JP2005164543A - Navigation device and guiding method of peripheral facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device and a guiding method of peripheral facilities capable of presenting routes to the plurality of facilities provided as a search result of the peripheral facilities intelligibly to a user in consideration of traffic regulations, and enabling the user to easily judge and select the optimum facility. <P>SOLUTION: When displaying on a map icons P of one or more parking lots searched for by a peripheral facility search function, an enterable route is determined on the basis of traffic regulation information of a road facing to each parking lot, and an arrow mark AW showing the route is displayed together with the parking lot icon P. Hereby, this device can present which parking lot is most convenient to be headed for in consideration of the own car position or which parking lot is most easily enterable, to the user intelligibly at a glance, even in an area crowded with a plurality of parking lots or in an area complicated with traffic regulations such as one-way traffic. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a navigation device and a surrounding facility guidance method, and is particularly suitable for use in a navigation device having a function of searching for and guiding a facility within a predetermined distance from the vehicle position or the center of a cursor. .

  With the recent advancement of technology, various functions have been installed in navigation devices. Among them, there is a function (hereinafter referred to as a peripheral facility search function) for searching and guiding a facility within a predetermined distance from the vehicle position or the center of the cursor. This peripheral facility search function is a function for searching for facilities corresponding to a category designated by the user among a plurality of predetermined categories (for example, convenience stores, parking lots, gas stations, banks, public facilities, etc.). is there. That is, when the user selects a desired category from among a plurality of categories, the navigation device searches for a facility corresponding to the selected category and displays the result on the display screen.

  When searching for such nearby facilities, for example, when searching for a nearby parking lot, the search result is the distance from the parking lot name or the vehicle position in order from the vehicle position or the cursor center. Etc. are displayed as a list. Alternatively, an icon indicating the corresponding parking lot is displayed on the surrounding map. At this time, when the user selects a desired parking lot from the parking lots indicated in the search result, the selected parking lot can be set as a destination or a waypoint. Thereafter, the navigation device calculates a guidance route to the selected parking lot.

  However, since the search result of the surrounding facilities is simply indicated by a list or an icon on the map, information such as whether the parking lot to be selected is full or whether there is a height restriction is unknown. Therefore, when I went to the parking lot set as the destination, the parking lot may not be used due to full or height restrictions, etc.In that case, I will re-search another parking lot and return to the destination There was an inconvenience that had to be set.

  Also, based on the distance from the vehicle position displayed in the list or the position of the parking icon displayed on the surrounding map, it seems that the parking location seems to be close at first glance from the vehicle position or the final destination. Even in parking lots, there were actually traffic restrictions such as one-way traffic, so it sometimes took longer to arrive than other parking lots. That is, when selecting a desired parking lot by looking at the search results of the surrounding facilities, there is a problem in that it is impossible to determine and select the optimal parking lot that can be reached in the shortest time.

In addition, a technology has been proposed that allows the user to select a parking lot by presenting detailed information such as what shape and size of the parking lot and which road the entrance faces. (For example, refer to Patent Document 1). However, even if the technique of Patent Document 1 is used, information such as height restrictions is known in advance, but it is not possible to know which parking lot can be reached in the shortest time. In addition, since it is not possible to know in advance whether the vehicle is full or empty, if you cannot actually park the car after going there, you must search again, and after the selected parking lot is not available. This is not considered at all.
JP 2003-139548 A

The present invention has been made to solve such a problem, and it is possible to present the route to a plurality of facilities provided as a search result of surrounding facilities in an easy-to-understand manner in consideration of traffic regulations. It is an object of the present invention to make it possible to easily determine and select an optimal facility for the user.
Another object of the present invention is to enable efficient guidance to the next facility when the selected facility is not actually used.

  In order to solve the above-described problem, in the navigation device of the present invention, when displaying the mark of the facility searched for by the peripheral facility search function on the map, the location information of the facility and the road facing the facility It is displayed together with an arrow indicating an approachable route determined based on the traffic regulation information.

  In another aspect of the present invention, among the facilities that have not yet passed through the one or more facilities searched by the peripheral facility search function, the facilities whose cost is minimum under a predetermined condition from the vehicle position are as follows: The information is displayed in a manner distinguishable from other facilities. For example, a facility mark or a route arrow is displayed differently.

