JP2003139554A - Navigation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow easy understanding for a new route connected to the original route when reretrieving the original route. SOLUTION: This navigation device has a storage means for storing map information and necessary information for navigation, a current position detecting means, a route retrieve means retrieving a guiding route and re- retrieves the guiding route based on the current position traced, a route recording means for recording the retrieved route and the re-retrieved route by the route retrieve means, a mapping scale determination means for determining a mapping scale for displaying on a map the re-retrieved route, and a display means for displaying the re-retrieved route with the determined mapping scale. Since the mapping scale which can display the re-retrieved route is determined and is used to display the re-retrieved route, no operation to change the mapping scale is needed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle navigation device.

[0002]

2. Description of the Related Art Conventionally, in a vehicle navigation device system, when a manual re-search is performed, a key for starting the re-search is displayed when the vehicle deviates from the optimum route, and the key is pressed when the user desires. A re-search can be performed by performing an operation.

When it is determined that the vehicle deviates from the optimum route and is traveling on a guideable road when the vehicle is automatically searched again from the current position after the vehicle deviates from the optimum route. In addition, the surrounding route is automatically searched for the route connecting to the original route, or the entire route to the destination is searched.

In the manual re-search system, the user may intentionally leave the route to complete a small business such as shopping. Also, due to construction, traffic congestion, etc., the route ahead may be congested or unable to pass.
In that case, the route may be partially returned to the original route without re-searching.

[0005]

However, in the conventional manual re-search, when the re-search is performed, if the displayed map is a detailed map, an operation such as switching the map scale is required. And the work is troublesome.

Further, even in a system for automatically searching for the surroundings, it is difficult to judge from a detailed map what kind of route is a new route connected to the original route.

The present invention solves the problems of the conventional manual re-searching, and when the re-searching is carried out, a new route connecting to the original route is not required without switching the map scale. It is an object of the present invention to provide a vehicular navigation device that makes it easy to determine which route is.

[0008]

Therefore, in the vehicle navigation device of the present invention, route guidance to the destination is performed according to the route searched.

Then, a memory means for storing map information and information necessary for navigation, a current position detecting means for tracking the current position of the vehicle, and a current position based on the information stored in the memory means are used for the purpose. Route search means for searching for a guide route to the ground and re-searching for the guide route based on the tracked current position, and route storage for storing the route searched by the route search means and the route searched again Means, map scale determining means for determining the scale at which the re-searched route can be displayed on the map, and route display processing means for performing display processing of the re-searched route by the map scale determined by the map scale determining means. Have and.

In another vehicular navigation system of the present invention, route guidance to the destination is performed according to the route searched.

Then, a storage means for storing map information and information necessary for navigation, a current position detection means for tracking the current position of the vehicle, and a current position based on the information stored in the storage means are used for the purpose. Route search means for searching for a guide route to the ground and re-searching for the guide route based on the tracked current position, and route storage for storing the route searched by the route search means and the route searched again Means, map scale determining means for determining the scale at which the re-searched route can be displayed on the map, and route display processing means for performing display processing of the re-searched route by the map scale determined by the map scale determining means. Have and.

The scale determined by the map scale determining means is a scale that allows the entire re-searched route to be displayed on the map.

In yet another vehicular navigation system of the present invention, route guidance to the destination is performed according to the route searched.

Then, a storage means storing map information and information necessary for navigation, a current position detecting means for tracking the current position of the vehicle, and a current position based on the information stored in the storage means are used. Route search means for searching for a guide route to the ground and re-searching for the guide route based on the tracked current position, and route storage for storing the route searched by the route search means and the route searched again Means, map scale determining means for determining the scale at which the re-searched route can be displayed on the map, and route display processing means for performing display processing of the re-searched route by the map scale determined by the map scale determining means. Have and.

The scale determined by the map scale determining means is a scale capable of displaying the current position of the vehicle and the connection point between the guide route and the re-searched route on a map.

In still another vehicular navigation system of the present invention, route guidance to a destination is performed according to the searched route.

Then, storage means for storing map information and information necessary for navigation, current position detection means for tracking the current position of the vehicle, and current position based on the information stored in the storage means are used for the purpose. Route search means for searching for a guide route to the ground and re-searching for the guide route based on the tracked current position, and route storage for storing the route searched by the route search means and the route searched again Means, map scale determining means for determining the scale at which the re-searched route can be displayed on the map, and route display processing means for performing display processing of the re-searched route by the map scale determined by the map scale determining means. Have and.

Further, the scale determined by the map scale determining means includes a connection point between the guide route and the re-searched route, a guide route up to the connection point, and a re-searched route up to the connection point. It is a scale that can be displayed on a map.

In still another vehicular navigation system of the present invention, it further comprises route output instructing means for instructing the output of the re-searched route stored in the route storing means.

When the route output instructing means gives an instruction to start the route guidance by the re-searched route, the route display processing means outputs the re-searched route stored in the route storing means to the output means. The route is output based on the route output and re-searched.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

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

In the present embodiment, the vehicle navigation device automatically starts execution of a manual reroute function and a research function for instructing a research operation by the driver when an off-route is detected. Based on the result, it has an auto-reroute function that switches from the previously guided route to a route that has been re-searched and guides the route.In particular, the auto-reroute function automatically starts route guidance based on the result of the re-search. It has a route-on mode and an auto-reroute-off mode that stores the re-search result, displays the stored re-search result based on the driver's re-search output instruction, and starts route guidance. .

In FIG. 1, a vehicle navigation device includes an input / output device 1 for inputting / outputting information regarding route guidance, a current position detecting device 2 for detecting information regarding the current position of the vehicle, and a navigation device required for route calculation. An information storage device 3 in which data, guidance data necessary for route guidance, etc. are recorded, and a central processing unit 4 which executes route search processing and display / voice guidance processing required for route guidance, and controls the entire system. Consists of.

