JP2001317947A - Navigation apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation apparatus N1 that can automatically switch the mode between an in-vehicle mode and an outside-vehicle mode. SOLUTION: The navigation apparatus N1 is equipped with at least a CPU 11 and a detector 19, that generates a detection signal S2 that can specify whether or not the apparatus is used in a vehicle. When the CPU 11 judges that a body device 1 is being used in the vehicle based on the detection signal S2 of the detector 19, operation is made in the in-vehicle mode for performing first navigation (the estimation of a current position and path search) which is suitable for the vehicle. When the CPU 11 judges that the body device 1 is being used outside of the vehicle based on the detection signal S2, however, the operation is made the outside-vehicle mode for carrying out a second navigation (the estimation of the current position and route search) which is suitable for pedestrians.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a navigation device, and more particularly, to a navigation device that can be used inside and outside a vehicle.

[0002]

2. Description of the Related Art Conventionally, an in-vehicle navigation device displays a current position and a map of a vehicle, searches for an optimal route from a departure place to a destination, and finds a driver based on the optimal route. Or to that destination. Such an in-vehicle navigation device is fixed in a vehicle, so that the navigation device cannot be used in another vehicle or used by a user by carrying it outside the vehicle. Therefore, recently, the navigation device is configured to be detachable and portable to the vehicle, and by itself,
Research and development of navigation devices of a type that can be used inside and outside the vehicle have been started. Hereinafter, as an example of such a navigation device, Japanese Patent Application Laid-Open No. H10-31876 will be described.
The one disclosed in Japanese Unexamined Patent Publication No. 3 will be described with reference to FIG.

In FIG. 24A, a navigation device Nc includes a main unit 101 and a GPS (Global Position).
102) and an autonomous navigation sensor 1
03. The main unit 101 is detachably attached to an arm stand 104 fixed near the driver's seat of the vehicle, and performs various processes necessary for user navigation. The antenna 102 is connected to the main device 101 via a cable, and the navigation device N
If c is used in a car, it is typically placed on the dashboard. On the other hand, when the navigation device Nc is used outside the vehicle, the antenna 102 is mounted on the antenna mounting portion 105 located above the main device 101.
Attached to. The antenna mounting portion 105 includes the antenna 1
02 which is turned on when 02 is mounted
Is arranged.

When the navigation device Nc having the above configuration is used in a vehicle, the main device 101 is fixed to an arm stand 104, and an antenna 102 is mounted on a dashboard. Power is supplied to the main unit 101 from a battery provided in the vehicle via a power cable, a cigarette lighter socket, and the like. Further, an autonomous navigation sensor 103 is connected to the main unit 101. In the above state, the main device 101 performs various processes necessary for the user's navigation. Such various processes are not different from those of the related art, and thus description thereof is omitted.

When the navigation device Nc is used outside a vehicle, the user first connects a power cable to the main unit 10.
1 and the autonomous navigation sensor 103
Remove from 1. The main unit 101 is automatically supplied with power from the built-in battery when the power cable is disconnected. Further, the user removes the antenna 102 from the dashboard, mounts the antenna 102 on the antenna mounting portion 105, and further mounts the main device 101 on the arm stand
Remove from The antenna 102 is attached to the antenna mounting portion 105.
Is mounted, the microswitch 106 is turned on. The control unit (not shown) of the main device 101 constantly monitors the state of the microswitch 106, and when the microswitch 106 is turned on, the main device 101
24 is removed from the vehicle, and the mode shifts to the portable operation mode shown in FIG.

[0006] Upon transition to the portable operation mode, the control unit:
The current position and the current date and time are stored as the position of the vehicle and the date and time when the main device 101 is removed from the vehicle.
Further, the control unit stores therein map data used immediately before the main device 101 is removed from the vehicle, that is, map data representing a map around the vehicle (step S100).
1).

Next, after waiting for a predetermined time (step S1002), the control unit detects the current position of the user based on a signal from a GPS artificial satellite (step S10).
03). Further, the control unit checks whether or not the detected current position of the user is within a certain distance from the vehicle position (step S1004). If the current position is within the certain distance, the process proceeds to step S1005. On the other hand, when the current position of the user is more than a predetermined distance from the vehicle position, the control unit shifts to step S1006.

In step S1005, the control unit
It is checked whether or not the microswitch 13 is off, that is, whether or not the antenna 102 has been removed from the antenna mounting portion 105. If the antenna 102 has been removed, the control unit determines that the user has returned to the vehicle, and ends the portable operation mode. On the other hand, when the micro switch 106 is on in step S1005, the control unit determines that the user is walking near the vehicle even if the current position of the user is within a certain distance from the vehicle position. Then, control proceeds to a step S1006. In step S1006, the control unit checks whether the current position is apart from the previously stored position by a certain distance or more, and if less than the certain distance, returns to step S1003 and repeats the above-described processing. On the other hand, if the current position is 100 m or more away from the previous storage position,
A set of the current position and the current time is stored internally (step S1007). At this time, the control unit stores the stored positions in chronological order. After the above storage process is completed, the control unit returns to step S1002 and repeats the above operation.

As described above, the navigation device Nc
Stores the position when the main body device 101 is removed from the vehicle as the vehicle position. After that, the main device 101
Each time the user substantially moves the fixed distance, the current position and date and time are stored. That is, the control unit stores the movement trajectory of the user. Then, in response to a user operation, the control unit displays on the screen of the main device 101 an image obtained by synthesizing the user's movement trajectory on the currently held map around the vehicle. As a result, the user can check his or her trajectory and return to the original vehicle along the trajectory. Further, in response to a user operation, the control unit searches for a route from the current position to the vehicle position, and guides the user to the vehicle position along the searched route.

[0010]

The navigation device Nc guides the user walking outside the vehicle in the portable mode, and the vehicle at other times, but between the user and the vehicle. There are considerable differences. For example, a user can only move within a narrow range at a lower speed than a vehicle. Therefore, it is better that the navigation device Nc can display a map showing a relatively narrow range in detail in the portable mode, and can display a map showing a relatively wide range when guiding the vehicle. However, since the navigation device Nc uses the map data used for guiding the vehicle even in the portable mode, the navigation device Nc displays an image in which the trajectory of the user is combined on a map representing a wide range. .

Considering a case where a user and a vehicle move on a road, different traffic regulations are applied to each case. Therefore, even if a route used to guide the user himself to the vehicle is searched using a map used for guiding the vehicle as in the case of the navigation device Nc, an optimal route for a walking user can be obtained. Not exclusively. As can be seen from the above, the navigation device Nc performs the same operation as when it is used inside a vehicle even when it is used outside a vehicle, so that there is a problem that it is not possible to perform guidance suitable for pedestrians.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a navigation device which automatically determines whether it is used inside a vehicle or outside a vehicle, and operates in a mode suitable for each.

[0013]

Means for Solving the Problems and Effects of the Invention A first invention is a navigation device that can be used inside and outside a vehicle, and a determination unit that determines whether or not the navigation device is used inside the vehicle.
A navigation processing unit. The navigation processing unit performs first navigation suitable for the vehicle when the determination unit determines that the vehicle is used in the vehicle, and performs the pedestrian when the determination unit determines that the vehicle is used outside the vehicle. Perform the second navigation suitable for.

A second invention is according to the first invention, and the navigation processing unit uses a first map file representing a map of a relatively wide range in the first navigation processing, In the navigation process of
A second map file representing a relatively narrow map is used.

A third invention is according to the first invention, and the navigation device further includes a memory for storing road network data indicating a road connection relationship. The navigation processing unit searches for a first route for guiding the vehicle from the starting point to the destination based on the road network data in the memory when the determining unit determines that the vehicle is used in the vehicle. If the determining unit determines that the pedestrian is not used in the vehicle, the second route for guiding the pedestrian from the departure place to the destination is searched based on the road network data in the memory.

A fourth invention is according to the third invention, and the road network data includes a record indicating a traffic regulation provided on each road. The navigation processing unit searches for a first route that complies with traffic regulations related to the vehicle with reference to the record.

A fifth invention is according to the first invention, wherein the navigation device is attached to a vehicle and includes a main unit that houses a determination unit and a navigation processing unit, and detachably holds the main unit. And a holder.
The main body device further includes a detection unit that detects whether or not the main unit is held by the holder. The determining unit determines whether or not the vehicle is used in the vehicle based on the detection result of the detecting unit.

A sixth aspect is according to the fourth aspect, wherein the navigation processing section determines that the navigation section is not used in the vehicle during the first navigation. The second navigation is started, and when the determination unit determines that the vehicle is to be used in the vehicle while the second navigation is being performed, the first navigation is started.

A seventh invention is according to the fifth invention, wherein the navigation device is provided outside the main unit and stores an external storage device for storing data necessary for the first navigation and the second navigation. Is further provided.

An eighth invention is according to the seventh invention, wherein the main unit further includes an internal storage device which is lighter and smaller than the external storage device. The navigation processing unit is the first
During the navigation, the data necessary for the second navigation is read from the external storage device to the internal storage device.

A ninth invention is according to the first invention, wherein the navigation device is capable of specifying whether or not the vehicle is moving, and is connected to a device fixed in the vehicle. And a detection unit that monitors the state of the terminal to detect whether the vehicle is moving. The determining unit determines whether or not the vehicle is used in the vehicle based on the detection result of the detecting unit.

A tenth invention is according to the ninth invention, and the navigation processing unit, when performing the first navigation, when the determination unit determines that it is not used in the vehicle, The second navigation is started, and when the determination unit determines that the vehicle is to be used in the vehicle while the second navigation is being performed, the first navigation is started.

An eleventh invention is according to the ninth invention, wherein the navigation device is provided outside the main device, the main device containing a determination unit and a navigation processing unit, and is provided with the first navigation and the navigation device. An external storage device for storing data necessary for the second navigation.

A twelfth invention is according to the eleventh invention, and the main unit further includes an internal storage device which is lighter and smaller than the external storage device. The navigation processing unit reads data necessary for the second navigation from the external storage device to the internal storage device while performing the first navigation.

A thirteenth invention is according to the first invention, wherein the navigation device generates an operation signal indicating at least a point where the user gets off or gets on in response to an operation by the user. An input device is further provided. The determining unit is configured to perform the operation based on the operation signal from the input device.
It is determined whether or not it will be used in the car.

A fourteenth invention is according to the thirteenth invention, wherein the navigation device can specify whether or not the vehicle is moving, and has a terminal connected to a device fixed in the vehicle. And a detection unit that monitors the state of the terminal and detects whether the vehicle is moving. The judgment part is
Based on an operation signal from the input device and a detection result from the detection unit, it is determined whether or not the vehicle is used in the vehicle.

A fifteenth invention is according to the thirteenth invention, wherein the navigation processing unit, when performing the first navigation, when the determination unit determines that it is not used in the vehicle, Start the second navigation, the second
If the determination unit determines that the vehicle is to be used in the vehicle during the navigation, the first navigation is started.

A sixteenth invention is according to the thirteenth invention, wherein the navigation device is provided outside the main device, the main device including a determination unit and a navigation processing unit, and includes a first navigation and navigation device. An external storage device for storing data necessary for the second navigation.

A seventeenth invention is according to the sixteenth invention, wherein the main unit further includes an internal storage device which is lighter and smaller than the external storage device. The navigation processing unit reads data necessary for the second navigation from the external storage device to the internal storage device while performing the first navigation.

An eighteenth invention is according to the first invention, wherein the navigation device includes, in response to an operation by a user, an input device for generating an operation signal for defining a timing at which the user gets off or gets on the vehicle. Further prepare. The determining unit determines whether or not the vehicle is used in the vehicle based on an operation signal from the input device.