  Further, in another aspect of the present invention, when passing through a facility displayed in a mode different from that of another facility, the next facility whose cost is minimum under a predetermined condition from the current vehicle position is changed to the other facility. It is made to display again in a form that can be distinguished from the facilities.

  According to the present invention configured as described above, as a result of the peripheral facility search process, the location of one or more searched facilities is not only indicated by the display of a mark, but also an approach taking traffic restrictions into consideration. An arrow indicating a possible route is also displayed. Accordingly, it is possible to present to the user in an easy-to-understand manner which facility is most convenient to go to from the position of the vehicle and which facility is most easily entered.

  Further, according to another feature of the present invention, a facility whose cost is minimum under a predetermined condition, for example, a facility that can arrive in the shortest time from the position of the vehicle is displayed so as to be distinguishable from other facilities. It becomes. Thereby, the optimal facility which can go from the own vehicle position in the shortest time can be easily shown to the user at a glance.

  Further, according to another feature of the present invention, when actually going to a facility displayed in a mode different from other facilities with a minimum cost under a predetermined condition, the facility is used for some reason. In the case of passing without being able to do so, the next facility with the lowest cost under the specified conditions is automatically selected from the location of the facility that has passed, and displayed so that it can be distinguished from other facilities. It becomes. Thereby, even if it is not possible to actually use the facility selected by the user, it is not necessary to perform a troublesome facility search process again, and it is possible to efficiently guide to the next facility.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration example of the navigation device according to the present embodiment. In FIG. 1, reference numeral 1 denotes a navigation control device, which controls the entire navigation device. Reference numeral 2 denotes a DVD-ROM which stores various types of map data necessary for map display and route search. Here, the DVD-ROM 2 is used as a recording medium for storing the map data, but other recording media such as a CD-ROM and a hard disk may be used.

  The map data stored in the DVD-ROM 2 includes a background layer and a character / symbol layer composed of various data necessary for map display, and data necessary for various processes such as map matching, route search, and route guidance described later. The road layer which consists of, the intersection layer which consists of the detailed data of an intersection, and the parking lot database which consists of the data regarding the parking lot which exists on a map are contained. In the above road layer, a connection node table that stores detailed data of nodes corresponding to points where multiple roads such as intersections and branches cross, and a node on the road and other adjacent nodes are connected. Link records containing detailed data of links corresponding to roads and lanes.

  FIG. 2 is a diagram illustrating a configuration example of a connection node table and a link record included in the road layer. As shown in FIG. 2A, in the connection node table, for each existing node, the normalized longitude / latitude of the node, the attribute flag of the node, the number of traffic regulations, the connection node record, the traffic regulation record, Information such as the storage position and size of the intersection record is included.

  The normalized longitude / latitude of the node indicates a relative position in the longitude direction / latitude direction with a predetermined position as a reference. The attribute flag of a node includes a flag indicating whether or not the node is an intersection node and other flags. The number of traffic restrictions indicates the number of traffic restrictions when there are traffic restrictions such as one-way traffic, right turn prohibition, and U-turn prohibition on the link connected to the node.

  The connection node record indicates the link number of each link having the node at one end as many as the number of links. The traffic regulation record indicates the specific contents of the traffic regulation corresponding to the number of traffic regulations described above, if any. The storage position and size of the intersection record indicate the storage position and size of the corresponding intersection record in the intersection unit when the node is an intersection node.

  As shown in FIG. 2B, the link record includes, for each existing link, a link ID, node numbers 1 and 2, a link distance, a link cost, a road attribute flag, a road type flag, Information such as route numbers is included.

  The link ID indicates a code attached to each link mainly for displaying a searched route. Node numbers 1 and 2 indicate numbers that specify two nodes located at both ends of the link. The link distance indicates the actual distance of the actual road corresponding to the link. For example, the cost of a link is obtained by calculating the time required for traveling on the link from information such as road type and road regulation, and indicating the time required for passing the link in minutes, for example. The road attribute flag indicates various attributes relating to the link. The road type flag indicates a type indicating whether the actual road corresponding to the link is an expressway or a general road. The route number indicates the number assigned to the actual road corresponding to the link.