The input / output device 1 inputs information necessary for setting a destination such as a starting point, a destination, and a passing point, and outputs voice guidance and / or a screen display of guidance information when needed by a driver. In order to be able to do so, the navigation processing is instructed to the central processing unit 4 according to the intention of the user, and
It has a function of printing out processed data, data of data communication, and the like.

As a means for realizing the function, the input unit is composed of a touch switch 11 for inputting an address, a telephone number, coordinates, etc. for setting a destination and requesting route guidance. . In addition, the output unit displays the input data on the screen, the display 12 that automatically displays the driver's request or route guidance, the data processed by the central processing unit 4, the data stored in the information storage device 3, and the communication. A printer 13 for printing out data and the like, and a speaker 14 for outputting route guidance by voice.
Consists of.

The display 12 is composed of a color CRT, a color liquid crystal display, etc., and is used for navigation such as a destination setting screen based on map data and guidance data processed by the central processing unit 4, a section map screen, an intersection map screen, etc. In addition to outputting all necessary screens in color display, keys for setting route guidance, guidance during route guidance, screen switching operations, etc. are displayed on this screen. Further, the display 12 is provided with a touch switch 11 corresponding to the display of the function keys, and is configured to execute each of the operations based on a signal input by key touch.

The current position detecting device 2 is a GPS receiving device 21 using a satellite navigation system (GPS), a beacon receiving device 22, a car telephone, a G using an FM multiple signal, etc.
A data transmission / reception device 23 that receives a PS correction signal, an absolute azimuth sensor 24 that includes a geomagnetic sensor, a relative azimuth sensor 25 that includes a wheel sensor, a steering sensor, and the like, and the traveling distance is detected from the number of rotations of the wheel. It is composed of a distance sensor 26 and detects the traveling direction, position coordinates, etc. of the vehicle.

The information storage device 3 is necessary for route guidance,
For example, a map data file that stores map information, an intersection data file that stores information about intersections, a road type, a road data file that stores information about roads such as start and end points of each road, and east longitude at one point on the road. By a node data file that stores north latitude coordinates, a location data file that stores the position coordinates of features such as facilities according to the purpose of use classified into genres such as gas stations, convenience stores, and guidance information about features, etc. Composed.

The central processing unit 4 executes a program installed to realize the functions of the present system, a CPU 40 for performing arithmetic processing, a program for performing processing such as route search, display control necessary for route guidance, A program for performing voice output control and the like necessary for voice guidance, a first ROM 41 storing data necessary for the program, a route storage means for storing road information (road sequence data) after route search or re-search, and route guidance A RAM as a storage means for temporarily storing information, data during arithmetic processing, etc., a memory 42 composed of a non-volatile memory, etc., and a second ROM storing display data necessary for route guidance and map display.
43, an image memory 44 in which image data used for screen display on the display 12 is stored, an image to be taken out from the image memory 44 based on a display control signal from the CPU 40, image-processed, and output to the display 12. A voice that synthesizes voice data (a phrase, a sentence, a sound, etc.) read from the information storage device 3 based on a voice output control command from the processor 45 and the CPU 40, converts it into an analog signal, and outputs it to a speaker. A processor 46, a communication interface 47 for exchanging input / output data by communication, a sensor input interface 48 for taking in a sensor signal of the current position detection device 2, and a date, time, etc. for writing internal diagnostic information. It is composed of a clock 49.

The route guidance is constructed so that the driver can select either screen display or voice output.

The present system calculates an estimated position based on various sensor signals for detecting the current position and GPS data, and determines the position on the road by correlating the estimated position with the road on the map and GPS data. To find the current position. Further, the present system has a function of illuminating the current position on the route to the destination and determining whether or not the position on the lane of the own vehicle is approaching a predetermined guide point. That is, the above function determines the timing of a predetermined distance before the intersection on the guide route, automatic voice output after the intersection passage determination, etc., and intersection information display output such as a passing intersection name. Then, a guidance command is issued to the image processor 45 and the audio processor 46 based on the determination result.

When the request signal is input, the voice processor 46 is instructed to give voice guidance of the current position. In the voice guidance of this system, voice data (phrase, a sentence, a sound, etc.) read from the information storage device 3 is synthesized, converted into an analog signal, and output from the voice output unit.

The vehicle navigation device is configured by the following means.

That is, the destination setting means is the first ROM
CPU 40 for executing a program relating to destination setting processing stored in 41, touch switch 11 and display 12 of input / output device 1 for inputting a destination, outputting map display, etc., image processor for performing display processing such as map display, etc. 45, input / output processing means including a communication interface 47 for taking in an input signal of a destination from the touch switch 11 to the central processing unit 4. The out-of-route detecting means has a function of detecting that the vehicle has deviated from the guide route based on the current position information of the vehicle and the guide route information, and is configured by the CPU 40 that executes the program regarding the out-of-route detecting process stored in the first ROM 41. To be done.

The route searching means has a function of searching for a route to be guided based on the set starting point (current position of the vehicle) and destination, and re-searches for the guiding route when the deviation from the route is detected. C having a function and executing a program relating to the route search processing stored in the first ROM 41
It is configured by the PU 40. The map scale determination means has a function of determining a scale capable of displaying the re-searched route on the basis of the current position information of the vehicle when the deviation from the route is detected, and the display scale determination stored in the first ROM 41. It is configured by a CPU 40 that executes a program related to processing. Further, the output means has a function of outputting guidance based on the route re-searched by the route output instruction when the searched route and the deviation from the route are detected,
A CPU 40, an image processor 45, which executes a display / sound processing program stored in the first ROM 41,
Audio processor 46, display 12, speaker 14
Etc. The route output instructing means is for instructing the output of the stored re-searched route, and is constituted by a re-search switch composed of the touch switch 11.