A nineteenth aspect is according to the eighteenth aspect, wherein the navigation processing section determines that the navigation section is not used in the vehicle during the first navigation. Start the second navigation, the second
If the determination unit determines that the vehicle is to be used in the vehicle during the navigation, the first navigation is started.

A twentieth invention is according to the eighteenth invention, wherein the navigation device is provided outside the main device, the main device including a determination unit and a navigation processing unit, and is provided with a first navigation and navigation device. An external storage device for storing data necessary for the second navigation.

A twenty-first invention is according to the twentieth invention, and the main unit further includes an internal storage device that is lighter and smaller than the external storage device. The navigation processing unit reads data necessary for the second navigation from the external storage device to the internal storage device while performing the first navigation.

[0034] A twenty-second invention is according to the first invention, wherein the navigation device is provided with a main unit accommodating the determination unit and the navigation processing unit, and is fixed outside the main unit and to the vehicle. And an external communication control unit that communicates with the external communication control unit. The main device further includes an internal communication control unit that generates a notification signal indicating whether communication with the external communication control unit is possible. The determining unit determines whether or not the vehicle is used in the vehicle based on the notification signal from the internal communication control unit.

According to a twenty-third aspect, according to the twenty-second aspect, the navigation processing unit, when performing the first navigation, when the determining unit determines that the vehicle is not used in the vehicle, Start the second navigation, the second
If the determination unit determines that the vehicle is to be used in the vehicle during the navigation, the first navigation is started.

A twenty-fourth invention is according to the twenty-second invention, wherein the navigation device is provided outside the main unit and stores an external storage device for storing data necessary for the first navigation or the second navigation. Is further provided.

A twenty-fifth invention is according to the twenty-fourth invention, and the main unit further includes an internal storage device that is lighter and smaller than the external storage device. The navigation processing unit reads data necessary for the second navigation from the external storage device to the internal storage device while performing the first navigation.

A twenty-sixth invention is according to the twenty-second invention, wherein the external communication control unit transmits a radio wave with electric power enough to cover the inside of the vehicle, thereby communicating with the internal communication control unit. .

A twenty-seventh aspect of the present invention relates to a navigation method used in a computer device that can be used inside and outside a vehicle. If it is determined in the step, a first navigation step for performing a first navigation suitable for the vehicle, and if it is determined in the determining step that the vehicle is used outside the vehicle, a second navigation suitable for a pedestrian is performed. And a second navigation step.

A twenty-eighth invention is a recording medium on which a program for realizing navigation by a computer device that can be used inside and outside a vehicle is recorded, and a judging step for judging whether or not the program is used inside the vehicle, If it is determined in the determining step that the vehicle is used inside the vehicle, a first navigation step for performing a first navigation suitable for the vehicle, and if it is determined in the determining step that the vehicle is used outside the vehicle, A second navigation step for performing a suitable second navigation.

A twenty-ninth aspect of the present invention is a program for implementing navigation using a computer device that can be used inside and outside a vehicle. A first navigation step for performing a first navigation suitable for the vehicle when determined in the determining step, and a second navigation method suitable for the pedestrian when determined in the determining step to be used outside the vehicle. And a second navigation step for performing navigation.

[0042]

FIG. 1 is a block diagram showing an overall configuration of a navigation device N1 according to a _first embodiment of the present invention. In FIG. 1, the navigation device N
₁ generally includes a main body device 1, a holder 2 and a sensor 3. The main unit 1 includes a CPU 11 and a ROM 12
, RAM 13, storage device 14, input device 15,
An output device 16, a receiver 17, a first terminal 18, and a detector 19 are accommodated. Further, the CPU 11,
ROM 12, RAM 13, storage device 14, input device 15, output device 16, receiver 17, detector 1
9 are communicably connected to each other. Furthermore, CPU1
1 is communicably connected to the sensor 3 via the first terminal 18 and the second terminal 21 on the holder 2 side.

The CPU 11 operates in accordance with a program stored in the ROM 12 in advance, and executes processing necessary for navigation suitable for vehicles and pedestrians using the RAM 13 as a work area. What is executed by the CPU 11 is typically estimation of the current position, search for a route, and guidance.

The storage device 14 is typically constituted by a CD drive, a DVD drive or a hard disk drive, and stores various data necessary for navigation. In the storage device 14, a map database DB _CART and road network data D _NET are usually recorded in advance. In the present embodiment, the map database DB _CART includes a plurality of map files F _CART representing a plurality of maps having different reduction ratios SF. Here, the reduction rate SF means a rate at which the actual state of the ground surface is reduced.
Therefore, as the reduction rate SF increases, the map file F
_CART represents a wide area map. Each map file F _CART as described above is mainly used for displaying a map.

The road network data _DNET is mainly used for searching for routes, and is data for specifying intersections and roads, that is, road network connection states by nodes and links. Further, road network data D
_{The NET} also contains data on the coordinates, shape, attributes and traffic regulations of the intersection or road as needed.

FIG. 2 shows an example of the data structure of the road network data _DNET . In FIG. 2, the road network data D _NET roughly includes a node list N.
L, a link list LL, and a traffic regulation list RL. Node list NL is composed of records NR ₀ ~NR _i nodes # 0 to # i included in the road network. Record NR ₀ contains the coordinates of node # 0 (generally,
(Specified by latitude and longitude), the number of links connected thereto (the number of connected links), a pointer for specifying the record LR of each link, the number of traffic regulations provided there, and the It consists of a pointer that specifies the record RR. Other records NR _{1 to} N
R _{i is} also configured in the same manner as the record NR _0, and a description thereof will be omitted.

The link list LL is composed of a record LR ₀ ~LR _j of the link # 0~ # j included in the road network. Record LR _0, the link # 0 node number at each end of the link distance, road type, an information indicating the road width and one-way. Other records LR ₁ -L
R _j has the same configuration as record LR _0, and a description thereof will be omitted.

The traffic regulation list RL includes nodes # 0 to #i
It consists of record RR ₀ ~RR _k of all of the traffic regulations # 0~ # k provided to. Record RR ₀ is
It consists of an entry link number, an exit link number, and information indicating traffic regulation. Other records RR _{1 to} RR _k are also
Since the same configuration as the record RR _0, omitted their descriptions. In this embodiment, for convenience, it is assumed that only the traffic regulations related to vehicles are described in the traffic regulation list RL.

Next, a specific example of the above road network data _DNET will be described with reference to FIG. In FIG. 3, one node # 0 is connected to one end of each of links # 0 to # 2.
Assume a three-junction where is located. Also, link # 0
There are nodes # 1 to # 3 at the other end of # 2. Also,
On this three-way intersection, traffic is restricted by the vehicle from link # 1
It is assumed that when the user enters node # 0 from, the user can escape only to link # 0. In such a case, the number of connected links is described as “3” in the record NR ₀ . As the pointer, the recording position of the record LR ₀ ~LR ₂ is described. The traffic regulation number is described as “1”. The pointer, for example, the recording position of the record RR ₀ is described.

[0050] Further, in the record LR _2, the node number is described as "# 3" and "# 0". The one-way information is described, for example, as “# 3” → “# 0”.
This indicates that the vehicle can travel only in the direction from node # 3 to node # 0. Also, record RR
_{At 0} , the incoming and outgoing link numbers are
"# 1" and "# 0" are described, and the traffic regulation information describes information indicating that the vehicle can only make a left turn.

Referring back to FIG. The input device 15
Typically, it comprises a remote controller, a touch sensor, a keyboard and a mouse operated by a user, and at least two of them. The user operates the input device 15, the user can select the functions of the navigation device N _1, to switch the map to be displayed, or set various points. Input device 15
Generates an operation signal S ₁ indicating a user operation, and
Send to U11.

[0052] The output device 16 is typically is composed of a liquid crystal display device and a speaker, and displays a map on a screen based on the map file F _CART, route data D _R required for route guidance The route is displayed based on the information, and voice is output as needed.

The receiver 17 is typically composed of a GPS receiver, calculates the current position of the main unit 1 based on information transmitted from an artificial satellite, and outputs the calculated result to the position. transmitting the data D _P to the CPU 11. In addition,
If the receiver 17 can calculate the current position of the main unit 1 in order to realize the so-called other navigation method,
It is not limited to the receiver. Here, the other law navigation is a concept opposite to the autonomous navigation that derives the current position of the main unit 1 from a detection result from a sensor attached to the vehicle, and G
This means navigation that derives the current position of the main device 1 from information obtained from a positioning system such as a PS.

The first terminal 18 is arranged in the main unit 1 so as to be able to contact the second terminal 21, and electrically connects the CPU 11 and the sensor 3. The detector 19 monitors the state of the first terminal 18, and the main unit 1
Or it is removed from, and detect whether the main device 1 is mounted on the holder 2, the detection result as a detection signal S _2, and transmits to the CPU 11.

Next, the holder 2 will be described. The holder 2 is configured to detachably support the main body device 1 and is fixed near the driver's seat of the vehicle. When the user drives the vehicle, the main body device 1 is attached to the holder 2 so that the user can operate the output device 16.
Screen becomes easier to see. In addition, by removing main body device 1 from holder 2, the user can operate outside the vehicle.
The main device 1 can be used. The holder 2 as described above includes at least the second terminal 21 and the wiring 22.

The second terminal 21 is connected to the CPU 1 of the main unit 1.
This is a terminal for electrically connecting 1 and the like to the holder 2 side. When the main unit 1 is attached to the holder 2, the first terminal 18 and the second terminal 21 abut against each other, and the main unit 1 and the holder 2 are electrically connected. One end of the wiring 22 is connected to the second terminal 21, and the other end is connected to the sensor 3.

Next, the sensor 3 will be described. The sensor 3 typically includes a direction sensor and a vehicle speed sensor, and is directly attached to the vehicle outside the main body device 1 and the holder 2. Sensor 3, when the main unit 1 and the holder 2 are connected, to detect the azimuth and vehicle speed at predetermined time intervals, transmits to the CPU11 the detection result as a detection signal S _3. The sensor 3 may include a component other than the azimuth sensor and the vehicle speed sensor as long as it can detect a parameter unique to the vehicle in order to realize so-called autonomous navigation. As described above, the autonomous navigation means a navigation that derives the current position of the main unit 1 from the detection result of a sensor attached to the vehicle, contrary to the other-law navigation.

Next, a description will be given of each process in the navigation device N _1. When the power of the navigation device N ₁ is turned on, CPU 11 starts to operate in accordance with a program stored in the ROM 12, first, executes the mode setting shown in FIG. In FIG. 4, the CPU 11
Receiving a detection signal S ₂ from the detector 19 (step S
41). Then, CPU 11 on the basis of the detection signal S ₂ received this time, it is determined whether the main device 1 is mounted on the holder 2 (step S42).

If the CPU 11 determines that the main unit 1 is currently attached, it estimates the current position (FIG. 5).
(Refer to FIG. 6) and the operation mode necessary for the route search / guidance (FIG. 6 and the like) is set to “in-vehicle mode” (step S43). On the other hand, when the CPU 11 determines that the main body device 1 is currently removed from the holder 2, the CPU 11 sets the operation mode to the “out-of-vehicle mode” (step S4).
4). As an example of the specific processing of step S43 or S44, the CPU 11 sets a flag that defines “in-vehicle mode” or “out-of-vehicle mode” in a partial recording area of the RAM 13. When the setting of the operation mode ends, the CPU 11 ends the mode setting of FIG.