  FIG. 3 is a diagram illustrating a configuration example of a parking lot database. As shown in FIG. 3, the parking lot database includes a parking lot name, location data (longitude / latitude), telephone number, address, usage time zone, fee structure, parking lot for each parking lot on the map. Information such as parking lot shape and height restrictions are included.

  Returning to FIG. A map data reading unit 3 reads map data from the DVD-ROM 2. Reference numeral 4 denotes an operation unit, which includes, for example, a remote controller (remote controller) or a touch panel. The operation unit 4 allows the user to set various types of information (for example, a route guidance destination) to the navigation control device 1 and various operations (for example, screen scrolling, numerical input, route search instructions, etc.) ) Is used.

  Reference numeral 5 denotes a GPS receiver, which receives radio waves transmitted from a plurality of GPS satellites by a GPS antenna 6 and performs a three-dimensional positioning process or a two-dimensional positioning process to calculate the absolute position and direction of the vehicle (vehicle The azimuth is calculated based on the current vehicle position and the current vehicle position one sampling time ΔT before). Then, the calculated absolute position and bearing information of the vehicle is output to the navigation control apparatus 1 together with the positioning time.

  Reference numeral 7 denotes a self-contained navigation sensor, which includes a relative azimuth sensor (angle sensor) 7a such as a vibration gyro that detects the rotation angle of the vehicle, and a distance sensor 7b that outputs one pulse for each predetermined travel distance. The self-contained navigation sensor 7 detects the relative position and direction of the vehicle by the angle sensor 7a and the distance sensor 7b, and outputs the information to the navigation control device 1.

  Reference numeral 8 denotes an audio unit, which outputs intersection guidance voices, various operation guidance voices, and the like from a speaker based on voice data output from the navigation control device 1. Reference numeral 9 denotes a display device that displays map information around the vehicle position together with a vehicle position mark, a destination mark, and the like based on image data output from the navigation control device 1. When a guidance route is set, the guidance route is displayed on a map, or an enlarged intersection view is displayed when the position of the vehicle approaches the vicinity of the guidance intersection. In addition, when a parking lot around the own vehicle position is searched, a parking lot icon is displayed on the map together with an arrow mark indicating an approachable path to the parking lot or an escapeable path from the parking lot.

  Next, the internal configuration of the navigation control device 1 will be described. 11 is a map buffer for temporarily storing map data read from the DVD-ROM 2 by the map data reading unit 3. Reference numeral 12 denotes a map reading control unit, which controls when the map data reading unit 3 reads map data from the DVD-ROM 2. When the screen center position is calculated by the map reading control unit 12, a map data reading instruction including a predetermined range including the screen center position is sent from the map reading control unit 12 to the map data reading unit 3 to display the map display and the guide route. The map data necessary for the search is read from the DVD-ROM 2 and stored in the map buffer 11.

  A map drawing unit 13 generates map image data necessary for display on the display device 9 based on the background layer and the character / symbol layer included in the map data stored in the map buffer 11. Reference numeral 14 denotes a VRAM (video RAM), which temporarily stores the map image data generated by the map drawing unit 13. A reading control unit 15 controls reading of map image data from the VRAM 14. The map image data generated by the map drawing unit 13 is temporarily stored in the VRAM 14, and the map image data for one screen is read by the read control unit 15.

  Reference numeral 16 denotes an operation control unit that gives instructions to each unit in the navigation control device 1 in accordance with an operation performed on the operation unit 4. Reference numeral 17 denotes an operation screen generation unit that generates and outputs an operation screen necessary for performing various operations using the operation unit 4. Reference numeral 18 denotes a various mark generation unit that generates and outputs a vehicle position mark displayed at the vehicle position after the map matching process, various landmarks displaying a parking lot, a gas station, a convenience store, and the like. In addition, for example, when a parking facility surrounding facility search is performed, a parking lot icon and an arrow mark indicating a path that allows entry to the parking lot and a path that can escape from the parking lot are generated and output.