Here, in order to detect an out-of-route, generally, a map matching process is basically used, and various matching conditions for the searched route, for example, a correlation calculation between the traveling locus of the vehicle and the road shape is performed. If the result exceeds the predetermined value, it is judged whether the vehicle deviates from the route by considering it as a route deviation.

Next, the road data structure relating to the auto-reroute function will be described.

FIG. 2 is an explanatory diagram of search (guidance) road data according to the embodiment of the present invention.

The searched road data (guide road data) has a data structure as shown in FIG. In the data, information on roads connected to each road and information specific to each road are stored. Further, in the data, a start point and an end point (intersection, branch point, etc.) and road numbers respectively connected to the start point and the end point are stored, and information about a connection relationship between roads is stored. There is. Information such as the length of each road, road attributes (high speed, national roads, prefectural roads, etc.), road width, etc. is given as a road characteristic peculiar to the road, with a cost coefficient serving as a reference at the time of search. Then, in association with the connection information between roads, the guidance-free road information (for example, a road corresponding to a road in the figure is a straight road and is a guidance-free road. If it is not, guidance is not required.) And prohibition information (prohibition of entry) are stored, which is one of the costs for determining the optimum route at the time of search. Furthermore, in addition to the information shown in the figure, the cost is decided depending on whether it is a right turn or a left turn (the coefficient is higher than the left turn because the right turn is harder to run), and the right and left turn coefficients are changed depending on the size of the intersection. (Turning right or left at a large intersection takes time.) Besides that, as information unique to the road,
In addition to the length, shape information may be stored and the cost may be increased for winding roads.

FIG. 3 is an explanatory diagram of guide road data according to the embodiment of the present invention.

The guide road data is defined for each road by road number, length, road attribute data, shape data address and size, guide data address and size, and the like. The shape data represents the shape of the road by the number of nodes and each node, and each node is defined by the coordinates of east longitude and north latitude. Here, when the intersection angle of the intersecting road is used as the information of the road to be traveled next for the calculation of the display remaining distance to the guidance intersection, the road to be traveled next is compared with the road currently traveling. The shape data has data regarding the angle of intersection. The guidance data is defined by intersection name, caution data, road name, road name voice data address and size, destination data address and size, and the like. The destination data is defined by the destination road number, destination name, destination name voice data address and size, destination direction data, travel guidance data, and the like.
The destination direction data is defined by invalidity, unnecessaryness, straight travel, rightward direction, diagonally rightward direction, rightward returning direction, leftward direction, diagonally leftward direction, leftward returning direction, and the like.

When providing guidance at a branch point, an intersection, etc., the destination data in the guide road data is searched, and the content of the guidance to be output based on the destination data (mainly the guidance expression to be added to the fixed guidance expression). decide. The destination data is added especially to a branch point or the like whose direction is difficult to determine only by the angle of the exit direction from the intersection, such as a high-speed exit, when the difference in angle between a plurality of roads entering from the branch point is small. The data.

Next, various data that compose the guide road data will be described. Road attribute data is data that expresses physical characteristics of the road, such as elevated roads, underpasses, and number of lanes. Elevated / underpass data includes information on the presence of overpasses, overpasses, underpasses, underpasses, and lane number data Is information about presence or absence of 3 lanes or more, 2 lanes, 1 lane, and no center line. If the road is a branch road with an elevated road, it will be “beside the elevated road”. The same applies to tunnels.

The road name data is defined by a road type and a number within the type, and the road type is classified into (name) expressway, city expressway, toll road, national road, general road such as prefectural road. Especially on expressways, urban expressways and toll roads, it is defined by the main line and installation. The term "attachment" refers to a road that connects an ordinary road and a main line or connects a main line and a main line.

The caution point data is data for providing information for calling attention to changing road conditions, and for example, level crossings, tunnel entrances, tunnel exits, width reduction points, no caution points, etc. Is defined. The driving guidance data is used to safely drive the next driving guidance when driving on a wide road, a road with two or more lanes, etc.
And the information provided to ensure that
For example, information such as "from the right" or "from the left" is given as guidance for making a right turn, a course change to the diagonally right direction, or the like. When passing through an intersection, that is, when traveling straight ahead, the information "from the center" is given, and when there is no need for guidance such as when continuing straight ahead on a road, information "none" is given. To be

In addition to this, road data, intersection data, etc. are separately stored as map display data. The map display data may be stored separately for each scale, but one data may be used to display the map at a plurality of scales.

Next, the concept of the automatic display scale switching function will be described using the display screen.

FIG. 4 is a map display screen during route guidance in the embodiment of the present invention, which is an explanatory diagram of a route deviation, and FIG. 5 is a screen following FIG. 4 in the embodiment of the present invention, which shows a map after the map scale is changed. FIG. 6 is an explanatory view of a map display, FIG. 6 is a screen following FIG. 5 in the embodiment of the present invention, and an explanatory view of the map display when further away from the original route, and FIG. 7 is a view in the embodiment of the present invention. 8 is an explanatory view of a map display after changing the map scale, FIG. 8 is an explanatory view of a re-search result in the embodiment of the present invention, FIG. 9 is a screen following FIG. 8 in the embodiment of the present invention, Explanatory drawing of re-search result after map scale change, FIG.
FIG. 7 is an explanatory diagram of a map display when the rediscovery switch is pressed in the embodiment of the present invention.

In this case, the center of the current position is displayed,
In the destination setting process, automatic re-search (auto-reroute) can be selected on a re-search condition setting screen (not shown). When ON is selected, the system automatically executes a peripheral search when an out-of-route is detected, and the route to the guide route is recalculated and displayed. When OFF is selected, the re-search switch 6 is displayed on the screen when a route deviation is detected, the route deviation is notified, and a re-search is executed as an internal process to detect the route searched again. Stored in the route storage means.

The route obtained by this internal processing is not immediately displayed. For example, when a route deviation is detected while the auto-reroute / off mode is selected, the re-search switch 6 is displayed on the map display screen 5 as shown in FIG. In this state, the re-search is executed by the re-search method (all-route search, peripheral search, etc.) preset in the system.