The navigation device N₁Is the mode setting
After the end, the current position shown in FIG. 5 is estimated. Figure 5
Then, the CPU 11 first performs an initialization process (step
S51). As a specific example of step S51, the previous power supply
Map file F used immediately before being turned off
_CART(Or, a map file containing the current location of
Le F _CART) Is read from the storage device 14 to the RAM 13.
Work area necessary for estimating the current position
To The position where the power was last turned off and the current position
Times when the power is turned on and the position is close
Is the integration result used until immediately before the previous power-off.
The result (see step S53) is read into the RAM 13.
In some cases.

Subsequent to step S51, the CPU 11 operates as a determining unit in the claims and determines whether the operation mode is currently the "in-vehicle mode" (step S5).
2). In the present embodiment, since the operation mode is defined by the flag, the CPU 11 determines in step S52
It is checked whether the flag indicates “in-vehicle mode” or “out-of-vehicle mode”.

When the CPU 11 determines that the operation mode is the “in-vehicle mode”, it determines that the main unit 1 is used in the vehicle, obtains the detection signal S ₃ from the sensor _3, and then obtains the detection signal S _3. The values of the azimuth and the vehicle speed are integrated (step S53). Next, the CPU 11 determines whether or not a predetermined time has elapsed since the previous estimation of the current position (step S55) (step S54). Step S54
Then, it may be determined whether or not the vehicle has traveled a predetermined distance from the position estimated last time. If the CPU 11 determines that the predetermined time has not elapsed (or has not traveled the predetermined distance), the process returns to step S53, and the azimuth and the vehicle speed are integrated again.

[0063] On the other hand, CPU 11, when it is determined that the elapsed step S54 the predetermined time (or the vehicle if it is determined that advanced a predetermined distance), obtaining positional data D _P from the receiver 17. Further, the CPU 11 estimates the current position of the main unit 1 based on the integrated result of the azimuth and the vehicle speed and the position specified by the position data D _P , that is, by a method combining autonomous navigation and other navigation. Then the CPU
11 performs map matching based on the map file F _CART around the estimated current position, and
Matching is performed on a road on the map file F _CART read into the RAM 13 (step S55).

Here, what needs attention is step S5.
The map file F _CART used in step 5 may be read from the storage device 14 to the RAM 13 at any time during the estimation of the current position, more specifically, after the start of the first step S55. . It is preferable that the map file F _CART read at one time represents a wider range than a map that can be displayed at one time on the screen of the output device 16. Thereby, the map file F from the storage device 14 to the RAM 13 is stored.
The number of _CART transfers can be reduced.

In the in-vehicle mode, the reduction ratio SF ₁ of the read map file F _CART is determined in advance.
In most cases, the vehicle speed is faster than the user's walking speed,
As can display a map of a relatively wide range on the screen of the output device 16, the reduction ratio SF ₁ is at least selected to a value larger than the reduction ratio SF ₂ during outside mode.

After step S55, the CPU 11 operates as an example of the navigation processing unit in the claims, and calculates the current position estimated this time and the map file F _CART
The output device 16 displays a peripheral map of the current position represented by the (reduction ratio SF ₁ ) on the output device 16 (step S56), so that the user can know the current position of the vehicle. Normally, a map with a reduction ratio SF ₁ is displayed on the output device 16, but the user may operate the input device 15 to display a map other than the reduction ratio SF ₁ on the output device 16. it can. In the in-vehicle mode, the above step S
52 to S56 are repeatedly executed.

Referring again to step S52. CPU
If it is determined in step S52 that the mode is not the “in-vehicle mode” in step S52, it is determined that the user carries the main device 1 and uses it outside the vehicle. That is, the CPU 11 determines that the main device 1 is removed from the holder 2 and is used outside the vehicle. In such a case, the CPU 11 cannot obtain the detection signal S ₃ , so that the position data D
_Get only _P. Further, the CPU 11 outputs the position data D _P
The map matching is performed using the map file F _CART around the current position specified by. This allows the CP
U11 matches the estimated current position on the road of the map represented by the map file F _CART (step S5).
7).

Here, it is necessary to pay attention to step S5.
The map file F _CART used in step 7 may be read from the storage device 14 to the RAM 13 any time during the estimation of the current position, more specifically, after the start of the first step S57. . As described above, preferably, the map file F _CART read at one time represents a wider range than the map that can be displayed at one time on the screen of the output device 16.

The reduction ratio SF ₂ of the map file F _CART read out in the outside mode is predetermined. In most cases, the walking speed of the user is lower than the vehicle speed, so that the reduction rate SF ₂ is at least the reduction rate SF in the in-vehicle mode so that a map of a relatively narrow range can be displayed on the screen of the output device 16. Choose a value less than ₁ .

Next, the CPU 11 operates as an example of the navigation processing unit in the claims, and causes the output device 16 to display the current position and the surrounding map of the current position represented by the map file F _CART (reduction rate SF ₂ ) ( Step S5
8) This allows the user to know his / her current position. Note that, also in this case, the user operates the input device 1
5 to output a map other than the reduction rate SF ₂ to the output device 16.
It can also be displayed above. In the vehicle outside mode, the above steps S52 → S57 → S58 are repeatedly executed.

Here, in the present embodiment, the “outside vehicle mode”
Since the current position is estimated based only on the position data D _P obtained from the artificial satellite, a considerable error is included. Therefore, the navigation device N ₁ is, D-GPS (Different
It is preferable to receive a radio wave from a base station in a system called ial GPS) and correct the estimated current position error based on error information included in the received radio wave.

The navigation device N ₁ performs a route search / guidance shown in FIG. 6 as necessary. Route search /
The guidance is started when the user operates the input device 15. In FIG. 6, first, the CPU 11 sets a starting point SP and a destination point DP of a route to be searched (step S61). As an example of a specific process of Step S61, the user operates the input device 15 to start the departure point SP.
And the destination DP. In response to such an operation,
The input device 15 receives the designated departure point SP and destination point D.
Each P, for example transmits the operation signals S ₁ identified by longitude and latitude CPU 11. As another specific process, the CPU 11 obtains the position data D _P from the receiver 17 as the departure place SP. On the other hand, the CPU 11 obtains the destination DP from the input device 15 in the same manner as described above. The CPU 11 stores the departure place SP and the destination DP obtained as described above in the RAM 13.

After step S61, the CPU 11 operates as an example of a judgment unit in the claims, and executes step S5.
In the same manner as in 2, it is determined whether or not the operation mode is currently the "in-vehicle mode" (step S62). CPU11
When the operation mode is the "in-vehicle mode", the device operates as an example of the navigation processing unit in claims and performs a route search in the in-vehicle mode (step S63). here,
FIG. 7 is a flowchart illustrating a detailed procedure of the route search in the in-vehicle mode. In FIG. 7, the CPU 11 first stores road network data D _NET for specifying a road network in a predetermined range R _PRE required for route search in the storage device 14.
To the RAM 13 (step S71). Here, the predetermined range R _PRE means a range that is assumed to include the shortest route from the starting point SP to the destination DP set in step S61, and more specifically, the starting point SP and the destination. It is preferable that the area is surrounded by a rectangle including DP.

Next, the CPU 11 sets the first reference node R
N, the target node DN and the arrival link AL are set (step S72). As the first reference node RN,
The node closest to the departure point SP is selected. Destination node D
The node closest to the destination DP is selected as N.
A link closest to the departure point SP and capable of entering the first reference node RN is selected as the first arrival link AL.

Next, the CPU 11 sets the current reference node R
It is determined whether or not N matches the destination node DN (step S73). Since the reference node RN can be initially regarded as the same as the departure place SP, in the first step S73, it is determined that the reference node RN does not match the destination node DN. Therefore, the CPU 11 investigates the road network data D _NET loaded in the RAM 13, and enters the current reference node RN from the current arrival link AL, and exits from the reference node RN. Find a link. The CPU 11 selects any one of the found links as the escape link PL (Step S74). What needs attention in step S74 is that C
The PU 11 refers to the traffic regulation list RL on the RAM 13, that is, the traffic regulation, road type, road width, and one-way information related to the vehicle, and selects the escape link PL.

The processing in step S74 will be specifically described. For example, it is assumed that the reference node RN is the node # 2 and the arrival link AL is set to the link # 0. In this assumption under, CPU 11 may follow a pointer record NR _2, referring to the relevant traffic regulation record RR. It is assumed that the record RR ₀ is referred to now. In the record RR ₀ , for example, the entry link number “#
0, the exit link number "# 2", and information indicating "prohibition of left turn", the CPU 11 outputs the exit link PL when the vehicle enters from the link # 0 to the node # 2. As a result, it is possible to know that link # 2 cannot be selected. Further, the CPU 11 sets the record NR
Following the ₂ pointers references a record LR of the link in communication with the node # 2. Now, what is the reference is assumed to be a record LR _1. In record LR ₁ ,
For example, the road type “pedestrian heaven” and the road width “3.0”
m ”or one-way“ You cannot enter from node # 2 ”
If so, the CPU 11 can know that the link # 1 cannot be selected as the exit link PL. As described above, the CPU 11 can select the escape link PL through which the vehicle can pass while observing the traffic regulations based on the road network data _DNET .

After step S74, the CPU 11 calculates a passing cost PC when the vehicle passes through the currently selected escape link PL (step S75). In step S75, in order to simplify the description, the link distance described in the record LR is used as it is as the passing cost PC. Next, the CPU 11 sets the node located at the other end of the currently selected escape link PL to the destination node AN.
And calculates the arrival cost AC from the departure point SP to the arrival node AN (step S76).

Next, the CPU 11 determines whether or not the currently calculated arrival cost AC is the smallest among the currently calculated arrival costs AC for the currently selected arrival node AN (step). S77). When the CPU 11 determines that the currently calculated arrival cost AC is the minimum, the CPU 11 calculates the currently calculated arrival cost AC and the departure point S.
The link existing between P and the destination node AN is stored in RAM1
3 (step S78), and the process proceeds to step S79. Here, when the departure point SP is set as the reference node RN, the arrival cost A to each arrival node AN
C is calculated for the first time. Reached cost A calculated so far
Regarding C as infinity, the CPU 11 proceeds to step S77
I do. Thus, when the arrival cost AC to each arrival node AN is calculated for the first time, the determination in step S77 is naturally YES. On the other hand, when the CPU 11 determines that the arrival cost AC calculated this time is not the minimum, the process directly proceeds to step S79.

After step S77 or S78, the CPU
11 is the current destination link AL to the current reference node R
Then, it is determined whether or not there is an escape link PL that allows the vehicle to escape from the reference node RN after entering the vehicle N (step S79). If there is an unselected escape link PL, C
The PU 11 returns to step S74. That is, CPU1
1 newly selects one escape link PL and executes the calculation of the arrival cost AC and the like in the same manner as described above (step S7).
4-S78).

By repeating the above steps S74 to S78, the CPU 11 sets the arrival cost A from the current reference node RN (departure point SP) to all the arrival nodes AN.
Finish the calculation of C. In such a case, the CPU 11 determines that the escape link PL does not remain in step S79,
A node that has not been set as the reference node RN but for which the arrival cost AC has already been calculated (that is, the arrival node AN)
Among the destination nodes A having the minimum arrival cost AC
N is set as the next reference node RN (step S
710).

After that, the CPU 11 returns to step S73, and executes steps S73 to S79 using the newly set reference node RN. In this way, when the search for the route is expanded from the departure place SP to the destination DP, the current reference node RN eventually becomes the destination node D.
Matches N. In such a case, the CPU 11 determines in step S
The process proceeds from S73 to S711. The CPU 11 determines in step S7
When the process proceeds to step 11, the minimum arrival cost A is stored in the RAM 13.
C and the links existing between the departure point SP and the destination point DP are recorded. Further, the link recorded in the RAM 13 indicates a route connecting the departure place SP and the destination DP and having the minimum arrival cost AC.
Configures route data _DR1 indicating the optimal route from the departure point SP to the destination DP based on the information currently recorded in the RAM 13 (step S711).

