results of one of the search conditions among these search conditions, are output and displayed while distinguishing which of the above-described plurality of guide routes was searched by the above search conditions. Alternatively, the information may be guided.

(5) Means for searching a plurality of guidance routes from a start point to an end point based on a plurality of search conditions, means for setting priority of a plurality of search conditions for searching the plurality of guide routes, Means for changing the priority of the plurality of set search conditions.

(6) A plurality of guide routes from the start point to the end point are searched based on a plurality of search conditions, and a priority order of a plurality of search conditions for searching for the plurality of guide routes is set. A route search method characterized by changing the priority of a plurality of search conditions may be used.

(7) Processing for searching a plurality of guidance routes from a start point to an end point based on a plurality of search conditions, processing for setting the priority of a plurality of search conditions for searching for the plurality of guide routes, and setting A storage medium storing a computer program for a route search, which stores a program for causing a computer to execute a process of changing the priorities of the plurality of search conditions thus performed.

(8) In addition to the features of the above (5), the starting point is a set starting point or a starting point, a current position, or a starting point or a current position at the time of searching for a guide route.
The above-mentioned end point is a set destination or travel destination, a destination, a final destination, a final destination, or a halfway stop. The route search device is used for a navigation device, and the plurality of searched guidances are used. The routes are different in color, brightness, brightness, shape, pattern, display state, output state, or guidance state of the additional symbol or guidance voice so as to be distinguished from each other, and the plurality of search conditions are the shortest. Time, shortest distance, minimum fare, minimum number of right turns, minimum number of left turns, maximum road width or minimum traffic volume
The search conditions differ in nature, or the plurality of search conditions are a plurality of higher ranks of the search result of one of the search conditions, and the priorities of the plurality of search conditions are set or switched by the user, the past. Is switched according to the use frequency of each search condition, and each of the plurality of searched guidance routes is output, displayed or guided while distinguishing which of the search conditions has been searched. Good.

(9) Processing for searching a plurality of guidance routes from a start point to an end point based on a plurality of search conditions, processing for setting the priority of a plurality of search conditions for searching for the plurality of guidance routes, and setting Communication method / communication method / computer program for a route search, characterized by communicating a program for causing a computer to execute a process of changing the priority order of the plurality of search conditions.
It may be a communication device.

[0154]

As described above, according to the present invention, when a plurality of guide routes are searched for to the end point, at least one of the plurality of searched guide routes is determined based on the relationship with the current position of the moving object. I chose one. For example, only the guide route on which the moving body is traveling is selected. Therefore, even when the vehicle is traveling or when a plurality of similar guidance routes are displayed and it is difficult to select one guidance route, it is possible to automatically select one guidance route,
This has the effect of reducing the burden on the operation of the user.

[Brief description of the drawings]

FIG. 1 is an overall circuit diagram of a navigation device.

FIG. 2 is a diagram showing a data structure stored in data 38c of an information storage unit 37.

FIG. 3 is a diagram showing data stored in a RAM 5;

FIG. 4 shows priority tables PTD1, PTD2, and PTD.
FIG.

FIG. 5 is a diagram showing a data structure of guidance route data MW.

FIG. 6 is a diagram showing a structure of a road data file F4.

FIG. 7 is a diagram showing a flowchart of an overall process.

FIG. 8 is a diagram illustrating a flowchart of a route search process.

FIG. 9 is a display 33 of a first route searched for a route.
It is a figure showing the display state of.

FIG. 10 is a diagram showing a state of information display regarding a searched first route.

FIG. 11 is a diagram showing a state of information display regarding first and second routes searched.

FIG. 12 is a diagram showing a state of information display relating to searched first, second, and third routes.

FIG. 13 is a diagram illustrating a flowchart of a route selection process.

FIG. 14 is a diagram showing a display example of the display 33 during route selection.

FIG. 15 is a diagram illustrating a display example of the display 33 during route selection.

FIG. 16 is a diagram showing a display example of the display 33 during route selection.