On the other hand, if the re-search switch 6 is not pressed,
That is, when traveling in a direction away from the guide route 7,
The guide route 7 disappears from the map if the scale is the same as when the deviation from the route is detected. Therefore, in the present embodiment,
Before the guide route 7 becomes a position where it is difficult to confirm, the scale is switched so that the vehicle can return to the guide route 7 from the current position based on the result of the re-search, and the direction in which the vehicle 8 with respect to the guide route 7 can be changed. It allows you to see at a glance what is going on.

For example, the map display screen 5 of FIG. 4 displays the current position of the vehicle 8 when it has deviated from the guide route 7 and traveled a predetermined distance, and the scale at that time is 1 / 40,000. In this case, if the vehicle continues traveling as it is, the scale is determined from the result of the re-search. In the present embodiment, as shown in FIG. 5, the scale is switched to a diagram of 1 / 80,000. When the vehicle travels further, a new scale is determined from the result of the re-search, and the display process is performed at that scale.

In the present embodiment, the scale is switched from the one in 80,000 to the one in 160,000, and the display is switched from FIG. 6 to FIG. In this way, the scale is switched, the display processing is executed, and the re-searched route is stored in the route storage means.

For example, when the re-searched route 7'shown by the dotted line in FIGS. 8 and 9 is obtained, the display process of the re-searched route 7'is not executed. In FIG. 8 or FIG. 9, when the re-search switch 6 is pressed, the stored route of the re-searched route in the figure is displayed.

As a result, the new guide route 7 which is connected to the guide route 7 of the previous time through the route 7're-searched from the current position.
When A is the map currently displayed, for example, the re-search switch 6 is pressed in the map display of FIG.
Is displayed.

As described above, when the re-search switch 6 is not pressed, the system executes the peripheral search and does not perform the display processing, and stores the re-searched route in the route storage means. This re-search is executed at regular intervals by an interrupt process until the re-search switch 6 is pressed, and the re-searched route stored in the route storage means is updated based on the result. Therefore, when the re-search switch 6 is pressed, the re-searched route is instantly displayed.

Next, the processing of the system having the function of re-searching for the optimum route when the route deviates will be described.

FIG. 11 is a diagram showing a main flow of route guidance processing from a starting point to a destination in the embodiment of the present invention, FIG. 12 is a flow chart of route deviation processing in the embodiment of the present invention, and FIG. FIG. 13 is a flowchart following FIG. 12 in the embodiment of the present invention.

In the process for performing route guidance from setting the destination, the current position (departure point) required for route search
Is acquired (S1), the destination setting conditions are input on the destination setting screen to set the destination (S2), and the route search is performed (S3). At this time, it is set whether the re-search is automatically performed (auto reroute on) or performed by the user's intention (auto reroute off). That is, ON or OFF of auto-reroute is set as the re-search condition.

After the route search, MODE = 2 for indicating the end of the process is set, and a predetermined distance from the guide route which is the basis for detecting the deviation from the route is set (S).
4). When the guidance start key is pressed on the searched route to start the route guidance, the position of the own vehicle is measured and the current position is tracked (S5). Next, the distance from the current position to the set route is obtained, and the deviation from the route is determined depending on whether this distance exceeds the value (predetermined distance) set in step S4 (S6). When the out-of-route is detected, the out-of-route process is executed (S7).

In the out-of-route processing when the auto-reroute is off, the re-search route to the destination is always calculated and stored in the route storage means. In particular, when the auto-reroute is off, in the route deviation determination processing executed in step S6, the determination is not for the latest route re-searched, but for the searched route before the route is deviated.

When the vehicle is not off the route, the traveling guidance is continued by the set route (S8). When on the route, MODE = 0 is set to represent it, and the remaining distance from the current position to the destination is calculated (S
9) Then, the arrival of the destination is determined depending on whether or not the remaining distance is within a predetermined value (S10). If the remaining distance is less than or equal to the predetermined value, it is determined that the destination has been reached, and the route guidance is ended. On the other hand, when the remaining distance is not less than or equal to the predetermined value, the process returns to step S5 and the current position is tracked. The detection of the deviation from the route is performed by a timer interrupt process.

When the route deviation is detected in step S6, the route deviation processing shown in FIGS. 12 and 13 is executed.

First, the selection of the auto reroute mode is judged (S11), and the auto reroute mode is turned on (ON).
In the case of, the re-search process is executed (S12), and then the route display process of the re-searched route is executed and displayed (S1).
3).

On the other hand, when the auto-reroute mode is off, re-search processing is executed (S14), and then it is determined whether or not the current position is on the re-searched route (latest route) (S15). Then, when the route is further changed and the vehicle travels, that is, when the vehicle is not on the latest route, a re-search is newly executed (S14). When the vehicle is on the latest route, the operation of the re-search switch 6 (FIG. 4) is determined (S
16) If not pressed, a map scale changing process (FIG. 24) (S17) described later is performed, and the process returns to step S15. When the re-search switch 6 is turned on, it is determined whether or not the road currently running is on a guideable road (guidance road) (S18). If the road is not a guideable road, a map scale changing process is performed and the process returns to step S15. When the road is a guideable road, the route display processing is executed and displayed (S19).

By the above processing, when the map scale is not changed, the route re-searched at the map scale currently displayed and the original route are displayed, and the map scale is changed. In this case, the route re-searched by the determined map scale and the original route are displayed. The guideable road is a road that can be searched for a route.
The road is provided as data separate from the road for display (local road, etc.).

Next, steps S12 and S14
The re-search process in step 1 will be described.

FIG. 14 is a flow chart of re-search processing in the embodiment of the present invention, FIG. 15 is a flow chart of another embodiment of the re-search processing in other embodiment of the present invention, and FIG. 16 is of the present invention. FIG. 17 is a flowchart of route recalculation processing for peripheral search in the embodiment, and FIG. 17 is a flowchart of route recalculation processing for all route search in the embodiment of the present invention.

