JP2005221407A - Navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation system capable of supplying comparison information of a geographic condition in the first route with that in the second route, to a user. <P>SOLUTION: This navigation system has a map information storage means 2 for storing map information, a first route storage means 6 for storing the first route, a second route storage means 7 for storing the second route, a comparison information generating means 8 for generating the comparison information of the geographic condition in the first route stored in the first route storage means 6 with that in the second route stored in the second route storage means 7, based on the map information stored in the map information storage means 2, and an output means for outputting the comparison information generated in the comparison information generating means 8. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a navigation apparatus that performs route guidance by re-searching a route when a route deviates.

  The conventional navigation device re-searches the route when it is determined that it has deviated from the route, displays the re-searched route and the original route on each map displayed separately on the display screen, and displays the destination. Distance and time information is displayed (see, for example, Patent Document 1).

In addition, the route re-searched with priority in the direction of travel instead of the original route and the route re-searched without priority in the direction of travel are determined by comparing and determining based on setting conditions such as distance and required time, and the determined route is determined. Some are shown and guided to the user. (For example, refer to Patent Document 2).
JP-A-10-170298 JP-A-8-94375

  However, in the above-described conventional configuration, the re-searched route is compared with the original route displayed on the road map separately displayed on the divided screen, and the re-searched route is compared with the original route. The user had to read the screen carefully by looking at the screen. Alternatively, the device selects and determines one route without showing comparison information of a plurality of re-searched routes to the user, and guidance is provided by the route after the re-search. For this reason, the user cannot accurately and quickly compare the routes, and has a problem that he / she can not dispel anxiety about the re-search route.

  The present invention provides the user with comparative information on the geographical conditions of the two routes, so that the user can accurately and quickly compare the route from the departure point to the destination on the map screen. It is an object of the present invention to provide a navigation device that can compare routes and can relieve the user's anxiety about the geographical situation when selecting routes.

  In order to solve the conventional problem, the navigation device of the present invention stores a map information storage unit that stores map information, a first route storage unit that stores a first route, and a second route. Second route storage means, first route stored in first route storage means based on map information stored in map information storage means, and second route stored in second route storage means The comparison information generating means for generating the comparison information of the geographical situation and the output means for outputting the comparison information generated by the comparison information generating means.

  With this configuration, it is possible to compare the geographical conditions of the two routes and output the comparison information of the geographical conditions.

  The invention according to claim 2 of the present application is the invention according to claim 1, wherein the comparison information of the geographical situation generated by the comparison information generating means includes the first route and the second route. The comparison information about at least one of the parallel running of each road and the bending and slope of each road is included. With this configuration, it is possible to output comparative information of geographical conditions such as the parallel running situation of the roads of the first route and the second route, the degree of curves, and the degree of up-down.

  The invention according to claim 3 of the present application is the invention according to claim 4, wherein the comparison information generating means generates the comparison information of the first route and the second route when generating the comparison information regarding parallel road travel. For a plurality of points sampled in a predetermined section on one of the routes, the shortest distance from the other route is calculated, and it is determined that the shortest distance is within a predetermined range among all sampling points. When the ratio occupied by the points exceeds a predetermined value, it is determined that the two routes are running in parallel. With this configuration, when the distance between the first route and the second route is statistically determined not to be more than a predetermined distance, comparison information on geographical conditions indicating that the two routes run side by side Can be output.

  Further, the invention according to claim 4 of the present application is the invention according to claim 1, wherein the comparison information of the geographical situation generated by the comparison information generating means includes comparison information regarding the road type. did. With this configuration, it is possible to output the comparison information of the geographical situation regarding the road type existing on each of the first route and the second route.

  The invention according to claim 5 of the present application is the invention according to claim 1, wherein the comparison information of the geographical situation generated by the comparison information generation means includes comparison information regarding the width of the road. did. With this configuration, it is possible to output comparison information regarding the width of the road existing on each of the first route and the second route.

