JP2001021371A - Navigation method and system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a flexible and highly convenient navigation in which reset to an original course is taken into account when a vehicle deviated from a searched course. SOLUTION: A guide data where a reset course is added to a searched course shown by a solid line is transmitted from the center side to the vehicle side. A course is guided along the searched course on the vehicle side. When a vehicle deviated from the searched course, it is guided along the reset course. When the vehicle deviated from an intersection C122 in the direction of road R121, for example, it is guided along a reset course of C132→R133→C133→R224 to an intersection C123 on the searched course.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation method and apparatus suitable for a system for providing data required for route guidance from a center side to a mobile side.

[0002]

2. Description of the Related Art In a widely used navigation system, a navigation device is mounted on a moving body, for example, a vehicle, and a CD-ROM and a DVD-ROM are provided for each vehicle.
Route guidance and the like are performed using map data stored in a recording medium such as a ROM. However, in such a system, it is necessary to continually purchase a new recording medium corresponding to the construction or abolition of a road. Further, if the type of the recording medium is different or the format is different even if the type is the same, the navigation device itself must be replaced.

On the other hand, Japanese Patent Application Laid-Open No. Hei 10-19588 discloses that a map image and optimum route data necessary for guiding a vehicle to a destination are transmitted from a center (base) side to a vehicle side. A navigation system is disclosed. According to this system, communication is performed between the data transmission system on the center side and the navigation device of the vehicle on the mobile side. The data transmission system has a database that stores data necessary for guiding a vehicle to a destination. Then, based on a request from the vehicle-side navigation device, necessary data is read from the database and a map image is created. Further, a route search is performed to create optimal route data. The created map image and data indicating the optimum route are transmitted from the data transmission system to the vehicle. In the navigation device of the vehicle, the corresponding display is performed based on the map image and the optimum route data transmitted from the system side.

[0004]

However, when the vehicle travels to the destination, it is sufficient if the vehicle travels on the optimum route searched and received by the center without error, but it may actually deviate. There is also. In addition, it may not be possible to travel on the route as a result of a traffic accident or temporary traffic regulation. In consideration of such a case, the driver can safely drive the vehicle if he / she can reach the destination without hesitation even if he deviates from the searched route.

[0005] The present invention focuses on the above points, and an object of the present invention is to enable flexible and convenient navigation considering return to the original route when deviating from the searched route. It is assumed that.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention sends guidance data for a search route from a departure point to a destination from a vehicle to a vehicle based on the data. A navigation method for providing route guidance, wherein the route / guidance data sent from the center to the vehicle includes a route around the search route in addition to the search route. According to one of the main modes, the surrounding route is a return route for returning to the search route when a vehicle deviates from the search route.

In another aspect, the center obtains a search route from the departure place to the destination; obtains a return route when the search route deviates from the obtained search route; and obtains each route obtained in each of the above steps. Extracting the guidance data corresponding to the above; sending the search route data, the return route data, and the guidance data obtained by each of these steps to the mobile side; and the mobile side receives the guidance data from the center side. Providing route guidance based on the search route data and the guidance data; searching for a return route using the return route data received from the center when the vehicle deviates from the search route; Performing a route guidance based on the return route data and the guidance data when is searched. And it features.

[0008] The present invention is also a center device for generating route guidance data from a departure point to a destination, which is data for performing route guidance on the vehicle side, and sending the guidance data to the vehicle side. Memory means for storing data for performing search and route guidance; route search means for obtaining a search route from a departure point to a destination with reference to the memory means; and route search means for referring to the memory means Return route searching means for obtaining a return route when the vehicle deviates from the search route obtained by the method; guidance for extracting guidance data corresponding to each route obtained by the route search means and the return route search means with reference to the memory means Data extraction means; search route data, return route data, and the guidance data obtained by the route search means, return route search means, and guidance data extraction means; Characterized by comprising a; communication means for sending.

Further, the present invention is a navigation system including the center device, and a navigation device for performing route guidance based on search route data, return route data and guidance data sent from the center device, wherein the navigation device Route guidance means for performing route guidance based on the search route data and the guidance data; route departure detection means for detecting a deviation from the search route; Return route searching means for obtaining a return route based on data;
When a return route is obtained by this, return route guidance means for performing route guidance based on the return route data and the guidance data is provided. The above and other objects, features and advantages of the present invention will become apparent from the following detailed description and the accompanying drawings.