When the above step S711 ends, C
The PU 11 exits from the flowchart in FIG. 7 (that is, step S63 in FIG. 6) and proceeds to step S64. Next, the CPU 11 superimposes the route indicated by the route data D _R1 , the current position of the vehicle, and a map of the surroundings, displays the superimposed map on the screen of the output device 16, and further outputs sound as necessary from a speaker. Then, the vehicle is guided from the departure place SP to the destination DP (step S64). Here, it should be noted that, similarly to the case of step S56, the map displayed on the screen has a relatively large scale factor S.
It is preferable to have F.

Thereafter, CPU 11 determines whether or not the current position of the vehicle coincides with destination DP (step S6).
5). If the current position of the vehicle does not match the destination DP, the CPU 11 returns to step S64 and continues to guide the vehicle. On the other hand, if the current position of the vehicle matches the destination DP, the CPU 11 ends the processing in FIG.

Now, refer again to step S62 in FIG. When it is determined in step S62 that the operation mode is not the “in-vehicle mode”, the CPU 11 operates as an example of the navigation processing unit in the claims and performs a route search in the out-of-vehicle mode (step S66).
Here, FIG. 8 is a flowchart showing a detailed procedure of the route search processing in the outside-of-vehicle mode. The processing in FIG. 8 is different from the processing in FIG. 7 in steps S74, S75, and S7.
11 in that step 11 is replaced with steps S81, S82 and S83. Since there are no other differences, in FIG. 8, steps corresponding to those shown in FIG. 7 are denoted by the same step numbers, and description thereof is omitted.

In step S81, the CPU 11
Road network data D loaded in RAM 13
Investigating _NET , the pedestrian enters the current reference node RN from the current arrival link AL, and selects any one of the links from which the pedestrian can escape from the reference node RN as the exit link PL. (Step S81). It is important to note in step S81 that the CPU 11 does not refer to the traffic regulation, road type, road width, and one-way information on vehicles in the road network data _DNET relating to the vehicles.

The processing in step S81 will be specifically described. For example, it is now assumed that the reference node RN is the node # 2 and the arrival link AL is set to the link # 0.
In this assumption under, CPU 11 does not refer to the traffic regulation list RL in the record NR _2, and each record L
Even if the information on the road width and one-way traffic is described in R ₀ , LR ₁ ,..., It is not related to the pedestrian, so the exit links from the links # 0, # 1,. Select PL. As described above, the CPU 11
Based on the road network data D _NET , it is possible to select an escape link PL through which a pedestrian can pass.

After step S81, the CPU 11 determines, in substantially the same manner as in step S74, the passing cost P which is an evaluation value when passing through the currently selected escape link PL.
C is calculated (step S82). However, the CPU 11
Calculates the passage cost PC as "infinity" when the road attribute of the currently selected escape link PL indicates "highway" or "motorway".
As a result, in the route search in the outside mode,
It is possible to prevent a pedestrian (user) from selecting a route that passes through a road on which only vehicles can travel.

According to the processing procedure of FIG.
Proceeds to step S710, the RAM 13 stores the minimum arrival cost AC connecting the departure place SP and the destination DP.
Is recorded. CPU11
Is based on the information currently recorded in the RAM 13 and the pedestrian can reach the destination DP from the departure point SP with the minimum arrival cost AC.
The route data D _R2 indicating the optimal route that can be reached by the above is configured (step S83).

When the above step S83 is completed, the CP
U11 exits from the flowchart in FIG. 8 (that is, step S66 in FIG. 6) and proceeds to step S67. Then, CPU11, using the route indicated by the route data D _R2, to guide the pedestrian from the starting point SP to the destination DP (step S67). At this time, it is preferable that a map suitable for pedestrian guidance is displayed on the screen of the output device 16. Subsequent to step S67, the CPU 11 determines whether the current position of the pedestrian matches the destination DP (step S68). If the current position of the pedestrian does not match the destination DP, the CPU 11 returns to step S67 and continues to guide the pedestrian. On the other hand, the CPU 11
When the current position of the vehicle coincides with the destination DP, FIG.
Is completed.

According to the above-described processing of FIG. 6, even if the departure point SP and the destination DP set in the in-vehicle mode are the same as the departure point SP and the destination DP set in the out-of-vehicle mode, the navigation device N ₁ becomes possible to search for a different route. Figure 9 is a diagram showing an example of a route to be searched in the navigation device N _1. FIG. 9A schematically illustrates an example of road network data D _NET including nodes # 11 to # 14 and links # 21 to # 26. Links # 21, # 22 and # 26 are connected to node # 11. Links # 22 and # 23 are connected to node # 12. Links # 23 and # 24 are connected to node # 13. Link # to node # 14
24, # 25 and # 26 are connected. here,
It should be noted that, in the road network data _DNET , the traffic regulation record RR of the node # 14 describes that the vehicle cannot escape from the link # 26 to the link # 25 via the node # 14. And

Now, when the operation mode of the navigation device N ₁ is the “in-vehicle mode”, the route search processing is started, and the departure point SP ₁ and the destination DP ₁ as shown in FIG.
Is set. Under this assumption, CPU 1
1 indicates that the reference node RN is the node # 14 and the arrival link A
When L is set to link # 26, in step S74 in FIG.
, Link # 25 is not selected. As a result, FIG.
Route data D _{R1 1} obtained in step S711 of, as shown by the arrow A in black in FIG. 9 (a), the link # 2
1 to # 25.

On the other hand, when the operation mode of the navigation device N ₁ is the “outside vehicle mode”, the route search processing is started,
It is assumed that the departure place SP ₁ and the destination DP ₁ have been set. Under this assumption, the CPU 11
4 is not referred to, the reference node RN is the node # 14, and the arrival link AL is the link # 2.
When it is set to 6, in step S81 in FIG. 8, the link # 25 can be selected as the escape link PL from which the pedestrian can escape. As a result, step S7 in FIG.
The route data D _R21 obtained at step 11 are links # 21 and # 26, as indicated by white arrows B in FIG.
And # 25.

FIG. 9B shows nodes # 31 to # 31.
An example of the road network data D _NET composed of 34 and links # 41 to # 46 is schematically shown. Links # 41, # 42 and # 46 are connected to node # 31. Node # 32 has links # 42 and # 4
3 are connected. Links # 43 and # 44 are connected to node # 33. Links # 44, # 45 and # 46 are connected to the node # 34. Here, it is necessary to pay attention to the road network data D _NET
It is assumed that information indicating "less than 3 m" is described as the road width of link # 46.

Now, when the operation mode of the navigation device N ₁ is “in-vehicle mode”, the route search process is started, and the departure point SP ₂ and the destination DP ₂ as shown in FIG.
Is set. Under this assumption, CPU 1
1 indicates that the reference node RN is the node # 31 and the arrival link A
If L is set to link # 41, in step S74 of FIG. 7, the escape link PL from which the vehicle can escape
Do not select link # 46. As a result, the route data D _R12 obtained in step S711 of FIG.
(B) As shown by the black arrow C in the link, link # 41
~ 45.

On the other hand, when the operation mode of the navigation device N1 is the "outside vehicle mode", the route search process is started,
It is assumed that the starting point SP ₂ and the destination DP ₂ have been set. Under this assumption, the CPU 11 sets the link # 4
Since the information of the road width of No. 6 is not referred to, the reference node RN
Is the node # 31 and the arrival link AL is set to the link # 41, in step S81 of FIG.
As an escape link PL from which a pedestrian can escape, link # 4
6 can be selected. As a result, the route data D _R22 obtained in step S711 in FIG. 8 includes the links # 41, # 46, and # 4 as indicated by the white arrow D in FIG. 9B.
Consists of five.

[0096] As apparent from the above description, the navigation device N _1, the main device 1, whether or not automatically determined is attached to the holder 2, on the basis of the determination result, the operation mode " Set to either "in-vehicle mode" or "out-of-vehicle mode". Further, the main unit 1
The vehicle mode, traffic regulation relating to vehicle according to the road network data D _NET, road type, by referring to the information of the road width and one-way, to search for a route suitable for the vehicle, to the outside of the vehicle mode, the vehicle Since the route is searched without referring to the traffic regulation, road width, and one-way information related to, a route suitable for a pedestrian can be searched.

In the above description, the difference between the route search in the in-vehicle mode and the route search in the out-of-vehicle mode is clarified depending on whether traffic regulations and road types relating only to vehicles are taken into consideration. However, the present invention is not limited to this. In the in-vehicle mode, it is only necessary to search for a route through which the vehicle can pass.
What is necessary is just to search for a route through which a pedestrian can pass.

Next, a navigation device N2 according to a _second embodiment of the present invention will be described. The navigation device N _2, the in that it has a structure shown in FIG. 1, is similar to the navigation device N _1, in that it performs path routing / guidance of Figure 10, differs from the navigation device N _1. Hereinafter, the differences will be mainly described.

In FIG. 10, the CPU 11 sets an origin SP and a destination DP of a route to be searched in the same manner as in steps S61 and S62 in FIG. It is determined whether or not the current operation mode is the “in-vehicle mode” (step S
101 and S102). When determining that the operation mode is the “in-vehicle mode”, the CPU 11 performs a route search in the in-vehicle mode (step S103). Step S1
The detailed processing of 03 is the same as that shown in FIG. 7, and a detailed description thereof will be omitted.

After step S103, the CPU 11
Similar to step S64 in FIG. 6, using the route data D _R1 created, to guide the vehicle to the destination DP from the start point SP (step S104). After that, the CPU 11
The current position of the vehicle is estimated, and the current position is determined as the destination DP.
It is determined whether or not it matches (step S105). C
When the current position of the vehicle coincides with the destination DP, the PU 11 determines that the guidance has ended and ends the processing in FIG.

On the other hand, when the current position of the vehicle does not coincide with the destination DP, the CPU 11 obtains a detection signal S ₂ from the detector 19, and based on the detection signal S ₂ , the main unit 1 moves the holder 2 from the holder 2. It is determined whether or not it has been removed (step S106). If the CPU 11 determines that the main body device 1 has not been removed from the holder 2, the CPU 11 determines that it is necessary to continue operating in the "in-vehicle mode", returns to step S104, and continues to guide the vehicle.

On the other hand, if the CPU 11 determines in step S106 that the main unit 1 has been removed from the holder 2, the CPU 11 determines that the operation mode must be changed from "in-vehicle mode" to "out-of-vehicle mode". Preparations for mode transition are performed (step S107). As a specific process of step S107, CPU 11 has the position indicated by the position data D _P from the receiver 17 is recorded in RAM13 as a new departure point SP. The destination DP
Is stored as it is in step S101. Further, the CPU 11 loads the road network data D _NET loaded for the route search in the “vehicle mode”.
From the RAM 13. The above is the specific processing of step S107.

Next, the CPU 11 operates as an example of the navigation processing unit in the claims, and operates in the "out-of-vehicle mode".
Is performed (step S108). Step S1
The detailed processing of 08 is the same as that shown in FIG. 8, and the detailed description is omitted. This time, the CPU 11 executes step S
New departure SP recorded at 107 and destination D
A route search is performed based on P to construct route data _DR2 . Next, the CPU 11 guides the pedestrian from the departure place SP to the destination DP in the same manner as in step S67 (step S109). Next, the CPU 11 determines whether or not the current position of the pedestrian matches the destination DP (step S1010). When the current position of the pedestrian coincides with the destination DP, the CPU 11 determines that the guidance has ended and ends the processing in FIG.