  Reference numeral 19 denotes a data storage unit which sequentially stores absolute position and direction data of the own vehicle output from the GPS receiver 5. Reference numeral 20 denotes a vehicle running state calculation unit that calculates an absolute own vehicle position (estimated vehicle position) and vehicle direction based on data on the relative position and direction of the own vehicle output from the self-contained navigation sensor 7. . Reference numeral 21 denotes a map matching control unit, which is the map data read to the map buffer 11, the vehicle position and vehicle orientation data by the GPS receiver 5 stored in the data storage unit 19, and the vehicle running state calculation unit. Using the estimated vehicle position and vehicle orientation data calculated by 20, map matching processing by a projection method is performed for each vehicle travel distance, and the travel position of the vehicle is corrected on the road of the map data.

  A route search control unit 22 uses the map data stored in the map buffer 11 to search for a guide route with the lowest cost connecting the current location to the destination. For example, a guidance route that minimizes the cost under various conditions such as the shortest time, the shortest distance, and general road priority is searched. As a typical method of route search, a depth-first search (DFS) method, a breadth-first search (BFS) method, and a Dijkstra method, which is a kind of breadth-first search, are known. A guidance route memory 23 stores guidance route data (a set of nodes from the current location to the destination) set by the route search control unit 22.

  A guidance route drawing unit 24 generates drawing data for the guidance route using the result of the route search process stored in the guidance route memory 23. That is, from the guidance route data stored in the guidance route memory 23, the one included in the map area drawn in the VRAM 14 at that time is selectively read out, and is superimposed on the map image in a predetermined color different from other roads. Draws a boldly emphasized guide route.

  Reference numeral 25 denotes an intersection guide unit. When the vehicle approaches within a predetermined distance from the guidance intersection in front of the guidance route, the guidance being approached is based on the intersection layer included in the map data stored in the map buffer 11. Generates and outputs an image of an intersection guide map (intersection enlarged view for guiding a vehicle toward a destination, destination, travel direction arrow), and generates audio to guide the travel direction at the guide intersection Or output to part 8.

  Reference numeral 26 denotes an image composition unit which outputs the map image data read by the read control unit 15 from each of the operation screen generation unit 17, various mark generation unit 18, guidance route drawing unit 24 and intersection guide unit 25. Each image data is overlapped to compose an image and output to the display device 9. As a result, the synthesized image is displayed on the screen of the display device 9.

  The route search control unit 22 described above also uses the map data stored in the map buffer 11 to perform a process of searching for a facility (for example, a parking lot) within a predetermined distance from the own vehicle position or the center position of the cursor. . Further, the route search control unit 22 includes position information of one or more parking lots found by the peripheral facility searching process (included in the parking lot database in the map data read out to the map buffer 11). Based on the traffic regulation information of the road facing the parking lot (included in the road layer in the map data read into the map buffer 11), Determine the possible route. Thus, the route search control part 22 comprises the surrounding facility search means and route determination means of this invention.

  The route search control unit 22 notifies the various mark generation unit 18 of one or more searched facilities and information on routes that can enter the facility. The various mark generation unit 18 generates one or more parking lot icons searched by the route search control unit 22 and an arrow mark indicating an approachable route determined by the route search control unit 22 to generate an image composition unit 26. Output to. Thereby, the parking lot icon is displayed on the display device 9 together with the arrow mark at the searched one or more parking lot positions. As described above, the various mark generation unit 18, the image composition unit 26, and the display device 9 constitute mark display means of the present invention.

  FIG. 4 is a diagram illustrating an example of a navigation screen displayed on the display device 9 when searching for the surrounding facilities of the parking lot. In FIG. 4, CM is a vehicle position mark indicating the current position of the vehicle, P is a parking lot icon indicating the position of the searched parking lot, and AW is an arrow mark indicating an accessible route to each parking lot. In the example of FIG. 4, all roads facing each parking lot are one-way streets, and entry from only one direction is possible. The arrow mark AW indicates the final route that can be entered.

  FIG. 5 is a diagram illustrating a display pattern example of the arrow mark AW. 5A is a display pattern when only a right turn can be entered, FIG. 5B is a display pattern when only a left turn is possible, and FIG. 5C is a right and left turn approach. This is a display pattern in the case of The shape of the parking lot is determined based on the parking lot shape data included in the parking lot database in the map data read into the map buffer 11, and the underground approach as shown in FIGS. You may make it display with patterns, such as approach to the 2nd floor.