[0010]

Embodiments of the present invention will be described below in detail. In the following embodiment, a vehicle is assumed as a moving side, and a case where the present invention is applied to a vehicle navigation system will be described as an example.

<Overall Configuration of System> First, the overall configuration of this embodiment will be described with reference to FIG. FIG. 1 shows a configuration of a navigation system according to the present embodiment. The navigation system of the present embodiment includes a center device 10 on the center side and an in-vehicle navigation device 100 on the moving side.

To begin with, from the center device 10, the transmitting / receiving unit 12 is a communication device including a transmitting device and a receiving device, and is for transmitting / receiving data to / from the on-vehicle navigation device 100. Car phones, mobile phones,
A communication system such as a PHS may be used. The arithmetic processing unit 14 includes a CPU 16 for performing arithmetic processing and a memory 18 for storing various programs and data.

The memory 18 retrieves and extracts a route search program 20 for searching for a route from the designated departure point to the destination, a return route search program 22 for searching for a return route, and guidance data to be transmitted to the vehicle. Various programs executed by the center device 10 are stored, such as a data search and edit program 24 for editing and editing, and a system control program 26 for controlling and managing the entire operation. The memory 18 also has a working area used for executing those programs.

The database 30 includes intersection data 32 in which data relating to intersections is accumulated, road data 34 in which data relating to roads is accumulated, node data 36 in which data relating to node points are accumulated, and guidance data 38 in which data of route guidance are accumulated. Data necessary for route search and route guidance are stored respectively.

The specific contents are as follows. For example, assume a road network as shown in FIG. In the drawing, intersections I to IV are shown, and is a road. The intersection data 32 in such a road network is, for example, as shown in FIG.
It becomes as shown in. In the illustrated example, corresponding to each of the intersection numbers I to IV, the intersection name, the latitude and longitude of the intersection, the smallest road number of the road where the intersection is the starting point, and the intersection as the end point It includes the data of the smallest road number and the presence / absence of a signal among the roads.

For example, as shown in FIG. 3, the intersection number "I" has an intersection name of "Kanda", a latitude of "aaa", and a longitude of "nnn". In addition, the smallest road number among the roads starting from the intersection "I" is, and the smallest road number among the roads starting from the intersection is. Furthermore, there is a signal at the intersection "I". Intersections with other numbers are also as illustrated.

The road data 34 is, for example, as shown in FIG. In the example shown in the figure, the intersection number of the starting point, the intersection number of the ending point, the number of the next road of the road having the same starting point, and the next of the road having the same ending point correspond to each of the road numbers Road number, road thickness, prohibition information (road number for which entry is prohibited), guidance unnecessary information (road number for which guidance is not required because entry is prohibited), speed limit, number of nodes, and head of node sequence data The address and the length of the road are included. Of these, the thickness of the road is
For example, they are represented by numbers 0, 1, 2,... According to the number of lanes.

For example, as shown in FIG. 2, the starting point of the numbered road is an intersection I and the ending point is an intersection II. Also,
A road having the same starting point and having the next number is a road having the same ending point and having the next number. The road thickness is 1, there is no prohibition information, and the guidance unnecessary information has a speed limit of 50 km, the number of nodes is 15, the head address is 100, and the road length is 150 m. On the other hand, for roads with numbers, road numbers are prohibited. This means that at the intersection number IV in FIG. 2, it is not possible to enter from the numbered road to the numbered road due to the prohibition of turning right and left. Therefore, the number of roads that can be entered is only the number, so that guidance to the numbered road is unnecessary.

Next, the node data 36 includes, for example, an address, latitude and longitude, and attributes thereof corresponding to each node point as shown in FIG. A node point is a feature point on a road, and a plurality of nodes collectively form a unit of a road number. That is, the node data is 1 on the road.
If data that relates to points and connects nodes is called an arc, a road is represented by connecting an arc between each of a plurality of node rows. For example, regarding the road number, the number of nodes is 15 and the head address of the node data is 10 based on the road data shown in FIG.
Since it is 0, the road with the number is constituted by the nodes of addresses 1OO to 114.