On the other hand, if the current position of the pedestrian does not match the destination DP, the CPU 11 determines whether or not the main unit 1 is attached to the holder 2 based on the detection signal S ₂ from the detector 19. (Step S1011). C
When determining that the main body device 1 is not attached to the holder 2, the PU 11 determines that it is necessary to continue to operate in the “out-of-vehicle mode”, and returns to step S 109.
Continue pedestrian guidance.

On the other hand, the CPU 11 determines in step S1011
In the case where it is determined that the main body device 1 is not attached to the holder 2, it is determined that the operation mode must be changed from the "outside vehicle mode" to the "inside vehicle mode".
Preparation for “in-vehicle mode” is performed (step S101)
2). As a specific process of step S1012, CP
U11 records the position indicated by the position data D _P from the receiver 17 in the RAM 13 as a new starting point SP. Note that the destination DP is left as recorded in step S101. Further, the CPU 11 loads the road network data D loaded for the route search in the “outside vehicle mode”.
_NET is deleted from the RAM 13. The above is Step S10
This is the 12 specific processes. Thereafter, the CPU 11 returns to step S103 and performs the above-described route search and thereafter.

Now, refer again to step S102 in FIG. If it is determined in step S102 that the operation mode is not the “in-vehicle mode”, the CPU 1
In step S108, the process proceeds to step S108, and the subsequent processing is continued. Since the processing in this case is clear from the above, the description is omitted.

By the above-described processing of FIG. 10, the departure point S set in the in-vehicle mode is set in the same manner as in the first embodiment.
And P and the destination DP, also is a departure point SP and the destination DP is set to the outside of the vehicle mode is set to the same, the navigation device N _2, the search for a route suitable route appropriate to the vehicle, and a pedestrian can do.

Further, the navigation device N_TwoIs the body
By accurately determining the mode transition timing of the device 1,
Appropriate route search and
And guidance. Now, as shown in FIG.
User departure point SP_ThreeTo destination DP_ThreeA place to move to
In the case, the waypoint IP on the way_ThreeUntil the transfer using a vehicle
Move, waypoint IP _ThreeTo destination DP_ThreeTravel on foot to
Suppose the case. In this case, the navigation device N
_TwoWhen the route search / guidance is started, the main device 1
Operating in "in-vehicle mode"_ThreeFrom purpose
Local DP_ThreeRoute data D leading to_R1Create and guide the vehicle
I do. The user can change the waypoint IP_ThreeWhen you arrive at
Remove the device 1 from the holder 2 and walk to the destination DP_ThreeTo
I'm going to go. The main unit 1 is removed from the holder 2.
Then, the operation proceeds to the “out-of-vehicle mode”. So
After that, the main device 1 returns to the intermediate point IP._ThreeTo destination DP_Three
Route data D leading to_R2To create pedestrians (users)
invite. Thus, the navigation device N_TwoIs out
On the way from the departure point SP to the destination DP,
Even if it changes, perform proper route search / guidance.
Can be.

In the first and second embodiments, the CPU 11 detects the detection signal indicating whether or not an electrical connection has been established between the first terminal 18 and the second terminal 21. the S _2, was determined whether the main device 1 is removed from the holder 2. However, not limited to this,
The CPU 11 determines whether or not the main unit 1 has been removed from the holder 2 by using a mechanical switch or a magnetic switch.
May be determined.

Next, a navigation device N3 according to a _third embodiment of the present invention will be described with reference to FIG. The navigation device N ₃ is a navigation device N
Compared with ₂ , the third terminal 31 is further provided,
The difference is that the detector 19 is replaced with the detector 32. Because it differs from the other is not, in the navigation device N _3, the equivalent to the configuration of the navigation device N ₂ are denoted by the same reference numerals, and their description will be omitted.

The third terminal 31 is a terminal for connecting the main unit 1 to the accessory power supply. The accessory power supply device is usually fixed to the vehicle outside the main body device 1 and the holder 2, and supplies power to various devices in the vehicle. Detector 32 monitors the state of the third terminal 31, or the accessory power supply is turned on, it is detected whether the off the detection result as a detection signal S _4, and transmits to the CPU 11.

[0112] Next, the estimation of the current position in the navigation device N _3, will be described with reference to the flowchart of FIG. 13. The processing procedure of FIG. 13 is different from that of FIG. 5 in that step S52 replaces step S131. Since there are no other differences, in FIG. 13, steps corresponding to those in FIG. 5 are denoted by the same step numbers, and description thereof is omitted.

[0113] In FIG. 13, CPU 11, after the step S51, and operates as one example of the determination unit in the claims, to obtain a detection signal S ₄ from the detector 32 to determine whether to operate in "on-board mode" (Step S13
1). To be more specific about the step S131, CPU 11, when the accessory power supply is found to be turned on by the detection signal S _4, the body unit 1
Is determined to be used in the vehicle, and is determined to operate in the “vehicle mode”. On the other hand, the CPU 11
If it is determined that the accessory power supply device is turned off according to ₄ , the main device 1 is regarded as being used outside the vehicle, and it is determined to operate in the “out-of-vehicle mode”. Subsequent operations are the same as those described with reference to FIG.

[0114] Next, the route search / guide in the navigation device N _3, will be described with reference to the flowchart of FIG. 14. The processing procedure of FIG. 14 is different from that of FIG. 10 in steps S101, S102, S106, S106.
107, S1011 and S1012 correspond to step S14
1, S142, S143, S144, S145 and S
146 is different. Since there are no other differences, in FIG. 14, steps corresponding to those in FIG. 10 are denoted by the same step numbers and description thereof is omitted.

In FIG. 14, the user is typically
By operating the input device 15, the starting point S of the route to be searched
P, destination DP and waypoint IP are set. Here, the waypoint IP is a point between the departure point SP and the destination point DP, where the user gets off the vehicle and starts moving on foot, or the user stops moving on foot and gets on the vehicle. Indicates a point.

In response to such an operation, the input device 15
Specified departure point SP, destination point DP and waypoint IP
Transmits the operation signals S ₁ indicating the respective the CPU 11. The CPU 11 determines the departure place SP obtained as described above,
The destination DP and the waypoint IP are written into the RAM 13 (step S141).

[0117] Next, CPU 11 obtains the detection signal S ₄ from the detector 32, the current operation mode to determine whether a "vehicle mode" (step S142). C
When determining that the operation mode is the “in-vehicle mode”, the PU 11 performs a route search / guidance in the in-vehicle mode,
If the current position of the vehicle does not match the destination DP, the process proceeds to step S143 (steps S103 to S10).
5).

At step S143, the CPU 11
Determines whether the current position of the vehicle matches the waypoint IP (more strictly, the exit point) (step S14)
3). If the current position of the vehicle is not the waypoint IP, the CPU 11 exits from step S143, returns to step S104, and continues to guide the vehicle.

It should be noted here that the CPU 11
If it is determined that the current position of the vehicle matches the waypoint IP, the process does not immediately proceed to step S144. Because the estimation result of the current position includes an error, the current position of the vehicle coincides with the waypoint IP.
This is because the driver cannot always get off the vehicle at the estimated current position. Therefore, CPU1
1, first, to obtain a detection signal S ₄ from the detector 32, based on the detection signal S _4, the accessory power supply is turned on whether the first judgment. When the accessory power supply is on, the CPU 11 determines that the vehicle continues to travel (that is, determines that the current position of the vehicle is not the waypoint IP), exits from step S143, and proceeds to step S104.
Return to and continue guiding the vehicle.

On the other hand, the CPU 11 has an accessory power supply device.
Signal S indicating that is off _FourIf you receive
It is determined that the vehicle has stopped and the main unit 1 has been taken out of the vehicle.
Disconnect (that is, determine that the driver has disembarked). Or
After the determination, the CPU 11 operates in the “outside vehicle mode”.
Prepare for the mode transition (step
S144). As a specific process of step S144,
The CPU 11 determines the waypoint set in step S141.
RAM1 as the new starting point SP
Record in 3. The destination DP is determined in step S141.
And remains recorded in the RAM 13. Also, CPU
11 is loaded for "in-vehicle mode" route search
Road network data D_NETFrom RAM 13
I do. The above is the specific processing of step S144.

Next, the CPU 11 performs a route search / guidance in the outside-vehicle mode, and if the current position of the pedestrian does not coincide with the destination DP, proceeds to step S145 (steps S108 to S1010). In step S145,
The CPU 11 determines whether or not the current position of the pedestrian matches the waypoint IP (riding point) (step S14).
5). If the current position of the vehicle is not the waypoint IP, the CPU 11 exits from step S145, returns to step S109, and continues to guide the pedestrian.

It is important to note that the CPU 11
For the same reason as in step S143, even if it is determined that the current position of the pedestrian matches the waypoint IP,
Immediately without proceeding to step S146, to obtain a detection signal S ₄ from the detector 32. CPU11 on the basis of the detection signal S ₄ received, the accessory power supply is turned on or not is determined. When the accessory power supply is off, the CPU 11 determines that the pedestrian is still outside the vehicle (that is, determines that the current position of the pedestrian is not the waypoint IP (riding point)), and exits from step S145. , Step S10
Return to 9 and continue guiding the pedestrian.

On the other hand, the CPU 11 has an accessory power supply device.
Is a detection signal S indicating that is turned on. _FourIf you receive
Determines that a pedestrian will get on and start driving (i.e.,
It is determined that the driver starts running). By this
Then, the CPU 11 changes the operation mode to the “in-vehicle mode”.
Prepare for mode transition as must be changed
Is performed (step S146).

As specific processing of step S146,
The CPU 11 uses the waypoint IP (riding point) set in step S141 as the new departure point SP in the RAM 1
Record in 3. The destination DP is determined in step S141.
And remains recorded in the RAM 13. Also, CPU
11 deletes from the RAM 13 the road network data D _NET loaded for the route search in the “in-vehicle mode”. The above is the specific processing of step S146.

Now, reference will be made to step S142 of FIG. 14 again. If it is determined in step S142 that the operation mode is not the “in-vehicle mode”, the CPU 1
In step S108, the process proceeds to step S108, and the subsequent processing is continued. Since the processing in this case is clear from the above, the description is omitted. By the above processing of FIG. 14, the navigation device N ₃ can obtain the same technical effect as the navigation device N _2.

In the third embodiment described above,
The CPU 11 outputs the waypoint IP set by the input device 15.
And whether the accessory power supply is on or off,
It identifies whether the vehicle is running or parked (whether the user is using the main body device 1 outside the vehicle), and thereby determines whether to operate in the “in-vehicle mode” or the “out-of-vehicle mode”. I was judging. However, not only the accessory power supply device, but also operates in the "in-vehicle mode" or operates in the "out-of-vehicle mode" depending on whether the ignition power supply of the vehicle is on or off, or whether the vehicle side brake is released. May be determined by the CPU 11. That is, based on a device fixed in the vehicle and capable of specifying whether the vehicle is moving, the CPU 11
It is only necessary to determine whether to operate in the “out-of-vehicle mode” or the “in-vehicle mode”.