The result of the re-search process is displayed on the map screen immediately after the route display process is executed when the auto-reroute is turned on. On the other hand, when auto-reroute is turned off, the result of the re-search process as an internal process is stored in the route storage means, and the user presses the re-search switch 6 (FIG. 4) to display the route stored in the route storage means. Processing is performed.

In FIG. 14, when the re-search process is executed, first, it is judged whether or not the current position is on the guideable road (S20), and when it is out of the guideable road, the outside of the guide road is determined. MODE to show that you are running
= 1 is set, and when the vehicle returns to a road on which guidance is possible, a re-search is performed (S21). On the other hand, although MODE = 1 was set in the re-search process when the vehicle was traveling outside the guide road, but when the vehicle was traveling on a guideable road thereafter, it was on the route (MODE = 0) or outside the guide road. (MODE =
It is determined whether it is 1) (S22). MODE =
If 0 or MODE = 1, the re-search start position is set (S24).

MODE = 0 or MODE = 1
If not, the re-search process ends (MODE = 2),
In addition, it is determined whether or not the vehicle is traveling a predetermined distance on a road that can be guided (S23). If MODE = 2 and the vehicle is traveling a predetermined distance, the re-search start position is set (S24).

Here, the determination of NO in step S23 is, for example, the case where the vehicle travels on a road which can be guided in a direction opposite to the direction in which the route exists after the route search. Even when the vehicle travels in the opposite direction as described above, it is possible to start execution of the re-search after traveling a predetermined distance set in advance.

In the re-search start position setting process, for example, the position on the map at which the re-search is started is moved forward by a predetermined distance in the traveling direction of the vehicle. This takes into consideration that the vehicle is traveling and that the re-search process takes some time. For example, the route obtained by re-search is a route that must turn right or left immediately,
After the driver presses the re-search switch 6 to display the route, a route that cannot be handled suddenly is extracted, or the current position was before the intersection at the start of re-search, but the re-search At the end, if you have gone straight ahead at the intersection and the search result is a route to turn right or left at the intersection that has passed, you need to immediately perform a re-search To reduce.

When the re-search start position is set, the route re-calculation is executed (S25), and it is determined whether or not the route output is successful (S26). If the route is obtained by the route recalculation (determination of success of route output is YES), M
ODE = 2 is set, a predetermined distance is set (S27), and the process ends. If the route cannot be obtained by recalculating the route (NO in the determination of success in route output), MODE = 3 indicating failure in search is set (S28), and the process ends. When the route is not output, it depends on the search program installed in the system.

For example, when the program is set so that the U-turn route is not output, the search is performed by giving priority to the traveling direction of the vehicle 8 at the time when the deviation from the route is detected, but the currently running road is a dead end. If it is, it is determined that there is no re-search route. Also, when the distance from the current position to the destination on the re-searched route is larger than the value obtained by multiplying the distance when returning to the original route to the destination by a predetermined multiple, the output of the re-search route is output. It may be prohibited. That is, if the result of the re-search does not satisfy the preset condition, the output is disabled.

On the other hand, in the re-searching process of FIG. 15, the re-searching is executed and the re-searched route (the dotted line portion shown in FIG. 8 or 9) is pressed before the re-searching switch 6 is pressed by the driver. It is designed to be additionally displayed as guidance information. 14 is different from the re-search process of FIG. 14 in that MODE = 2 and the re-searched route is displayed when the vehicle is traveling a predetermined distance in step S23. Since they are the same, description thereof will be omitted.

In this case, since the search is completed at MODE = 2, when the vehicle travels on the road that can be guided by a predetermined distance, the guidance that was traveling before the previous route, that is, before the deviation from the route is detected. Delete route 7 from the map (S2
9) The result of the re-search is displayed (S30). here,
As a condition for starting the re-search, when it is determined that the route deviates from the route by the matching process, in the example described above, the condition is that the vehicle has traveled on a guideable road and has traveled a predetermined distance. However, the re-search may be started even if the vehicle is not on the guide road (from a point on the guide road closest to the current position).

In the route recalculation performed in step S25, the peripheral search and the entire route search when the traveling direction of the vehicle is prioritized are performed. FIG. 16 shows an example of the peripheral search process.

Search data (road data, intersection data, etc.) around the vehicle is read from the information storage device 3 (FIG. 1) (S40). Then, the road sequence data of the guide route before leaving the route (hereinafter referred to as “previous guide route”) is acquired from the route storage means configured by the memory 42 in the central processing unit 4 (S41).

The route is defined by a road string obtained by connecting roads between intersections. Here, "acquisition" means taking in data from the route storage means to the work area of the route search means. Then, the traveling direction and the penalty at each intersection are calculated in the direction returning to the previous guidance route (S42). The penalty is a coefficient determined based on road type, road length, road width, right / left turn, presence / absence of a signal, traffic regulation, and the like. Also, no entry,
When the route is not connected due to one-way traffic, etc., the penalty is set to "∞" when making a U-turn. In this neighborhood search, we re-penalized in the direction of returning to the previous route,
Find the best route.

Based on the current position information from the current position detection device and the map information from the information storage device 3, the current position road and traveling direction of the vehicle are acquired (S43). Then, the intersection to which the current road is connected is selected in the traveling direction, and the route to return to the previous guidance route is determined based on the traveling direction and the penalty to each intersection (S44). The road sequence is recreated using the searched route and the previous previous guidance route as the future guidance route (S45), and the process ends.
FIG. 17 shows all route recalculation processing in which the traveling direction is prioritized. Based on the current position information from the current position detection device 2 and the map information from the information storage device 3, the current position road and traveling direction of the own vehicle are acquired (S50) and the destination road is acquired (S51), and the current position is acquired. -The search data between destinations is read (S52). Then, the intersection to which the current road is connected is selected in the traveling direction, the route to the destination is determined based on the traveling direction and the penalty to each intersection (S53), and the road train is recreated using it as the guide route. (S54), the process ends.