  After the guidance in the search area is started based on the result of the peripheral facility search process, the first parking lot icon P is displayed so as to be distinguishable from the other parking lot icons P. For example, only the first parking lot icon P is blinked or highlighted. Alternatively, the arrow mark AW for the first parking lot may be blinked or highlighted. Here, the first parking lot is a parking lot having a minimum cost under a predetermined condition (for example, a condition with the shortest time) from the position of the vehicle among one or more parking lots searched by the route search control unit 22. Say the parking lot. The route search control unit 22 also performs processing for searching for a parking lot with the minimum cost. Thus, the route search control unit 22 also constitutes the minimum cost facility search means of the present invention.

  FIG. 6 is a diagram illustrating another example of the navigation screen displayed on the display device 9 when searching for facilities around the parking lot. In the example shown in FIG. 6, in addition to the arrow mark AW indicating the path that can be entered into the parking lot, the parking lot whose cost is minimized under a predetermined condition (for example, the condition with the shortest time) from the vehicle position. , An arrow mark AW ′ representing the escape route from the parking lot is displayed. In this case, the route search control unit 22 also includes the location information of the parking lot with the lowest cost among the searched one or more parking lots, and the traffic regulation information of the road facing the parking lot. Based on the above.

  The route search control unit 22 further determines whether or not the vehicle has passed the first parking lot based on the vehicle position information after the position correction by the map matching control unit 21. Thus, the route search control part 22 also comprises the passage determination means of the present invention. When the route search control unit 22 detects the passage of the first parking lot, the route search control unit 22 excludes the passing parking lot from one or more parking lots searched by the surrounding facility searching process, and determines a predetermined condition from the own vehicle position. Re-search for the parking lot with the lowest cost below.

  And by notifying the result to the various mark generation | occurrence | production part 18, it displays so that the next parking lot re-searched can be distinguished from another parking lot. For example, either or both of the next parking lot icon P and the arrow mark AW are blinked or highlighted. Or, only for the next parking lot, the arrow mark AW ′ of the escapeable route is displayed together with the arrow mark AW of the approachable route.

  Next, the operation of the peripheral facility search process by the navigation device of the present embodiment configured as described above will be described. FIG. 7 is a flowchart showing the overall flow of the peripheral facility search process. In FIG. 7, first, the route search control unit 22 receives an instruction from the operation unit 4 and searches for a parking lot within a predetermined distance from the vehicle position or the center position of the cursor (step S1). Next, the route search control unit 22 moves to each parking lot based on the position information of the one or more parking lots searched in step S1 and the traffic regulation information of the road facing the one or more parking lots. Is determined (step S2).

  Further, the route search control unit 22 selects the first parking lot from which the cost is minimized under the predetermined condition (for example, the condition with the shortest time) from the own vehicle position among the one or more parking lots searched in step S1. A car park is searched (step S3). Then, based on the position information of the first parking lot searched in step S3 and the traffic regulation information of the road facing the first parking lot, an escapeable route from the first parking lot (right turn) (E.g., escape, left turn escape, right turn left escape, etc.)) (step S4).

  The route search control unit 22 notifies the various mark generation unit 18 of the information obtained by the processing of the above steps S1 to S4. The various mark generation unit 18 generates one or more parking lot icons P searched in step S1 and arrow marks AW and AW ′ representing the approachable route and the escapeable route determined in steps S2 and S4. And output to the image composition unit 26. As a result, the icon P for each parking lot is displayed on the map together with the arrow mark AW for the approachable route, and the arrow mark AW 'for the escapeable route is also displayed for the first parking lot (step S5). At this time, for the first parking lot, either one or both of the icon P and the arrow marks AW and AW ′ are blinked or highlighted so that they can be distinguished from other parking lots.

  When performing such display, the route search control unit 22 determines whether or not the vehicle has passed the first parking lot searched in step S3 (step S6). If not, it is further determined whether or not to end the guidance in the search area (step S7). The case where the guidance is terminated is a case where the user arrives at the first parking lot and parks, or a case where the user explicitly operates the operation unit 4 to explicitly terminate the guidance. The fact that the vehicle has arrived and parked at the first parking lot, for example, sees whether or not the vehicle has stopped at the first parking lot for a predetermined time or more based on the vehicle position information output from the map matching control unit 21. Can be detected.