  Further, in the invention according to claim 6 of the present application, in the invention according to claim 1, the comparison information of the geographical situation generated by the comparison information generating means includes the time when the vehicle travels according to the route and reaches immediately before the destination. The comparison information about the position of the destination point with respect to the traveling direction of the vehicle is included. With this configuration, it is possible to output the comparison information of the geographical situation regarding the position of the destination point with respect to the traveling direction of the vehicle immediately before the destination in the first route and the second route.

  According to the present invention, since the comparison information of the geographical conditions of the two routes is provided, even if the user does not confirm the route from the departure point to the destination on the map screen while confirming, it is accurate and quick. It is possible to provide a navigation device that can compare routes and can eliminate the user's anxiety about the geographical situation on the route when selecting the route.

  Hereinafter, each embodiment of the present invention will be described with reference to the drawings.

(Embodiment 1)
Embodiment 1 of the present invention will be described.

  First, the “comparison information of the geographical situation” used in the present invention will be described. The comparative information of the geographical situation used in the present invention is, for example, comparative information on a wide variety of road types such as highways, narrow streets, road widths, etc., or parallel roads, winding roads, It means comparative information regarding a wide range of geographical situations generated based on geographic data, such as crossings.

  FIG. 1 is a functional block diagram of the navigation device according to Embodiment 1 of the present invention.

  In FIG. 1, reference numeral 1 denotes positioning means for positioning the own vehicle position. Reference numeral 2 denotes map information storage means for storing map information having road information. Reference numeral 3 denotes input means for inputting an instruction from the operator. Reference numeral 4 denotes map information acquisition means for extracting map information from the map information storage means 3. Reference numeral 5 denotes route search means for searching for a route between two points on the map inputted from the input means 3. Reference numeral 6 denotes first route storage means for storing route information first searched by the route search means 5. Reference numeral 7 denotes second route storage means for storing route information re-searched by the route search means 5. 8 reads out the information of the original route stored in the route storage means 6 and the information of the re-searched route stored in the second route storage means 7 and generates comparison information of the geographical conditions of the original route and the re-searched route. It is a comparison information generation means. Reference numeral 9 denotes an information output control means for performing control for outputting the comparison information generated by the comparison information generation means 8 by sound or image. Reference numeral 11 denotes image display means for displaying image information from the information output control means 9. Reference numeral 12 denotes audio output means for outputting audio information from the information output control means 9. Based on the positioning information from the positioning means 1 and the route information from the first route storage means 6, 10 determines whether or not to re-search the route when the current location deviates from the route, and determines to re-search. In this case, it is a route re-search control unit that causes the route search unit 5 to perform a route search.

  FIG. 2 is a hardware configuration diagram of the navigation device according to the first embodiment of the present invention. In FIG. 2, the navigation device receives radio waves from a plurality of GPS (Global Positioning System) satellites and performs calculations, and receives data such as latitude / longitude / altitude / traveling direction data and the number of satellites received. A GPS receiving unit 21 that generates and outputs a vehicle, an azimuth sensor configured by an angular velocity sensor that detects the angular velocity of the vehicle, a self-contained navigation sensor unit 22 that processes a signal from the vehicle speed sensor that detects a moving distance of the vehicle, An operation unit 23 such as a keyboard and a remote controller operated by a person to input an instruction; a map data storage medium 24 such as a CD or a DVD; a data reader 25 for reading data from the map data storage medium 24; And a display 26 for displaying character information, a speaker 27 for outputting guidance guidance by voice, a CPU, a RAM, a ROM, etc. And a processing control unit 28 that controls the entire apparatus such as calculation and control necessary for the guidance operation.