Next, a navigation system according to the fourth embodiment of the present invention will be described.
Gating device N_FourWill be described with reference to FIG.
You. In FIG. 15, the navigation device N_FourFigure 1
Navigation device N₁Detector 19
In that it does not have Regarding the block configuration,
There is no other difference. Therefore, in FIG.
1 are given the same reference numerals.
And the description is omitted. However, the input device 15
1 operates in the same manner as that of FIG.
No. S_FiveIs generated and transmitted to the CPU 11. Also, navigator
Station N _FourIs the current location as described below.
Navigation in terms of estimation and route search / guidance
Device N₁Is different from

[0128] First, the estimation of the current position in the navigation device N _4, will be described with reference to the flowchart of FIG. 16. The processing procedure of FIG. 16 differs from that of FIG. 5 only in that step S52 is replaced with step S161. Therefore, in FIG. 16, steps corresponding to those in FIG. 5 are denoted by the same step numbers, and description thereof is omitted.

Immediately after the power is turned on, the navigation device N ₄ starts estimating the current position in FIG. That is, the navigation device N ₄ does not need to particularly set the mode as shown in FIG. In Figure 16, CPU 11, after the step S51, and operates as one example of the determination unit in the claims, on the basis of the received operation signal S ₅ from the input device 15, or to operate in "on-board mode", "outside Mode"
It is determined whether or not to operate (step S161).

Step S161 will be specifically described. In the navigation device N _4, the user operates the input device 15, as the current operation mode can be switched setting or "vehicle mode" and "outside mode", are previously designed. The input device 15 responds to the operation of the user by operating two types of operation signals S ₅ , that is, an operation signal S ₅₁ indicating that the user is currently in the vehicle and an operation indicating that the user is currently out of the vehicle. Signal S
Generate ₅₂ . First, in step S161, the CPU 11 prompts the user to set the current operation mode. The user, in response to a request from the navigation device N _4, by operating the input device 15, itself specifies whether outside the vehicle or the current are in the vehicle. In response to a user's operation, the input device 15 generates either the operation signal S ₅₁ and S _52, and transmits to the CPU 11. The CPU 11
When receiving the operation signal S ₅₁ performs the operation, that is, the steps S53~S56 in "vehicle mode". Meanwhile, CPU 11, when receiving the operation signal S ₅₂ is
Operating in the "out-of-vehicle mode", steps S57 and S5
8 is executed.

[0131] Next, the route search / guide in the navigation device N _4, will be described with reference to the flowchart of FIG. 17. The processing procedure of FIG. 17 is different from that of FIG. 10 in steps S102, S106, S107, and S107.
1011 and S1012 are steps S171 and S17
2 in that it replaces S173, S174 and S175. Since there are no other differences, in FIG. 17, steps corresponding to those in FIG. 10 are denoted by the same step numbers, and description thereof is omitted.

[0132] In FIG. 17, CPU 11, after step S101, to operate as an example of the determination unit in the claims, based on the current received operation signal S _5, it determines whether to operate in "on-board mode" (Step S17)
1). Here, it is necessary to pay attention to the estimation of the current position in FIG. 16, and since the operation mode has been designated once, in step S171, the CPU 11 needs to prompt the user to set the operation mode as in step S161. There is no point. That, CPU 11 based on the operation signal S ₅ received in step S161, it may be performed determination in step S171.

Further, it is necessary to pay more attention to the fact that the user wants to use the main unit 1 outside the vehicle.
The point is that the input device 15 is operated by one's own will. In response to a user operation, the input device 15 transmits an operation signal _S52 to the CPU 11. Operation signal S ₅₂ to step S17
If the CPU 11 is receiving at the time of the determination of 1, the CP
U11 determines that the subsequent processing is executed in the outside-vehicle mode even if the in-vehicle mode is set in step S161. Conversely, if the user wants to use the main body device 1 in the car, the user operates the input device 15 on his / her own will.
The operation signal _S51 is received. In this case, the CPU 11 determines that the subsequent processing is executed in the in-vehicle mode even if the out-of-vehicle mode is set in step S161.

If the CPU 11 determines that the vehicle operates in the "in-vehicle mode", it performs a route search / guidance in the in-vehicle mode. If the current position of the vehicle does not coincide with the destination DP, the flow proceeds to step S172. Steps S103 to S1
05). CPU11 determines whether it is receiving a new operation signal S ₅₂ from the input device 15 (step S
172). CPU11, when not receiving the operation signal S _52, the process returns to step S104, continue to guide the vehicle.

On the other hand, while main unit 1 is operating in the in-vehicle mode,
When the user gets off the vehicle, the input device 15
Can be operated to specify that. As a result, the operation signal _S52 is transmitted to the CPU 11. CP
U11, when receiving the operation signal S ₅₂ in step S172, get off point is specified, it is determined that the specified to operate over the next outside mode, and prepares for mode transition ( Step S173). As a specific process of step S173, the CPU 11 sets the current position (that is, the drop-off point) as R
Record in AM13. The destination DP is determined in step S
At 141, the data is left recorded in the RAM 13. Also,
The CPU 11 deletes the road network data D _NET read for the route search in the “vehicle mode” from the RAM 13. The above is the specific processing of step S173.

After the end of step S173, the CPU 11 performs route search / guidance in the vehicle outside mode (step S1).
08 to S1010), in step S1010, if the current position of the pedestrian does not match the destination DP,
PU11 determines whether it is receiving the operation signal S ₅₁ from the input device 15 (step S174). In step S174, if not receiving the operation signal S ₅₁ is CPU 11 determines that continues to operate in this state outside the vehicle mode, the process returns to step S109, continue to guide the pedestrian.

[0137] On the other hand, CPU 11 includes a when receiving the operation signal S ₅₁ in step S174, in contrast to the above-described step S173, boarding point is specified, the specified to operate over the next car mode Judgment is made and preparations for mode transition are made (step S175). As a specific process of step S175, the CPU 11 records the estimated current position (that is, the boarding point) in the RAM 13 as a new departure point SP. The destination DP
Are left recorded in the RAM 13 in step S101. Further, the CPU 11 loads the road network data D _NET loaded for the route search in the “out-of-vehicle mode”.
From the RAM 13. The above is the specific processing of step S175. The CPU 11 determines in step S175
Is completed, the process returns to step S103 to perform route search / guidance in the in-vehicle mode.

Now, refer again to step S171 in FIG. If it is determined in step S171 that the operation mode is not the “in-vehicle mode”, the CPU 1
In step S108, the process proceeds to step S108, and the subsequent processing is continued. Since the processing in this case is clear from the above, the description is omitted.

By the above-described processing in FIG. 17, the navigation device N ₄ can obtain the same technical effects as the navigation device N ₂ .

[0140] Figure 18 is a block diagram showing the overall configuration of the navigation device N ₅ according to a fifth embodiment of the present invention. 18, the navigation device N _5, like the navigation device N _1, etc., and a main unit 1 and the holder 2 and the sensor 3.

The main unit 1 comprises a CPU 11 and a ROM 12
, RAM 13, storage device 14, input device 15,
It is the same as the previous embodiment in including the output device 16, the receiver 17, and the first terminal 18, but is different in that an internal communication port 51 and an internal communication control unit 52 are provided. I do.

The internal communication control unit 52 is connected to the internal communication port 5
1 to control communication with the holder 2 side. Communication between the main device 1 and the holder 2 is performed by infrared rays or radio waves. Further, the internal communication control unit 52 generates a notification signal S ₆ and transmits it to the CPU 11. More specifically, the internal communication controller 52, if capable of receiving infrared or radio waves from the holder 2 side, the notification signal S ₆₁ to notify the CPU 11, generates as necessary Send. On the other hand, when the internal communication control unit 52 cannot communicate with the holder 2, the internal communication control unit 52 generates a notification signal S <b> ₆₂ indicating that, as necessary, and transmits it to the CPU 11.

The holder 2 includes a second terminal 21 and a wiring 22
This is the same as the previous embodiment in that it includes an external communication port 61 and an external communication control unit 62. The external communication control unit 62 includes the external communication port 6
1 to control communication with the main unit 1 by infrared or radio waves. More specifically, the external communication control unit 62 sends an infrared ray or a radio wave to the internal communication port 51 via the external communication port 61. Here, in the case of a radio wave, the transmission power is selected to a value that covers the inside or around the vehicle.

The navigation device N ₅ having the above configuration is
Executing the estimation and path search / guidance of the current position, such as the following, but there is no need of performing mode setting, such as a navigation device N _1. First, the estimation of the current position will be described with reference to the flowchart in FIG. The processing procedure of FIG. 19 differs from that of FIG. 5 only in that step S52 is replaced with step S191. Therefore, in FIG. 19, steps corresponding to those in FIG. 5 are denoted by the same step numbers, and description thereof is omitted.
19, the navigation device N ₅ first performs initialization (step S51).

Next, the CPU 11 sets the internal communication control unit 52
Obtaining a notification signal S ₆ from, based on the notification signal S _6, or to operate in "on-board mode", it is determined whether to operate in "outside mode" (step S191). As described above, if they can communicate with the holder 2 side, the notification signal S ₆₁ indicating that fact is transmitted from the internal communication controller 52. When receiving the notification signal S _61, CPU 11, the body unit 1 can be regarded to be in the vicinity of the holder 2.
That is, the CPU 11 determines that the main body device 1 is in the vehicle at the present time, and determines to operate in the “in-vehicle mode”. Thereafter, the CPU 11 operates in the same manner as in steps S53 to S56.

[0146] On the other hand, CPU 11, when receiving the notification signal S ₆₂ indicating that communication is not possible, is regarded as the main device 1 is not in the vehicle, it determines to operate in "outside mode". Thereafter, the CPU 11 operates in the same manner as in steps S57 to S58.

Next, the route search / guidance will be described with reference to the flowchart in FIG. The processing procedure of FIG. 20 is different from that of FIG.
106 and S1011 are steps S201 and S202
And S203. Since there are no other differences, in FIG. 20, steps corresponding to those in FIG. 10 are denoted by the same step numbers and description thereof is omitted.

In FIG. 20, after step S101, the CPU 11 determines whether or not to operate in the “in-vehicle mode” as in step S191 in FIG. 19 (step S201). When determining that the CPU 11 operates in the "vehicle mode", the CPU 11 performs route search / guidance in the vehicle mode, and proceeds to step S202 when the current position of the vehicle does not match the destination DP (steps S103 to S103).
S105).

At the step S202, the CPU 11
Obtains the notification signal S ₆ from the internal communication controller 52, as in step S191, it is determined whether a transition to the "outside mode" (step S202). CPU11
If the signal received this time is the notification signal _S61 , it is determined that it is necessary to continue operating in the "vehicle mode", and the process returns to step S104 to continue guiding the vehicle.
Meanwhile, CPU 11, when receiving the current notification signal S ₆₂ is regarded as not need to change the operation mode from the "vehicle mode" to the "outside mode", and prepares for mode transition (step S107).

Next, the CPU 11 performs a route search / guidance in the vehicle outside mode (steps S108 to S1010),
In step S1010, if the current position of the pedestrian does not coincide with the destination DP obtains the notification signal S ₆ from the internal communication controller 52, based on the notification signal S _6,
It is determined whether or not to transit to the “out-of-vehicle mode” (step S203). CPU11, in the case of the notification signal S ₆₂ that has received this time, continue to be considered that it is necessary to continue to operate in the "outside of the vehicle mode", the process returns to step S109, continue to guide the pedestrian. Meanwhile, CPU 11, when that received the notification signal S ₆₁ in step S203, is regarded as a need to change the operation mode from the "outside mode" to the "vehicle mode", the preparation for the mode transition Performed (Step S1012).

Now, refer again to step S201 in FIG. In step S201, "outside vehicle mode"
If it is determined that the operation is performed, the CPU 11 proceeds to step S108 and continues the subsequent processing. Since the processing in this case is clear from the above, the description is omitted. By the processing of FIG. 20 described above, the navigation device N
_5, it is possible to obtain the same technical effect as the navigation device N _2.