  When the above conditions are satisfied and the guidance is terminated, the peripheral facility search process is terminated. Otherwise, the process returns to step S6 to continue monitoring whether or not the vehicle has passed the first parking lot. If the passage of the first parking lot is detected, the process returns to step S3. In this case, the route search control unit 22 targets the remaining parking lots excluding the first parking lot that has passed through the cost under a predetermined condition (for example, the condition with the shortest time) from the current position at that time. The next next parking lot is searched (step S3). Then, based on the position information of the next parking lot retrieved in step S3 and the traffic regulation information of the road facing the next parking lot, the route that can escape from the next parking lot is determined. (Step S4).

  The route search control unit 22 notifies the various mark generation unit 18 again of the information obtained in the processes of steps S3 and S4. The various mark generation unit 18 generates an arrow mark AW ′ representing the escapeable route that has been determined again for the next parking lot in step S <b> 4, and outputs it to the image composition unit 26. As a result, the icon P for each parking lot is displayed on the map together with the arrow mark AW for the approachable route, and the arrow mark AW ′ for the escapeable route is further displayed for the next parking lot. (Step S5). Thereafter, the same processing is repeated until the guidance is finished.

  In addition, although the example which re-searches the next parking lot where cost becomes the minimum from the present position at that time every time it passed the parking lot was demonstrated here, one or more parking lots searched in step S1 are described. You may make it rank from the beginning about all. FIG. 8 is a flowchart showing an operation example in that case.

  In FIG. 8, the route search control unit 22 first receives an instruction from the operation unit 4 and searches for a parking lot within a predetermined distance from the vehicle position or the center position of the cursor (step S11). Next, the route search control unit 22 moves to each parking lot based on the position information of the one or more parking lots searched in Step S11 and the traffic regulation information of the road facing the one or more parking lots. Is determined (step S12).

  Furthermore, the route search control part 22 is the 1st parking lot from which cost becomes the minimum under the predetermined conditions (for example, conditions with the shortest time) from the own vehicle position for one or more parking lots searched in the above step S11. Of the remaining parking lots excluding the first parking lot, the second parking lot with the lowest cost under the predetermined conditions from the first parking lot, and so on. Processing for ranking the parking lots is performed (step S13). When such processing is performed, the route search control unit 22 constitutes facility ranking means of the present invention.

  And the route search control part 22 is based on the position information of the parking lot ranked first in this step S13 and the traffic regulation information of the road facing the first parking lot. The escape route (from right turn escape, left turn escape, right turn left escape, etc.) from the parking lot is determined (step S14).

  The route search control unit 22 notifies the various mark generation unit 18 of the information obtained by the processes in steps S11 to S14. The various mark generation unit 18 generates one or more parking lot icons P searched in step S11 and arrow marks AW and AW ′ representing the approachable route and the escapeable route determined in steps S12 and S14. And output to the image composition unit 26.

  As a result, the icon P for each parking lot is displayed on the map together with the arrow mark AW for the approachable route, and the arrow mark AW 'for the escapeable route is also displayed for the first parking lot (step S15). At this time, for the first parking lot, either or both of the icon P and the arrow marks AW and AW ′ are blinked or highlighted so that they can be distinguished from other parking lots.

  When performing such a display, the route search control unit 22 determines whether or not the first parking lot set in step S13 has been passed (step S16). If it has not passed, it is further determined whether or not to end the guidance in the search area (step S17). If the guidance is to be terminated, the peripheral facility search process is terminated. If not, the process returns to step S16 to continue monitoring whether the first parking lot has been passed.

  When the passage of the first parking lot is detected, the process returns to step S14. In this case, the route search control unit 22 selects the second parking lot (second parking lot) with the highest order among the remaining parking lots excluding the first parking lot that has passed. Based on the position information of the parking lot on the surface and the traffic regulation information on the road facing the second parking lot, an escapeable route from the second parking lot is determined (step S14).

  The route search control unit 22 notifies the various mark generation unit 18 again of the information obtained in the process of step S14. The various mark generation unit 18 generates an arrow mark AW ′ representing the escapeable path determined again for the second parking lot, and outputs it to the image composition unit 26. Thereby, the icon P is displayed on the map together with the arrow mark AW for the approachable route for each parking lot, and the arrow mark AW ′ for the escapeable route is further displayed for the second parking lot. (Step S15). Thereafter, the same processing is repeated until the guidance is finished.