Returning to FIG. 1, the guide data 38 includes various guide data such as map data of each intersection and road, landmark data indicating major facilities, and voice guide data.

Next, the on-vehicle navigation device 100 will be described. The arithmetic processing unit 101 is mainly composed of a CPU. Program storage area 10 of memory 102
2A displays a route and a landmark on the display unit 1 based on route data and guidance data transmitted from the center device 100.
06 and the voice of the route guidance
A route guidance program 150 output from a vehicle, a return processing program (route departure detection program and return route search program) 152 for detecting deviation from the route and searching for a return route, and a control program 15 for controlling the overall operation.
4, for storing a program executed by the arithmetic processing unit 101.

Data storage area 102B of memory 102
Functions as a working area appropriately used when executing the program, and further includes, for example, route / guidance data (route data and guidance data) 160 transmitted from the center device 10, vehicle-specific ID data 162, and the position measurement unit 104 For storing vehicle position data (longitude / latitude) 164 and the like measured by the above.

The vehicle position data 164 includes the position measurement unit 1
04, a plurality of past position data is included in addition to the current position data measured at predetermined time intervals. For example, position data of measurement points included in a certain distance or position data of a certain number of measurement points are stored. When the position is newly measured by the position measurement unit 104, the latest position data is stored and the oldest stored position data is deleted. By connecting these multiple location data,
The traveling locus of the vehicle can be obtained. This running track is
It is used for so-called map matching for specifying the road on which the vehicle is traveling.

Next, the position measuring unit 104 is a so-called GP
For measuring the position of the vehicle using S etc.,
It is provided with a GPS receiver that receives signals from a plurality of GPS satellites and measures the absolute position of the vehicle, a speed sensor and a direction sensor for measuring the relative position of the vehicle, and the like. Speed sensors and direction sensors are used for autonomous navigation. The relative position measured by these sensors is used for obtaining a position in a tunnel where the GPS receiver cannot receive radio waves from the satellite, or for correcting a positioning error of an absolute position measured by the GPS receiver. You.

The input unit 105 includes various switches, a touch panel attached to the display surface of the display unit 106, a remote controller, a data input device using voice recognition, and the like. In the touch panel, when a user touches an icon or the like displayed on the display unit 106 with a finger, corresponding data or an instruction is input. In a data input device using voice recognition, when a user utters a voice, data or a command corresponding to the voice is input.

The display unit 106 is a display such as a liquid crystal display or a CRT, and has a touch panel as described above. The transmission / reception unit 108 is a communication device for transmitting and receiving data to and from the center device 10, and is configured by communication devices including a transmission device and a reception device. In this case, similarly to the center side, a system such as a car phone, a mobile phone, and a PHS may be used.

<Operation on Center Device Side> Next, the operation of the center device 10 will be described. 6 and 7 show, as a flowchart, the operation of the route search and guidance data transmission process in the center device 10. When requesting the center device 10 for route guidance, the vehicle-mounted navigation device 100 transmits to the center device 10 the data of the current vehicle position (or departure place) measured by the position measuring unit 104 and the destination specified by the user. 108.
At this time, an ID for identifying the own vehicle is transmitted at the same time. Then, the center device 10 receives the data of the current position and the destination received from the vehicle by the transmission / reception unit 12 and transmits the data to the arithmetic processing unit 14. The communication mode between the center device 10 and the in-vehicle navigation device 100 is performed by, for example, packet switching or circuit switching.

In the arithmetic processing section 14 of the center device 10, the system control program 26 stored in the memory 18
Is running. And, by receiving the data,
The CPU 16 executes the route search program 20 stored in the memory 18 to perform a route search (step S1).
0). The route search is performed with reference to the intersection data 32, the road data 34, and the node data 36 of the database 30 described above. This route search processing is known, for example, Japanese Patent Application Laid-Open Nos. 1-173297 and 1-17329.
The recommended route is set by the method disclosed in Japanese Patent Application Laid-Open No. 8-108, with the condition that the distance of the entire route is the shortest as the optimal route.