In the second embodiment, the storage device 14 is built in the main unit 1. However, the storage device 14 is greater because it is composed of a DVD-ROM drive or the like, because more heavy, the navigation device N ₂ is less likely to carry. Therefore, in the following sixth embodiment, and to realize the navigation device N ₆ that easier to carry.

[0153] Figure 21 is a block diagram showing the overall configuration of a navigation device N _6. In Figure 21, the navigation device N _6, like the navigation device N _2, and a main unit 1 and the holder 2 and the sensor 3. FIG.
1 is different from the main device 1 in FIG.
The difference is that an internal storage device 71 and an internal interface 72 are provided instead of the storage device 14. Since there are no other differences, in FIG. 21, the components corresponding to the configuration shown in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted.

The internal storage device 71 is composed of a relatively lightweight and small storage device. A typical example is a card-shaped solid-state memory that can be attached to and detached from the main unit 1. Representative examples of such solid-state memories include smart media, memory sticks, and SD cards (all are trademarks). The internal interface 72 includes a main unit 1 and a holder 2.
The external interface 82 on the holder 2 is connected so as to communicate with the external storage device 81 on the side.

The holder 2 shown in FIG. 21 is different from the holder 2 shown in FIG. 1 in that an external storage device 81 and an external interface 82 are further provided. Since there is no other difference, in FIG. 21, the components corresponding to those shown in FIG. 1 are denoted by the same reference numerals, and the description thereof will be omitted.

The external storage device 81 is typically constituted by a CD drive, DVD drive or hard disk drive, and stores various data required for navigation. The map database DB _CART and the road network data D _NET described in the first embodiment are recorded in the external storage device 81 in advance. The external interface 82 is configured to be connectable to the internal interface 72 on the main device 1 side. Thereby, the external storage device 8
1 can transfer data to the main device 1 via the internal interface 72 and the external interface 82.

Next, the navigation device N₆Present in
FIG. 22 and FIG.
This will be described with reference to FIG. First, in FIG.
U11 is the same initialization as step S51 (see FIG. 5).
Is performed (step S221). Next, the CPU 11
Detection signal S_TwoTo obtain the detection signal S _Two
The main unit 1 is attached to the holder 2 based on
It is determined whether or not the vehicle is in the vehicle mode (step S222).
'' Or `` Out-of-vehicle mode ''
I do.

When operating in the "in-vehicle mode", the CPU 11 accumulates the values of the direction and speed at which the vehicle is traveling in the same manner as in step S53 (step S22).
3). Next, as in step S54, the CPU 11 determines whether a predetermined time has elapsed since the previous estimation of the current position (step S224). CPU11, when it is determined that a predetermined time has elapsed in the (or, if the vehicle is determined to advanced a predetermined distance), obtaining positional data D _P from the receiver 17. Further, the CPU 11 determines in step S5
5 and in the same manner, based on the integration result obtained azimuth and vehicle speed in step 223, the position indicated by the position data D _P, estimates the current position of the main unit 1. The CPU 11
By performing map matching, the estimated current position is calculated as RA
Matching is performed on the road on the map file F _CART read into M13 (step S225). Next, C
The PU 11 causes the output device 16 to display the current position estimated this time and the surrounding map (reduction ratio SF ₁ ) represented by the map file F _{CART in the same} manner as in step S56 (step S226).

Further, assuming the transition to the “out-of-vehicle mode”, the CPU 11 stores the map file F _CART representing the estimated current position surrounding area and having the reduction rate SF ₂ from the external storage device 81 to the internal storage device. 71 (step S227). Is is given read in step S227, the map file F _{CA RT} representing a map of a relatively narrow range
More specifically, it may represent a range in which a human can be assumed to be able to act. Step S227 does not need to be performed every time after step S226,
U11 may skip step S227 as necessary. In the in-vehicle mode, the above steps S222
To S227 are repeatedly executed.

Referring again to step S222. CPU
If it is determined in step S222 that the mode is not the “in-vehicle mode”, the user removes the main body device 1 from the holder 2 and uses it outside the vehicle.
The PU 11 obtains the position data D _P from the receiver 17, and reads the map file F _CART (map of the reduced scale SF ₂ ) from the external storage device 71 to the RAM 13. After that, the CPU 11
The current position of the pedestrian indicated by the received position data D _P
Matching is performed on the road of the map represented by the map file F _CART on the RAM 13 (step S228).

Next, the CPU 11 outputs the map of the reduction ratio SF ₂ represented by the current position and the map file F _CART to the output device 1.
6 is displayed (step S229). "External mode"
Then, the above steps S222 → S228 → S229 are repeatedly executed.

In FIG. 23, the CPU 11 sets a departure point SP and a destination point DP in the same manner as in step S101 (step S231). Next, the CPU 11
In the same manner as in step S102, it is determined whether or not the operation mode is currently “in-vehicle mode” (step S23).
2). When determining that the operation mode is the “vehicle mode”, the CPU 11 determines in steps S103 and S10
4 in the same manner as, after the route search vehicle mode, to guide the vehicle based on the route data D _R1 created (step S233, S234).

Thereafter, the CPU 11 reads the road network data D _NET around the estimated current position from the external storage device 81 to the internal storage device 71 for the time of transition to the “outside vehicle mode” (step S235). . The road network data D _NET read out in step S235 represents a relatively narrow range (a range in which humans can be assumed to be able to act), and corresponds to the road network represented by the map file F _CART with the above-mentioned reduction rate SF _2. It is. next,
The CPU 11 determines whether or not the estimated current position matches the destination DP (step S236). CPU11
If the current position of the vehicle matches the destination DP,
Assuming that the guidance has ended, the processing in FIG. 23 ends.

On the other hand, when the current position of the vehicle does not coincide with the destination DP, the CPU 11 obtains the detection signal S ₂ from the detector 19, and based on the detection signal S ₂ , the main unit 1 moves the holder 2 from the holder 2. It is determined whether or not it has been removed (step S237). If the CPU 11 determines that the main unit 1 has not been removed from the holder 2, it determines that it is necessary to continue operating in the "in-vehicle mode" and returns to step S234 to continue guiding the vehicle. on the other hand,
When determining that the main device 1 has been removed from the holder 2, the CPU 11 performs the same operation as in step S <b> 107,
Preparation for mode transition is performed (step S238).

Next, the CPU 11 searches for a route in the "outside vehicle mode" in the same manner as in step S108 (step S239). The detailed processing in step S239 is described in FIG.
However, the difference is that the road network data D _NET read into the internal storage device 71 in step S235 is read into the RAM 13 in step S81. After step S239, the CPU 1
1 performs the same processing as in steps S109 to S1012 (steps S2310 to S2313).

By the processing of FIGS. 22 and 23,
The navigation device N ₆ are in the midst of operating in "on-board mode", the map file F _{CA RT} and road network data D _NET is used in the "outside mode", from the holder 2 side of the external storage device 81, The data is read into the internal storage device 71 of the main device 1. Therefore, the external storage device 8
Even if the device 1 is mounted on the holder 2 side, the main device 1 can navigate the pedestrian without any problem even in the “out-of-vehicle mode”. Further, the weight and size of the main body device 1 can be reduced.

In the sixth embodiment, the data read from the external storage device 81 to the internal storage device 71 during the operation in the “out-of-vehicle mode” is used for navigation. However, not limited to this, for example,
The navigation device N ₆ can connect to the Internet,
In addition, when there is a web server that provides the map file F _CART and the road network data D _NET on the Internet, the navigation device N ₆ uses the map file F _CART and the road network data D _NET obtained from the web server based on the map file F _CART and the road network data D _NET. Navigation may be performed. Here, it should be noted that the above points are the same in the previous embodiment. In other words, the main device 1 according to the first to fifth embodiments may also perform navigation based on the map file F _{CA RT} and road network data D _NET obtained from the Internet. Therefore, the storage device 14 in the first to fifth embodiments does not necessarily have to be mounted on the main device 1.

In the sixth embodiment, the navigation device N
_The description has been given assuming that the main unit 1 of the _second embodiment is reduced in weight and size. However, the point of the sixth embodiment, that is, reading the map file F _CART and the road network data D _NET used in the “out-of-vehicle mode” into the internal storage device 71 during the “in-vehicle mode” is equivalent to the navigation. to a device N ₃ to N ₅ it can be applied.

In the first to sixth embodiments, from the viewpoint of simplifying the description, it has been described that the route search in the “in-vehicle mode” is performed according to the processing procedure of FIG. However, the present invention is not limited to this. For example, the navigation device N ₁
~N ₆ is VICS (Vehicle Information and Communica
If the system is equipped with a receiver and is capable of receiving traffic jam information, a route search may be performed using the received traffic jam information. Also, VICS receiver,
Since it is often used in the “in-vehicle mode”, it is preferable to be mounted outside the main unit 1.

In the first to sixth embodiments, from the viewpoint of simplifying the explanation, in the route search in the “in-vehicle mode” (see FIG. 7), the route that complies with the traffic regulation related to the vehicle is selected. The search and the search for the route in the “outside vehicle mode” (see FIG. 8) have been described as searching for a route that does not refer to the traffic regulation related to the vehicle. However, the present invention is not limited to this. When searching for a route in the “in-vehicle mode”, a route based on the speed set by the width and / or road type of the road, that is, the speed based on the speed at which the vehicle runs on the target road is searched. However, in the route search in the “outside vehicle mode”, the route may be searched based on the speed at which the pedestrian walks on the target road.

Further, first road network data specialized for searching a route of a vehicle and second road network data specialized for searching a route of a pedestrian may be prepared. Here, the first road network data is created on the basis of a road on which a vehicle can travel and a route of a ship movable on the vehicle, and the second road network data includes not only roads but also pedestrians. It is assumed that the pedestrian bridge, underpass, underground shopping mall, bus or railway network, air routes, ship routes, and passages in the building have been created. And "vehicle mode"
Each of the navigation devices N _{1 to} N ₆ is configured such that the first road network data is used in the route search in, and the second road network data is used in the route search in the “out-of-vehicle mode”. Good.

Further, in the navigation devices N _{1 to} N _{6 of the first to sixth} embodiments, from the viewpoint of simplifying the description, the antenna for receiving the radio wave from the artificial satellite from the space is not mentioned. . It is sufficient that at least one such antenna is arranged in the main body device 1. Further, the navigation devices N _{1 to} N ₆ may have two antennas. More specifically, one of the antennas is built in the main body device 1 and functions when the main body device 1 operates in the “out-of-vehicle mode”. For it,
The other antenna is attached to the vehicle and is connected to main device 1 by a cable. When main device 1 operates in the “in-vehicle mode”, the other antenna functions.

In the first and second embodiments, the main unit 1 operates in the in-vehicle mode when mounted on the holder 2 and operates when the main unit 1 is removed from the holder 2. , To operate in the outside mode. However, the navigation devices N ₁ and N
₂ may not be mounted on the holder 2 even when used in a vehicle. For example, there is a case where the main body device 1 is used by a person sitting in a passenger seat or a rear seat. In order to deal with such a point, the detection signal S ₄ (see the third embodiment), the operation signal S ₅ (see the fourth embodiment), and the notification signal S _{6 are} sent to both the navigation devices N ₁ and N _2. A judgment method based on the fifth embodiment (see the fifth embodiment) may be additionally incorporated. Thereby, the main unit 1
Can be operated in the in-vehicle mode even when it is used in a vehicle and not mounted on the holder 2.