  In FIG. 8, the escape route from the parking lot is determined each time in step S14, but at the same timing as in step S12, the accessible routes are determined for all of one or more parking lots. Thus, it is also possible to collectively determine escape routes for all of one or more parking lots.

  As described above in detail, in the present embodiment, when one or more parking lot icons P searched by the peripheral facility search function of the route search control unit 22 are displayed on the map, each parking lot faces. An approachable route is determined based on the traffic regulation information of the existing road, and an arrow mark AW representing the route is displayed together with the parking lot icon P. As a result, even in an area where multiple parking lots are densely packed or an area where traffic restrictions such as one-way traffic are complicated, it is most convenient to determine which parking lot to go to when considering the location of the vehicle. It can be shown to the user easily at a glance whether it is easy to enter.

  In the present embodiment, among the parking lots that have not yet passed through the one or more parking lots searched by the route search control unit 22, the cost is determined under a predetermined condition (for example, the condition with the shortest time) from the own vehicle position. The parking lot with the smallest value is displayed in a manner distinguishable from other parking lots. For example, either or both of the parking lot icon P and the arrow mark AW of the accessible route are displayed in a blinking manner or highlighted. In addition, an arrow mark AW 'indicating an escapeable route is also displayed for the parking lot with the lowest cost. Thereby, the optimal parking lot which can go from the own vehicle position in the shortest time can be easily shown to the user at a glance.

  Further, in the present embodiment, when passing the first parking lot where the cost is minimum under the predetermined condition, the next parking lot where the cost is minimum under the predetermined condition from the current vehicle position at that time Thus, blinking display or highlight display, and the display of the arrow mark AW ′ of the escapeable route are switched. As a result, when we actually went to the first parking lot, even if the parking lot could not be used due to fullness or height restrictions, the next parking lot would automatically go through the parking lot. This is displayed so that it can be distinguished from other parking lots. Therefore, even if it is not possible to actually use the parking lot selected by the user, it is not necessary to perform a troublesome facility search process again, and it is possible to efficiently guide to the next parking lot.

  In the above embodiment, an example of searching for a parking lot by searching for neighboring facilities has been described. However, when searching for a facility other than a parking lot (for example, a convenience store, a gas station, a bank, a restaurant, a public facility, etc.) Can be similarly applied.

  In addition, each of the above-described embodiments is merely an example of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed in a limited manner. In other words, the present invention can be implemented in various forms without departing from the spirit or main features thereof.

  INDUSTRIAL APPLICABILITY The present invention is useful for a navigation apparatus having a function of searching for and guiding a facility within a predetermined distance from the vehicle position or the cursor center.

It is a block diagram which shows the structural example of the navigation apparatus by this embodiment. It is a figure which shows the structural example of the connection node table and link record which are contained in a road layer. It is a figure which shows the structural example of a parking lot database. It is a figure which shows the example of the navigation screen displayed on a display apparatus when the periphery facility search of a parking lot is performed. It is a figure which shows the example of a display pattern of an arrow mark. It is a figure which shows the other example of the navigation screen displayed on a display apparatus, when the periphery facility search of a parking lot is performed. It is a flowchart which shows an example of a periphery facility search process. It is a flowchart which shows the other example of a periphery facility search process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Navigation control apparatus 9 Display apparatus 11 Map buffer 18 Various mark generation | occurrence | production parts 22 Path search control part 26 Image composition part

Claims (10)