In the present embodiment, the re-search can be applied to both the peripheral search and the all-route search. For example, in the case of manually instructing the peripheral search or the all-route search in advance, a mode switching routine is separately provided, and the re-search program is selectively used according to the mode at the re-search. In addition to this, as a switching method between the peripheral search and the all-routes search, for example, when the re-search switch 6 is operated after detecting the deviation from the route, the route that is first searched is output as the route searched for the periphery. After that, the entire route search may be executed by traveling the predetermined distance or operating the re-search switch 6 again within a predetermined time.
In this case, both the route for the peripheral search and the route for the entire route search are searched and stored in the route storage means, or only the route for the peripheral search is calculated and stored and stored in the second search switch 6. All routes may be calculated when an operation is performed.

Next, the display processing by the map fixed display will be described. First, the concept of display processing will be described using a display screen.

FIG. 18 is a diagram showing a map display screen when the route is off in the embodiment of the present invention, FIG. 19 is a diagram showing the map display screen after the map scale is changed in the embodiment of the present invention, and FIG. 20 is a book. FIG. 21 is a diagram showing a map display screen when approaching an intersection (branch point) after changing the map scale in the embodiment of the invention, and FIG. 21 is a screen following FIG. 20 in the embodiment of the present invention, showing an intersection view FIG. 22 is an explanatory diagram of a method for determining a map scale that can display a re-searched route according to the embodiment of the present invention, and FIG. 23 is an explanation of an area displayed at the determined map scale according to the embodiment of the present invention. It is a figure.

After the deviation from the route is detected, the vehicle continues traveling according to the map display shown in FIG. 18, and when it deviates from the guide route, when it becomes a position where it is difficult to confirm the guide route at that scale, the current position and the traveling direction are detected. For example, the scale is changed so that the positional relationship of the guide route can be confirmed, for example, switching from FIGS. To confirm which direction to take when approaching a turning point while traveling at this scale,
When you press the detail switch, a detailed map around the current position is displayed. Further, as a method of switching to the detailed map, for example, switching to the detailed map may be automatically performed when the vehicle approaches an intersection, such as switching from FIG. 20 to FIG.

Further, with respect to the scale after passing through the intersection, the scale after switching can be left as it is, or can be automatically switched to the original scale, and can be appropriately selected. The map scale is determined by the relationship between the initial search route, the current position and the peripheral search route.

As shown in FIG. 22, the route deviates from the initial search route indicated by the thick solid line, and the current position is coordinate (X,
In Y), when the peripheral search route indicated by the dotted line is obtained as a result of re-searching, when the area including the initial search route, the current position and the peripheral search route is expressed by coordinates, the east longitude coordinate minimum value Emin in the X direction and The east longitude maximum value Emax is
Further, the north latitude coordinate minimum value Nmin and the north latitude coordinate maximum value Nmax are obtained in the Y direction. When this area is displayed on the screen, Xmax and Ymax are set to be slightly smaller than the display screen area as shown in FIG.

Next, the map scale changing process will be described.

FIG. 24 is a flow chart of map scale changing processing in the embodiment of the present invention, and FIG. 25 is a flow chart of map scale determining processing in the embodiment of the present invention.

First, in FIG. 24, when the map scale changing process is executed, the route data (up to the connection point of the original route) obtained by the search result is acquired (S60), and the coordinates of the route data (east longitude, north latitude) are acquired. To the maximum and minimum values (Emax, E
min, Nmax, Nmin) is acquired (S61).
From the coordinates (X, Y) of the current position and the maximum and minimum values of the route data, the map scale for displaying the entire route searched around is determined (S62). The map is displayed according to the determined reduced scale (S63), and the process ends.

The map scale determination process in step S62 will be described with reference to FIG. 25. First, the larger value of | X-Emin | and | X-Emax | is acquired (E).
Yes (S70). Next, | Y-Emin | and | Y-E
The larger value of max | is acquired (N) (S7).
1). Then, the maximum reduction scale is selected with E ≦ Xmax and N ≦ Ymax (S72), and the process ends.

Another example of the route deviation processing is shown in FIGS.
7 will be described.

FIG. 26 is a flow chart for explaining another example of the route deviation processing in the embodiment of the present invention, and FIG. 27 shows another example of the map scale changing processing in the embodiment of the present invention. 28 is a flowchart for explaining another example of another map scale changing process in the embodiment of the present invention, and FIG. 29 is an original diagram after changing the map scale in the embodiment of the present invention. FIG. 30 is a diagram showing a map display screen in which the original route is included in the screen by shifting the map display position in FIG. 29 according to the embodiment of the present invention. 32 is a diagram showing a map display screen displaying a position where the re-searched route is connected to the original route in the embodiment of the present invention, FIG.
FIG. 8 is a diagram showing a map display screen in which a display indicating the direction of an original route destination is displayed during map display by changing the map scale after re-search in the embodiment of the present invention.

In FIG. 26, when an out-of-route is detected, a peripheral search is executed (S80), and it is judged whether or not the current position of the vehicle is on the re-searched route (latest route) (S81). If not on the latest route, step S8
Returning to 0, the peripheral search is performed again. If it is on the latest route, the operation of the re-search switch 6 (FIG. 4) is determined (S8).
2) When the operation of the re-search switch 6 is turned on, route display processing is performed based on the latest route (S83),
Display the guide route.

When the re-search switch 6 is not pressed, that is, when the vehicle continues traveling on the latest route, it may gradually depart from the original route. Considering such a situation, when the re-search switch 6 is not pressed, map scale changing processing is executed (S84). Then, it is determined whether or not it is on the latest route (S81). By repeating this processing until the re-search switch 6 is pressed, when the re-search switch 6 is pressed, it is possible to display the entire route searched around.