The search route data 27 as a search result is stored in the memory 18 (step S12). FIG. 8 shows the contents of the search route data 28 generated as a result of the route search. This search route data 27 includes FIG.
The intersection column data shown in FIG. 7A and the node column data shown in FIG. The intersection row data is composed of data such as an intersection name, an intersection number, a turning angle, a distance, and the like. By sequentially calling and listing road numbers constituting a route, it is possible to specify a road on which the vehicle travels. On the other hand, the node string data is composed of data such as longitude and latitude, intersection number, attribute, angle, distance, and the like representing the position of the node point. The node string data may be data of only intersections requiring guidance excluding intersections that do not require guidance.

Next, the arithmetic processing unit 14 of the center device 10
Executes the return route search program 22 in the CPU 16. First, a counter n for an intersection and a counter i for a road are set (steps S14 and S1).
6). Then, the n-th intersection Cn included in the searched route is detected (step S18). Next, a road Ri connected to the detected intersection Cn and not included in the searched route is detected (step S2).
0). Next, from the road Ri, a route connected to the intersections Cn + 1, Cn + 2,... On the search route beyond the intersection Cn, that is, a return route is searched (step S22). The search result is stored in the memory 18 as the return route data 28 (Step S24). This return route search is performed at the intersection Cn
(Step S)
26, step S36). In addition, the above-described processing is performed on all the intersections included in the searched route (steps S28 and S34).

The arithmetic processing unit 14 executes the data search / edit program 24 in the memory 18 by the CPU 16, refers to the search route data 27 and the return route data 28, and stores the searched route and return route guidance data in the database 30.
Then, the information is retrieved from the guidance data 38, extracted and edited to create the extracted guidance data 29 (step S30). The extracted guide data 29 is transmitted to the transmitting / receiving unit 12 together with the corresponding vehicle ID.
Is transmitted to the on-vehicle navigation device 100 (step S32).

FIG. 9 is an example of an intersection and a road including the searched route. In the figure, C represents an intersection, and R represents a road. The searched route is, for example, as indicated by a bold line,... R121 → C121 → R122 → C122 → R
123 → C123 → R223 → C112 → R112 → C
113 → R113,... The return route in this example is as shown in FIG. For example, at intersection C12
Focusing on No. 1, the connecting road outside the search route is R2
03, R204. Of these, R203 is C
111 → R202 → C101 → R102 → C102 → R
Since the vehicle is connected to the intersection C112 through a route 222, the route is a return route. R204 is C131 → R1
Intersection C via the route 32 → C132 → R121
Since it is connected to the switch 122, this is also a return path.

Similarly, focusing on the intersection C122, the connecting road outside the search route is R121. R12
1 is connected to the next intersection C123 through a route of C132 → R133 → C133 → R224,
It becomes a return route. The same applies to other intersections. Such route data and guidance data on the search route and the return route shown in FIG. 10 are transmitted to the vehicle side together with the ID of the vehicle that has requested the route guidance.

<Operation on the in-vehicle navigation device side>
Next, the operation of the in-vehicle navigation device 100 will be described. 11 and 12 show the in-vehicle navigation device 1
The operation of the route guidance process at 00 is shown as a flowchart. In the vehicle-mounted navigation device 100,
The control program 154 is executed by the arithmetic processing unit 101. In this state, when the transmission / reception unit 108 receives the above-described route / guidance data from the center device 10 (step S
(Yes in 40), the arithmetic processing unit 101 stores the received route / guidance data 160 in the memory 102 (step S).
42).

When the user instructs the start of guidance by the input unit 105 (Yes in step S44), the route guidance program 150 in the memory 102 is processed by the arithmetic processing unit 10
First, the current position of the vehicle is acquired by the position measuring unit 104 (step S46). If the position corresponds to the read position of the route / guide data 160 acquired from the center device 10 (Yes in step S48), the corresponding route / guide data 160 is read (step S5).
0), route guidance is executed (step S52). In addition,
If it does not correspond to the reading position, the guidance is executed without reading the data (No in step S48). That is, the map and the landmark of the route are displayed on the display unit 106, and the corresponding voice guidance is output from the voice output unit 107 when the vehicle turns right or left at an intersection.