Surrounding facility search means for searching for a facility within a predetermined distance from the vehicle position or the center position of the cursor;
A route for determining an accessible route to the facility searched by the peripheral facility searching means based on the location information of the facility searched by the peripheral facility searching means and the traffic regulation information of the road facing the facility A determination means;
A navigation apparatus comprising: mark display means for displaying on a map a mark of a facility searched by the surrounding facility search means together with an arrow representing an accessible route determined by the route determination means. A minimum cost facility search means for searching for a facility having a minimum cost under a predetermined condition from the own vehicle position from one or more facilities searched by the peripheral facility search means;
The navigation according to claim 1, wherein the mark display means displays a facility mark and a route arrow so that the facility searched by the minimum cost facility search means can be distinguished from other facilities. apparatus. A minimum cost facility search means for searching for a facility having a minimum cost under a predetermined condition from the own vehicle position from one or more facilities searched by the peripheral facility search means;
The route determination means is based on the location information of the facility searched by the minimum cost facility search means and the facility searched by the minimum cost facility search means based on the traffic regulation information of the road facing the facility. Further determine the escape route of the
The said mark display means displays the mark of the said facility with the arrow showing the approachable path | route determined by the said route determination means, and the arrow showing an escape possible path | route about the facility searched by the said minimum cost facility search means. The navigation device according to claim 1 or 2, wherein A passage determining means for determining passage of the facility searched by the minimum cost facility searching means;
When the passing of the facility is detected by the passage determining means, the minimum cost facility searching means is determined from the position of the host vehicle except for the passing facility from one or more facilities searched by the surrounding facility searching means. The facility with the lowest cost under the predetermined condition is re-searched, and the mark display means selects the facility mark that has been re-searched by the minimum-cost facility search means with the accessible route determined by the route determination means. The navigation apparatus according to claim 3, wherein the navigation apparatus displays an arrow together with an arrow indicating an escapeable route. Of the one or more facilities searched by the surrounding facility searching means, the first facility among the remaining facilities excluding the first facility, the first facility having the lowest cost under the predetermined condition from the own vehicle position. A facility ranking means for ranking the one or more facilities, such as a second facility having a minimum cost under certain conditions from
Passage determining means for determining passage of the facility searched by the surrounding facility searching means,
Among the facilities that have not yet passed through the one or more facilities searched by the peripheral facility searching means, the mark display means is the same as the other facilities for the facility that is ranked first by the facility ranking means. The navigation apparatus according to claim 1, wherein a facility mark and a route arrow are displayed so as to be identified. Of the one or more facilities searched by the surrounding facility searching means, the first facility among the remaining facilities excluding the first facility, the first facility having the lowest cost under the predetermined condition from the own vehicle position. A facility ranking means for ranking the one or more facilities, such as a second facility having a minimum cost under certain conditions from
Passage determining means for determining passage of the facility searched by the surrounding facility searching means,
The route determination means includes the location information of the facility that has been ranked first by the facility ranking means among the facilities that have not yet passed through the one or more facilities searched by the surrounding facility search means, and Based on the traffic regulation information of the road facing the facility, further determine the escape route from the facility with the highest ranking,
The said mark display means displays the mark of the said facility with the arrow showing the approachable path | route determined by the said route determination means, and the arrow showing the escape possible path | route about the said facility with the highest order | rank ranking. The navigation device according to claim 1. A first step of searching for a facility within a predetermined distance from the vehicle position or the center position of the cursor;
A first step of determining an accessible route to the facility searched in the first step based on the location information of the facility searched in the first step and the traffic regulation information of the road facing the facility. Two steps,
A third step of displaying the mark of the facility searched in the first step on the map together with an arrow indicating the accessible route determined in the second step. Guidance method. A first step of searching for a facility within a predetermined distance from the vehicle position or the center position of the cursor;
One or more facilities searched in the first step based on the positional information of the one or more facilities searched in the first step and the traffic regulation information of the road facing the one or more facilities A second step of determining an accessible route to
A third step of searching for a facility having a minimum cost under a predetermined condition from the own vehicle position, from one or more facilities searched in the first step;
The mark of one or more facilities searched in the first step is displayed together with an arrow indicating the accessible route determined in the second step, and at that time, the facility searched in the third step And a fourth step of displaying in a manner distinguishable from other facilities. In the second step, based on the location information of the one or more facilities searched in the first step and the traffic regulation information of the road facing the one or more facilities, To further determine possible routes from one or more of the searched facilities,
The said 4th step WHEREIN: About the plant | facility searched by the said 3rd step, the arrow showing the escape possible path | route determined by the said 2nd step is further displayed, The display of Claim 8 characterized by the above-mentioned. How to guide nearby facilities. A fifth step of determining the passage of the facility searched in the third step,
When the passage of the facility is detected in the fifth step, the processing of the third step and the fourth step is executed again for the remaining facilities excluding the facility that has passed. The surrounding facility guidance method according to claim 8 or 9.

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