Next, the map scale changing process will be described with reference to FIG. 27. The route data (up to the connection point of the original guide route) obtained from the search result is acquired (S85), and the east longitude and north latitude of the node data of this route data are acquired. The coordinate of is acquired (S86). Based on the coordinate data, it is determined whether all the coordinates are within the area of the map currently displayed (S87).
If all the coordinates are not within the area, that is, if there is even one coordinate outside the area, the map scale determination process shown in FIG. 25 is executed (S88). Step S87
When the map scale is determined by YES (all coordinates are within the area) and execution of the map scale determination processing, the routine exits this routine and continues to step S81 in FIG.

Another embodiment of the map scale changing process will be described with reference to FIG. In this case, it is determined whether or not the node coordinates of the re-search route are in the map currently being displayed, and if the node coordinates of the re-search route are not in the map currently being displayed, the map scale is sequentially increased. The map is then displayed at the most detailed map scale that includes all four coordinates. First, the route data (to the connection point of the original guide route) based on the search result is acquired (S90), the map scale currently displayed is acquired (S91), and the maximum and minimum values of the coordinates of east longitude and north latitude are obtained. (Emax, Emin, Nma
x, Nmin) is acquired (S92). Maximum / minimum values (Emax, Emi based on the map scale currently displayed)
It is determined whether (n, Nmax, Nmin) are all within the screen (S93).

Maximum / minimum values (Emax, Emin, N
(max, Nmin) are all within the screen, map display processing is performed at the current scale (S94). On the other hand, the maximum value
If any of the minimum values (Emax, Emin, Nmax, Nmin) is not on the screen, the map scale is switched to the one-step wide area and the processes of steps S91 to S93 are performed again. This processing is performed by using the maximum value / minimum value (Emax, Emi
By repeatedly performing (n, Nmax, Nmin) all within the screen, it is possible to display a detailed map at a scale including four coordinates.

When the map scale is determined based only on the re-search route, the original guide route may be out of the screen as shown in FIG. 29. Therefore, for example, by connecting the re-search route and the original route, By determining the map scale in consideration of the route between the two existing points, the re-searched route and the original route are displayed on the screen as shown in FIG.

As described above, the present embodiment relates to the vehicle navigation device for guiding the route to the destination, and more specifically, it always performs the re-search when the route is deviated, and stores the re-searched route. In addition, in response to the user's re-search request, the function to immediately perform the necessary route display processing,
When it deviates from the route, it has a function of switching and displaying the scale so that the road information for returning to the original route can be displayed.

Therefore, when the deviation from the route is detected, the map display is automatically switched according to the map scale determined by the map scale determination means and capable of displaying the entire re-search route. If you do, the map is automatically displayed at the scale including the original route, so
It is possible to quickly and easily obtain information from the point of departure from the route to the point of returning to the original route.

When the route output instructing means is provided, the route guidance based on the route re-searched at an arbitrary place is started according to the intention of the driver based on the relationship between the currently traveling road and the original guide route. Can be made.

Further, when the route display processing means has the current position center display function or the map fixed display function and outputs the route re-searched by the map scale decided by the map scale deciding means, the re-searched route is displayed. It can be displayed at the largest possible scale.

Then, in the map display before outputting the route re-searched by the map scale determined by the map scale determination means, the route display processing means adds the guide information by the re-searched route during the map display. Then, information for returning to the original route can be clearly obtained.

In another embodiment, any one of the following configurations or a combination thereof can be adopted. (1) As an additional display of guidance information, as shown in FIG. 31, a connection point between a re-searched route (not displayed) and the original guidance route is displayed in an easy-to-understand manner, or shown in FIG. 32. As described above, the arrow indicating the direction of the destination is displayed on the route on the currently displayed map. (2) As another example of the additional display of the guidance information, FIGS.
As shown by, the re-searched route (dotted line portion) is displayed in a dotted line (route guidance such as voice guidance is not performed), or an arrow is displayed on the re-searched route for simple guidance. (3) A caution sound is generated to call attention when the scale is automatically switched. (4) In FIGS. 18 and 19, the current position center display is switched to the map fixed display, but the map scale can be switched while the current position center display is maintained. (5) Before the re-search switch 6 is pressed by the driver by executing the re-search after deviating from the route, the re-searched route (dotted line portion shown in FIG. 8 or 9) is displayed as the reference route. May be. However, the original guide route remains displayed, and route guidance based on the route indicated by the dotted line in the figure is not performed.

The present invention is not limited to the above-mentioned embodiments, but can be variously modified within the scope of the present invention, and they are not excluded from the scope of the present invention.

[0108]

As described above in detail, according to the present invention, the scale at which the re-searched route can be displayed on the map is determined, and the route search means performs the display process of the re-searched route. It is possible to easily determine what kind of route a new route is connected to the original route without performing an operation such as switching the map scale when the re-search is performed.

[Brief description of drawings]

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

FIG. 2 is an explanatory diagram of search (guidance) road data according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram of guide road data according to the embodiment of the present invention.

FIG. 4 is an explanatory diagram of a route deviation on the map display screen during route guidance according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram of a map display after changing the map scale on the screen following FIG. 4 in the embodiment of the present invention.

FIG. 6 is an explanatory diagram of a map display when the display is further away from the original route on the screen following FIG. 5 in the embodiment of the present invention.

FIG. 7 is an explanatory diagram of a map display after changing the map scale on the screen following FIG. 6 in the embodiment of the present invention.

FIG. 8 is an explanatory diagram of a re-search result according to the embodiment of the present invention.

FIG. 9 is an explanatory diagram of a re-search result after changing the map scale on the screen following FIG. 8 in the embodiment of the present invention.

FIG. 10 is an explanatory diagram of a map display when the rediscovery switch is pressed in the embodiment of the present invention.

FIG. 11 is a diagram showing a main flow of route guidance processing from a starting point to a destination in the embodiment of the present invention.