The guidance operation along such a route is performed until the vehicle arrives at the destination (step S54) unless the vehicle deviates from the route (step S56).
It is performed along.

The arithmetic processing unit 101 executes the return processing program 152 to compare the current position of the vehicle of the position measuring unit 104 with the route data of the route / guidance data 160, and if the vehicle has deviated from the route for some reason. Then, that fact is detected (Yes in step S56). Then, the arithmetic processing unit 101 detects the intersection Cn that has passed just before the departure (step S58), and also detects the intersection on the route ahead. As a result, when the intersection Cn + 1 next to the intersection Cn is detected in the searched route (Yes in step S60), the route from the vehicle current position to the next intersection Cn + 1 (other than the searched route) Route and return route)
Is searched (step S62).

When the return route is searched (Yes in step S64), route guidance is performed based on the return route (step S52). When the return route cannot be searched (No in step S64), the return route is searched for the next intersection on the search route (step S6).
8, S60). Then, when the vehicle arrives at the destination, the route guidance ends (Yes in step S54, S66).

For example, in the example of FIG.
If you deviate from the route from 22 to the direction of road R121,
By following the return route of C132 → R133 → C133 → R224, the vehicle reaches the intersection C123 on the search route. The same applies to other return paths.

The present invention has many embodiments and can be variously modified based on the above disclosure. For example, the following is also included. (1) In the above-described embodiment, as shown in FIG. 10, the route / guidance data of the search route and the return route are transmitted from the center side to the vehicle side. However, as shown in FIG. Data on roads and intersections within a certain distance, for example, within a range of 500 m, may also be transmitted from the center to the vehicle. In this case, as compared with FIG. 10, the road connection state of the intersection to which the data has been added becomes clear, and it is possible to make a right or left turn at the intersection without error.
Even if the route is not a return route, if there is data on a route around the search route, it can be used as a clue for the user to search for a return route when the route deviates from the search route. The present invention includes such a case.

(2) The display of the search route and the return route on the display unit 106 can be various, but the following are some examples. Example 1 ... The original searched route is displayed, and when the vehicle deviates from the searched route and runs on the return route, the return route is displayed. Example 2 As shown in FIG. 13, the return route is displayed as a thin line in addition to the search route indicated by the bold line at first, and when traveling on the return route, the return route is highlighted. In the illustrated example, the vehicle is traveling on the road R121 which is the return route, and the vehicle mark M is on the road R121. Then, the return route R12
1, R133 and R224 are highlighted.

(3) In the above embodiment, the intersection data is prepared in the center database, but an intersection of a plurality of roads may be handled as an intersection instead of the intersection data. This has the advantage that it is not necessary to transmit the data of the intersection number and the intersection coordinates to the vehicle. Even without such data such as the intersection number, the position of the intersection can be detected from the intersection of the road data (such as the longitude and latitude coordinate data indicating the road shape) of the recommended route and the return route. The road data, the intersection data, and the node data shown in the above-described embodiment are merely examples, and may be appropriately changed as needed. Further, the format of the data and the like may be similarly changed as appropriate.

(4) In the above embodiment, all the route / guidance data extracted at the center is transmitted from the center to the vehicle at the start of route guidance. You may make it transmit according to a travel position. If the departure point and the destination are very far apart, the route / guidance data will be considerable. By dividing and transmitting the data, the data storage capacity of the vehicle-mounted navigation device can be reduced.

(5) The route / guidance data transmitted from the center may be added with data obtained from VICS or the like on the vehicle. Even when the VICS information is taken into account when the route / guidance data is generated on the center side, the road conditions may have changed when the vehicle actually runs. Therefore, it is convenient to receive the VICS information on the vehicle side during traveling and use it for route guidance.

(6) The above embodiment is an application of the present invention to a vehicle, but is applicable to various mobile objects such as portable mobile terminals.

[0046]

As described above, according to the present invention,
Routes around the search route from the starting point to the destination
Since the guidance data, for example, the route / guidance data of the return route is also sent from the center side to the moving side, it is possible to obtain a clue for returning to the original route when the vehicle deviates from the search route, thereby improving flexibility. There is an effect that certain highly convenient navigation becomes possible.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a navigation system according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating an example of a road network.