FIG. 17 is a diagram illustrating a display example of the display 33 during route selection.

FIG. 18 is a diagram illustrating a flowchart of a main process according to the second embodiment.

FIG. 19 is a diagram illustrating a flowchart of a route search / selection process according to the second embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Central processing unit, 2 ... CPU, 3 ... Flash memory, 4 ... ROM, 5 ... RAM, 7 ... Sensor input interface, 8 ... Communication interface, 9 ... Image processor, 10 ... Image memory, 11 ... Sound processor , 13 ...
Speaker, 20: current position detecting device, 21: absolute direction sensor, 22: relative direction sensor, 23: distance sensor, 24
... speed sensor, 25 ... GPS receiver, 26 ... beacon receiver, 27 ... data transceiver, 30 ... input / output device, 33 ... display, 34 ... touch panel, 37 ...
Information storage unit, 38a: disk management information, 39: data transmission / reception unit.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2F029 AA02 AB01 AB07 AB13 AC02 AC08 AC09 AC14 AC18 AC19 AC20 AD01 5H180 AA01 BB02 BB04 BB05 BB13 EE02 EE18 FF04 FF05 FF07 FF12 FF13 FF22 FF25 FF27 FF33 FF35

Claims (4)

[Claims] A means for searching a plurality of guide routes from a start point to an end point based on a plurality of search conditions; a means for determining a relationship between each of the plurality of searched guide routes and a current position of a moving object; Means for selecting at least one of the plurality of searched guidance routes based on the result of the determination. 2. A plurality of guide routes from a start point to an end point are searched based on a plurality of search conditions, and a relationship between each of the plurality of searched guide routes and a current position of the moving object is determined. A route search method, wherein at least one of the plurality of searched guide routes is selected based on the selected route. 3. A process of searching a plurality of guide routes from a start point to an end point based on a plurality of search conditions, a process of determining a relationship between each of the searched plurality of guide routes and a current position of a moving body, A storage medium storing a computer program for searching a route, characterized by storing a program for causing a computer to execute at least one of the plurality of searched guidance routes based on the result. . 4. The starting point is a set starting point or a starting point of the moving body, a current position, or a starting point or current position when searching for a guide route. The ending point is a set or the destination of the moving body, reaching A destination, a final destination, a final guide point, a final destination, or an intermediate stop. The route search device is used in a navigation device, and the plurality of searched guide routes are respectively distinguished from each other. The display state, output state, or guidance state of the color, brightness, brightness, shape, pattern, additional symbol, or guidance voice is different, and was not selected by the selection among the plurality of searched guidance routes. At least one guidance route is excluded, and the current position of the moving object is present or the current position of the moving object is in the vicinity of the plurality of searched guidance routes. A route is selected, or a guide route in which the current position of the moving object does not exist or a current position of the moving object does not exist in the vicinity is excluded from the plurality of searched guide routes, and the excluded guide route is A display state, an output state or a guidance state is differently distinguished from a deleted, deleted, or other selected guidance route, and a plurality of guidance routes are determined based on the relationship between each of the plurality of searched guidance routes and the current position of the moving object. Is repeatedly executed for the current position of the moving object that changes sequentially, so that one guide route is finally selected, or each of the searched plurality of guide routes is selected. Removing at least one of the plurality of guidance routes from the relationship between the current position of the moving object and the current position of the moving object is repeatedly executed for the sequentially changing current position of the moving object. As a result, a plurality of guidance routes are sequentially excluded, and the plurality of search conditions are a shortest time, a shortest distance, a minimum fare, a minimum number of right turns, a minimum number of left turns, a maximum road width or a minimum traffic volume, and the contents and properties of each other are different. Alternatively, or the plurality of search conditions are higher than the search results of one of the search conditions, and each of the plurality of searched guidance routes is searched by any of the above search conditions. 2. The method according to claim 1, wherein the information is output, displayed, or guided in distinction as to whether or not it is the one.
The route search device according to the above.