FIG. 12 is a flow diagram of route deviation processing according to the embodiment of the present invention.

FIG. 13 is a flowchart following on from FIG. 12 in the embodiment of the present invention.

FIG. 14 is a flowchart of re-search processing in the embodiment of the present invention.

FIG. 15 is a flowchart of another embodiment of the re-search process in another embodiment of the present invention.

FIG. 16 is a flowchart of a route recalculation process for peripheral search according to the embodiment of the present invention.

FIG. 17 is a flowchart of route recalculation processing for all route search according to the embodiment of the present invention.

FIG. 18 is a diagram showing a map display screen when a route is deviated in the embodiment of the present invention.

FIG. 19 is a diagram showing a map display screen after changing the map scale according to the embodiment of the present invention.

FIG. 20 is a diagram showing a map display screen when approaching an intersection (branch point) after changing the map scale according to the embodiment of the present invention.

FIG. 21 is a diagram showing an intersection diagram on the screen following FIG. 20 in the embodiment of the present invention.

FIG. 22 is an explanatory diagram of a method of determining a map scale that can display a re-searched route in the embodiment of the present invention.

FIG. 23 is an explanatory diagram of areas displayed at the determined map scale according to the embodiment of the present invention.

FIG. 24 is a flowchart of map scale changing processing according to the embodiment of the present invention.

FIG. 25 is a flowchart of map scale determination processing according to the embodiment of the present invention.

FIG. 26 is a flowchart for explaining another example of the route deviating process in the embodiment of the present invention.

FIG. 27 is a flowchart illustrating another example of the map scale changing process according to the embodiment of the present invention.

FIG. 28 is a flowchart illustrating another example of another map scale changing process according to the embodiment of the present invention.

FIG. 29 is an explanatory diagram of a case where the original route has run off the screen after changing the map scale according to the embodiment of the present invention.

FIG. 30 is a diagram showing a map display screen in which the map display position of FIG. 29 in the embodiment of the present invention is shifted so that the original route is included in the screen.

FIG. 31 is a diagram showing a map display screen displaying a position where a re-searched route is connected to the original route according to the embodiment of the present invention.

FIG. 32 is a diagram showing a map display screen in which a destination direction of an original route is displayed during map display by changing map scale after re-search in the embodiment of the present invention.

[Explanation of symbols]

1 I / O device 2 Current position detector 3 Information storage device 4 Central processing unit 6 Rediscovery switch 12 display 14 speakers 40 CPU 45 image processor 46 voice processor 47 Communication interface

Continued front page    F-term (reference) 2C032 HB02 HB05 HB22 HB24 HC08                       HC14 HC24 HC31 HD03 HD07                       HD29                 2F029 AA02 AC02 AC08 AC09 AC14                       AC19 AD07                 5H180 AA01 FF05 FF22 FF27 FF33                       FF35

Claims (5)

[Claims] 1. In a vehicle navigation device that guides a route to a destination according to a route that has been searched, a storage means that stores map information and information necessary for performing navigation and a current position of the vehicle are tracked. A current position detection means, a route search means for searching for a guide route from the current position to the destination based on the information stored in the storage means, and a route search means for re-searching for the guide route based on the tracked current position; By the route storage means for storing the route searched by the route search means and the re-searched route, the map scale determination means for determining the scale at which the re-searched route can be displayed on the map, and the map scale determination means. And a route display processing unit that performs a display process of the re-searched route according to the determined map scale. Place 2. A vehicle navigation device that guides a route to a destination according to a searched route, and a storage unit that stores map information and information necessary for navigation and tracks the current position of the vehicle. A current position detection means, a route search means for searching for a guide route from the current position to the destination based on the information stored in the storage means, and a route search means for re-searching for the guide route based on the tracked current position; By the route storage means for storing the route searched by the route search means and the re-searched route, the map scale determination means for determining the scale at which the re-searched route can be displayed on the map, and the map scale determination means. And a route display processing means for displaying the re-searched route according to the determined map scale, and the map scale determining means. The vehicle navigation device characterized in that the determined scale is such that the entire route that has been re-searched can be displayed on a map. 3. A vehicle navigation device that guides a route to a destination according to a searched route, and a storage unit that stores map information and information necessary for navigation and tracks the current position of the vehicle. A current position detection means, a route search means for searching for a guide route from the current position to the destination based on the information stored in the storage means, and a route search means for re-searching for the guide route based on the tracked current position; By the route storage means for storing the route searched by the route search means and the re-searched route, the map scale determination means for determining the scale at which the re-searched route can be displayed on the map, and the map scale determination means. And a route display processing means for displaying the re-searched route according to the determined map scale, and the map scale determining means. A vehicle navigation device characterized in that the determined scale is a scale at which the current position of the vehicle and the connection points between the guide route and the re-searched route can be displayed on a map. 4. A vehicle navigation device that guides a route to a destination according to a searched route, and a storage unit that stores map information and information necessary for performing navigation and tracks the current position of the vehicle. A current position detection means, a route search means for searching for a guide route from the current position to the destination based on the information stored in the storage means, and a route search means for re-searching for the guide route based on the tracked current position; By the route storage means for storing the route searched by the route search means and the re-searched route, the map scale determination means for determining the scale at which the re-searched route can be displayed on the map, and the map scale determination means. And a route display processing means for displaying the re-searched route according to the determined map scale, and the map scale determining means. The determined scale is such that the connection point between the guide route and the re-searched route, and the guide route up to the connection point and the re-searched route up to the connection point can be displayed on a map. A characteristic vehicle navigation device. 5. A route output instructing means for instructing an output of the re-searched route stored in the route storing means is provided, and the route output instructing means gives an instruction to start route guidance by the re-searched route. Then, the route display processing unit outputs the re-searched route stored in the route storage unit to the output unit, and performs route guidance based on the re-searched route. The vehicle navigation device described.