  Here, the correspondence between the functional means in FIG. 1 and the hardware in FIG. 2 will be described. The positioning means 1 is realized by a GPS receiving unit 21 and an autonomous navigation sensor unit 22. Both the GPS module 21 and the autonomous navigation sensor 22 may be provided, or only one of them may be provided. The input means 3 is realized by the operation unit 23, and a signal is input to the operation unit 23 when the operator presses a mechanical button. The map information storage means 2 is realized by a map data storage medium 24 such as a CD or a DVD. However, the map information storage means 2 may have a storage means such as an HDD inside and stored in the apparatus. The map information in the map information storage means 2 is read by the map information acquisition means 4 and output to each part. The map information acquisition means 4 is a means including a data reading device 25 such as a CD or DVD drive.

  The route search unit 5, the comparison information generation unit 8, the information output control unit 9, and the route re-search control unit 10 are realized by the processing control unit 28, and various control programs in which the CPU in the processing control unit 28 is stored in a ROM or the like. It is realized by executing. The first path storage unit 6 and the second path storage unit 7 are realized by a RAM or a ROM in the processing control unit 28. The path information stored in the first path storage means 6 is preferably stored in an SRAM in which data is not erased even when the apparatus is turned off.

  The image display means 11 is realized by displaying on the display 26 the video signal after the drawing processing for converting the image data into the video signal in the processing control unit 28. The voice output means 12 is realized by outputting a voice signal from the speaker 27 after the voice data is analog-converted or amplified in the processing control unit 28.

  The operation of the navigation device configured as described above will be described below. FIG. 3 is a route guidance process flowchart of the navigation device according to the first embodiment of the present invention.

  First, when the power of the navigation device is turned on, the processing control unit 28 is activated, and the map information acquisition means 4 takes in the map information from the map information storage means 2 and holds the data by the control operation. On the other hand, each signal necessary for the autonomous navigation calculation is acquired from the independent navigation sensor unit 22 including an azimuth sensor and a vehicle speed sensor, and reception data from a GPS satellite is acquired from the GPS reception unit 21.

  As shown in FIG. 3, first, the positioning means 1 performs a predetermined calculation based on the data from the self-contained navigation sensor unit 22 to calculate the own vehicle position and traveling direction, and the calculated information and the GPS receiving unit 21. The current position of the vehicle is detected by comparing the information from the above and adjusting each other's error (step ST301).

  Next, the start point is set by the user (step ST302). In step ST301, the detected current location may be set as the departure point, or the input unit 3 may set the start point.

  Next, the destination setting by the user is executed by the input means 3 (step ST303). When the destination is set, the route search means 5 searches for a route from the start point to the destination, and stores the route in the first route storage means 6 to set the route (step ST304). As a route search method, it can be calculated by a Dijkstra method that is often used conventionally. Next, similarly to step ST301, the process control unit 28 obtains the current location again (step ST305). In step ST306, if the conditions for performing normal route guidance are satisfied, for example, “next intersection” "Please turn right" is output from the image display means 11 as characters and from the voice output means 12 as voice.

  Next, it is determined whether the destination has been reached based on the acquired current location (step ST307). If it has arrived at the destination, the process ends. If it has not arrived at the destination, it is determined whether the re-search condition based on the departure from the route is satisfied (step ST308).

  As the re-search condition, a method of determining whether the current location is more than a predetermined distance from the route is generally used. This method calculates the straight line distance between the current location and the point where the perpendicular drawn from the current location with respect to the original route intersects the route, and uses the re-search condition as to whether the distance has exceeded the low value. It is. However, the re-search condition is not satisfied when the vehicle travels parallel to the original route while maintaining a distance closer than the threshold. Therefore, in this embodiment, a method is used in which the re-search condition is whether the current location has moved a predetermined distance after deviating from the route, or whether a predetermined time has elapsed since deviating from the route. Whether or not the vehicle has deviated from the route is determined, for example, by determining whether or not the straight line distance between the current location and the route exceeds the threshold, with a positioning error exceeding the shortest possible distance. By determining whether or not the re-search condition is satisfied in this way, it is reliably determined that the current location is traveling off the route.