FIG. 3 is a diagram illustrating an example of intersection data.

FIG. 4 is a diagram showing an example of road data.

FIG. 5 is a diagram illustrating an example of node data.

FIG. 6 is a flowchart showing an operation on the center side.

FIG. 7 is a flowchart showing an operation on the center side.

FIG. 8 is a diagram showing an example of search route data.

FIG. 9 is a diagram illustrating an example of an intersection and a road including a searched route.

FIG. 10 is a diagram illustrating an example of search route and return route data.

FIG. 11 is a flowchart showing the operation on the vehicle side.

FIG. 12 is a flowchart showing the operation on the vehicle side.

FIG. 13 is a diagram showing an example of route display on the vehicle side.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Center apparatus 12 ... Transceiving part 14 ... Operation processing part 18 ... Memory 20 ... Route search program 22 ... Return route search program 24 ... Data search and edit program 26 ... System control program 27 ... Search route data 28 ... Return route data 29 ... Extracted guidance data 30 ... Database 32 ... Intersection data 34 ... Road data 36 ... Node data 38 ... Guidance data 100 ... In-vehicle navigation device 101 ... Operation processing unit 102 ... Memory 102A ... Program storage area 102B ... Data storage area 104 ... Position measurement unit 105 input unit 106 display unit 107 voice output unit 108 transmission / reception unit 150 route guidance program 152 return processing program 154 control program 160 route / guidance data 162 ID data 164 vehicle position data C: intersection M: vehicle mark R: road

 ──────────────────────────────────────────────────続 き Continued on front page (72) Inventor Hiroyuki Yamakawa 2--19-12 Sotokanda, Chiyoda-ku, Tokyo Inside Equos Research Co., Ltd. (72) Inventor Satoshi Kitano 2--19 Sotokanda, Chiyoda-ku, Tokyo No. 12 Equos Research Co., Ltd. (72) Inventor Yasuo Ito 2-19-12 Sotokanda, Chiyoda-ku, Tokyo F-term in Equos Research Co., Ltd. 2F029 AA02 AB01 AB07 AB09 AC01 AC02 AC04 AC18 5H180 AA01 BB02 BB04 BB05 FF04 FF05 FF12 FF13 FF22 FF25 FF27 FF33

Claims (5)

[Claims] 1. A navigation method for sending guidance data of a search route from a departure point to a destination from a vehicle side to a vehicle side and performing route guidance on the vehicle side based on the data. A navigation method, wherein the route / guidance data sent to the vehicle includes, in addition to the search route, a route around the search route. 2. The navigation method according to claim 1, wherein the surrounding route is a return route for returning to the search route when a vehicle deviates from the search route. 3. The center side obtains a search route from the departure place to the destination; obtains a return route when the search route deviates from the obtained search route; and applies to each of the routes obtained in the above steps. Extracting guidance data; sending search route data, return route data, and the guidance data obtained by each of these steps to the mobile side;
The moving side performs route guidance based on the search route data received from the center and the guidance data; when the vehicle deviates from the search route, the return route is received using the return route data received from the center. A step of searching for a route; and performing a route guidance based on the return route data and the guidance data when a return route is searched. 4. A center device for generating route guidance data from a departure point to a destination, which is data for performing route guidance on the vehicle side and sending the data to the vehicle side, performs route search and route guidance. Means for storing a search route from a departure point to a destination with reference to the memory means; and a search route obtained by the route search means with reference to the memory means. Return route search means for obtaining a return route when the vehicle deviates; guide data extraction means for extracting guidance data corresponding to each route obtained by the route search means and return route search means with reference to the memory means; Communication means for sending search route data, return route data obtained by the search means, return route search means and guidance data extraction means, and the guidance data to the mobile side Center apparatus characterized by comprising a. 5. A navigation system comprising: the center device according to claim 4; and a navigation device that performs route guidance based on search route data, return route data, and guidance data sent from the center device, A route guidance unit for performing route guidance based on the search route data and the guidance data; a route departure detection unit for detecting a deviation from the search route; Return route search means for obtaining a return route based on the route data; return route guidance means for performing route guidance based on the return route data and the guidance data when a return route is obtained thereby. A featured navigation device.