In the third to fifth embodiments,
The navigation device N ₃ to N ₅ has been described as comprising a holder 2. In these embodiments, the holder 2 is provided with the main unit 1 so that the map and the route can be easily viewed from the driver's seat.
This is a configuration for supporting. However, the main unit 1 of the navigation device N ₃ to N ₅ is the person who sits in the passenger seat, it may be operated without being attached to the holder 2. That is, in the navigation device N ₃ to N _5, the holder 2 is not always necessary.

[Brief description of the drawings]

1 is a block diagram showing the overall configuration of a navigation device N _1.

FIG. 2 is a diagram showing an example of a data structure of road network data D _NET .

FIG. 3 is a diagram for explaining road network data D _NET in further detail;

4 is a flowchart showing a processing procedure of mode is executed in the navigation device N ₁ set.

5 is a flowchart illustrating a processing procedure of the estimation of the current position to be executed by the navigation device N _1.

6 is a flowchart showing a processing procedure of a search / route guidance to be executed by the navigation device N _1.

FIG. 7 shows a route search in the in-vehicle mode (step S6 in FIG. 6);
It is a flowchart which shows the detailed procedure of 3).

FIG. 8 shows a route search in the outside mode (step S6 in FIG. 6);
It is a flowchart which shows the detailed procedure of 6).

9 is a diagram showing an example of a route to be searched in the navigation device N _1.

10 is a flowchart showing a processing procedure of a search / route guidance to be executed by the navigation device N _2.

11 is a diagram for explaining one of the technical effects of the navigation device N _2.

12 is a block diagram showing the overall configuration of a navigation device N _3.

13 is a flowchart showing a processing procedure of estimation of the current position to be executed by the navigation device N _3.

14 is a flowchart showing a processing procedure of a search / route guidance to be executed by the navigation device N _3.

15 is a block diagram showing the overall configuration of the navigation device N _4.

16 is a flowchart showing a processing procedure of estimation of the current position to be executed by the navigation device N _4.

17 is a flowchart showing a processing procedure of a search / route guidance to be executed by the navigation device N _4.

18 is a block diagram showing the overall configuration of the navigation device N _5.

19 is a flowchart showing a processing procedure of estimation of the current position to be executed by the navigation device N _5.

20 is a flowchart illustrating a processing procedure of a search / route guidance to be executed by the navigation device N _5.

FIG. 21 is a block diagram showing the overall configuration of a navigation device N _6.

22 is a flowchart showing the procedure of estimating the current position to be executed by the navigation device N _6.

23 is a flowchart illustrating a processing procedure of a search / route guidance to be executed by the navigation device N _6.

FIG. 24 is a diagram used for describing a conventional navigation device Nc.

[Explanation of symbols]

N _{1 to} N ₆ Navigation device 1 Main device 11 CPU 14 Storage device 15 Input device 16 Output device 17 Receiver 18 First terminal 19, 32 Detector 52 Internal communication control unit 71 Internal storage device 2 Holder 62 External communication control unit 81 External storage device 3 Sensor

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G09B 29/10 G09B 29/10 A (72) Inventor Teruaki Ata 1006 Kazuma Kadoma, Kadoma City, Osaka Matsushita Electric Inside Sangyo Co., Ltd. (72) Inventor Atsushi Yamashita 1006 Kazuma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor Yoshiki Ueyama 1006 Oji Kadoma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Person Isao Ogawa 4-3-1 Tsunashima Higashi, Kohoku-ku, Yokohama City, Kanagawa Prefecture F-term in Matsushita Communication Industrial Co., Ltd. (reference) CC30 FF04 FF05 FF22 FF27

Claims (29)

[Claims] 1. A navigation device usable inside and outside a vehicle, comprising: a determination unit that determines whether the navigation device is used in a vehicle; and a navigation processing unit. The navigation processing unit is used in a vehicle. If the determination unit determines that the vehicle is used outside the vehicle, the first navigation is performed. If the determination unit determines that the vehicle is used outside the vehicle, the second navigation suitable for the pedestrian is performed. Do, a navigation device. 2. The navigation processing unit according to claim 1, wherein:
2. The navigation process according to claim 1, wherein a first map file representing a relatively wide range map is used, and said second navigation process uses a second map file representing a relatively narrow range map. The navigation device according to claim 1. 3. The navigation processing unit further includes a memory for storing road network data indicating a road connection relationship, wherein the navigation processing unit includes a road network in the memory when the determination unit determines that the road network data is used in the vehicle. Based on the data, a first route for guiding the vehicle from the departure point to the destination is searched, and when the determination unit determines that the vehicle is not used in the vehicle,
The navigation device according to claim 1, wherein a second route for guiding a pedestrian from a departure place to a destination is searched based on the road network data in the memory. 4. The road network data includes a record indicating a traffic regulation provided on each of the roads, and the navigation processing unit refers to the record and complies with a traffic regulation related to the vehicle. The navigation device according to claim 3, wherein the navigation device searches for the first route that has been set. 5. The apparatus further comprises: a main unit that houses the determination unit and the navigation processing unit; and a holder that is attached to the vehicle and that detachably holds the main unit. The navigation device according to claim 1, further comprising a detection unit that detects whether or not the information is held, wherein the determination unit determines whether or not the vehicle is used in a vehicle based on a detection result of the detection unit. . 6. The navigation processing unit, when performing the first navigation, when the determination unit determines that it is not used in the vehicle, starts the second navigation, While the navigation unit 2 is performing the navigation, if the determination unit determines that it is used in the vehicle, the first
The navigation device according to claim 4, wherein navigation of the navigation device is started. 7. An external storage device installed outside the main body device and storing data necessary for the first navigation and the second navigation.
The navigation device according to claim 5. 8. The main body device further includes an internal storage device that is lighter and smaller than the external storage device, and wherein the navigation processing unit performs the second navigation while performing the first navigation. The navigation device according to claim 7, wherein data necessary for navigation is read from the external storage device to the internal storage device. 9. A terminal connected to a device fixed in the vehicle and capable of specifying whether or not the vehicle is moving, and monitoring a state of the terminal to determine whether the vehicle is moving. The navigation device according to claim 1, further comprising: a detection unit that detects whether the vehicle is used in a vehicle based on a detection result of the detection unit. 10. The navigation processing unit, when performing the first navigation, when the determination unit determines that the navigation unit is not used in the vehicle, starts the second navigation, While the navigation unit 2 is performing the navigation, if the determination unit determines that it is used in the vehicle, the first
10. The navigation device according to claim 9, wherein navigation of the navigation device is started. 11. A main unit that houses the determination unit and the navigation processing unit, and an external storage that is installed outside the main unit and stores data necessary for the first navigation and the second navigation. The navigation device according to claim 9, further comprising a device. 12. The main body device further includes an internal storage device that is lighter and smaller than the external storage device, and wherein the navigation processing unit performs the first navigation while performing the first navigation. The navigation device according to claim 11, wherein data required for navigation is read from the external storage device to the internal storage device. 13. An input device for generating, at least in response to an operation by a user, an operation signal indicating at least a point at which the user gets off or a point at which the user gets on, wherein the determination unit is configured to output an operation signal from the input device. The navigation device according to claim 1, wherein it is determined whether or not the vehicle is used in the vehicle based on the information. 14. It is possible to specify whether or not the vehicle is moving, a terminal connected to a device fixed in the vehicle, and monitoring a state of the terminal to determine whether the vehicle is moving. A detection unit that detects whether the vehicle is used in a vehicle based on an operation signal from the input device and a detection result from the detection unit. 14. The navigation device according to claim 13. 15. The navigation processing unit, when performing the first navigation, if the determination unit determines that the navigation unit is not used in the vehicle, starts the second navigation, While the navigation unit 2 is performing the navigation, if the determination unit determines that it is used in the vehicle, the first
14. The navigation device according to claim 13, wherein navigation of the navigation device is started. 16. A main unit that houses the determination unit and the navigation processing unit, and an external storage device that is installed outside the main unit and stores data necessary for the first navigation and the second navigation. The navigation device according to claim 13, further comprising: 17. The main body device further includes an internal storage device which is lighter and smaller than the external storage device, and wherein the navigation processing unit performs the first navigation while performing the first navigation. 17. The navigation device according to claim 16, wherein data required for navigation is read from the external storage device to the internal storage device. 18. An input device for generating an operation signal defining a timing at which the user gets off or boarded in response to an operation by the user, wherein the determination unit is configured to perform the operation based on the operation signal from the input device The navigation device according to claim 1, wherein it is determined whether or not the navigation device is used in a vehicle. 19. The navigation processing unit, when performing the first navigation, when the determination unit determines that the navigation unit is not used in the vehicle, starts the second navigation, While the navigation unit 2 is performing the navigation, if the determination unit determines that it is used in the vehicle, the first
The navigation device according to claim 18, wherein navigation of the navigation device is started. 20. A main unit accommodating the determination unit and the navigation processing unit, and an external storage device installed outside the main unit and storing data necessary for the first navigation and the second navigation 19. The navigation device according to claim 18, further comprising: 21. The main device further includes an internal storage device that is lighter and smaller than the external storage device, and the navigation processing unit performs the second navigation while performing the first navigation. 21. The navigation device according to claim 20, wherein data required for navigation is read from the external storage device to the internal storage device. 22. The main body further comprising: a main body device accommodating the determination unit and the navigation processing unit; and an external communication control unit fixed to a vehicle outside the main body device and communicating with the main body device. The apparatus further includes an internal communication control unit that generates a notification signal indicating whether communication with the external communication control unit is possible, and the determination unit is used in a vehicle based on the notification signal from the internal communication control unit. Claim 1 to determine whether or not
The navigation device according to claim 1. 23. The navigation processing unit, when performing the first navigation, when the determination unit determines that the navigation unit is not used in the vehicle, starts the second navigation, While the navigation unit 2 is performing the navigation, if the determination unit determines that it is used in the vehicle, the first
The navigation device according to claim 22, wherein navigation of the navigation device is started. 24. The navigation device according to claim 22, further comprising an external storage device installed outside the main device and storing data necessary for the first navigation or the second navigation. 25. The main unit further includes an internal storage device that is lighter and smaller than the external storage device, and wherein the navigation processing unit performs the first navigation while performing the first navigation. The navigation device according to claim 24, wherein data necessary for navigation is read from the external storage device to the internal storage device. 26. The navigation device according to claim 22, wherein the external communication control unit transmits radio waves with electric power sufficient to cover the inside of the vehicle, and thereby communicates with the internal communication control unit. 27. A navigation method used by a computer device usable inside and outside a vehicle, wherein a judging step of judging whether or not the vehicle is used in a vehicle, and judging that the vehicle is used in the vehicle by the judging step A first navigation step for performing a first navigation suitable for a vehicle, and a second navigation for performing a second navigation suitable for a pedestrian when it is determined in the determination step that the vehicle is used outside the vehicle.
And a navigation step. 28. A recording medium recording a program for implementing navigation by a computer device usable inside and outside a vehicle, comprising: a judging step of judging whether or not the program is used in a vehicle; A first navigation step for performing a first navigation suitable for a vehicle when the determination is made in the determination step, and a first pedestrian suitable for a pedestrian when it is determined in the determination step that the vehicle is used outside the vehicle. And a second navigation step for performing a second navigation. 29. A program for realizing navigation by a computer device usable inside and outside a vehicle, comprising: a judging step of judging whether or not the vehicle is used in the vehicle; and determining that the vehicle is used in the vehicle. A first navigation step for performing a first navigation suitable for the vehicle when determined in the step; and a second navigation suitable for the pedestrian when the determination step determines that the vehicle is used outside the vehicle. Second to do
And a navigation step.