  If the re-search condition is not satisfied, the process returns to step ST305. If the re-search condition is satisfied, the route search means 5 re-searches the route to the destination and stores it in the second route storage means 7 ( Step ST309). When the route re-search is finished, the processing control unit 28 executes processing for generating route comparison information (step ST310). The comparison information generation process will be described later in detail.

  Next, the comparison information generated in step ST310 is synthesized by the information output control means 9, and is output as text or voice by the image display means 11 and the voice output means 12 (step ST311).

  Next, when the user determines whether or not to set the re-search route instead of the original route, and receives an instruction to change to the re-search route from the user from the input means 3, the process control unit 28 The re-search route stored in the route storage means 7 is stored in the first route storage means 6 and reset as a new route in place of the original route (step ST312). After executing the re-search route selection / re-setting in step ST312, the process control unit 28 returns to step ST305 and repeats the above routine. On the other hand, when the vehicle arrives at the destination (step ST307), the series of processes is terminated. To do.

  FIG. 21 shows a display example of the re-search route selection / resetting screen. In this display example, a selection button for confirming a comparison information display screen in Embodiments 2 to 4 described later is displayed.

  In addition, as a process of step ST307, you may make it check instead of the check whether "the vehicle has arrived at the destination", or "whether there was a route guidance interruption instruction", or both processes. You may carry out in phase.

  Next, the comparison information generation process in step ST310 of FIG. 3 will be described in detail.

  FIG. 4 is a comparison information generation process flowchart of the navigation device according to the first embodiment of the present invention. Similarly, FIG. 5 is a diagram showing an example of roads running in parallel, and FIG. 6 is a diagram showing an example of roads not running in parallel. Similarly, FIG. 7 is a diagram showing a comparative information display example, and displays comparative information regarding road parallel running conditions.

  In the flow of the route guidance process in FIG. 3, when the re-search condition is satisfied and the route to the destination is re-searched, the process control unit 28 executes the comparison information generation process routine of FIG. 4 (step ST310). In the first embodiment, the comparison information generation means 8 in FIG. 1 generates comparison information on the geographical situation. The comparison information of the geographical situation includes information on parallel running of roads, information on bending and gradient of each route, and the like. Here, generation of comparison information related to parallel road travel will be mainly described.

  In FIG. 5, point O represents a route departure intersection, point X represents a current location, and point T represents a destination. Points a to e and points F to H represent points on the re-search route, points A to E represent points on the original route, and point F represents a meeting point. The points G and H between the junction point F and the destination T point are points common to both routes. As described below, points a to e are points on the re-search route selected according to a certain condition, and points A to E are lowered from the points a to e to the original route. This is the point where the perpendicular intersects the original path.

  As shown in FIG. 4, the process control unit 28 first restores the road from the current location to the destination using the re-searched route (step ST401), and extracts point data for each fixed distance of the restored road (step ST402). ). A point number of 1 to N is assigned to the extracted point, 1 is set to the point number counter Pn, and zero is set to the parallel running counter Rm for initialization (step ST403).

  Next, first, data of the first point a is extracted (step ST404), a perpendicular line is drawn from the extracted point a to the original route (step ST405), and the distance La to the intersection of the perpendicular and the route is within a predetermined range. Determine if there is. First, in step ST406, it is determined whether La is equal to or less than a predetermined upper limit value Lmax. If larger than Lmax, the process jumps to step ST409. If it is less than Lmax, it is subsequently determined whether La is greater than or equal to a predetermined lower limit value Lmin. If La is smaller than Lmin, for example, it is considered that the two roads coincide, that is, merge, and the process jumps to step ST411. If the value is greater than or equal to Lmin and less than or equal to Lmax, the process proceeds to step ST408, where the parallel running counter Rm is incremented by one, and then Pn is incremented by one (step ST409). When La exceeds the upper limit of the predetermined range, Rm is not changed and only Pn is counted up (step ST409).

  Next, it is determined whether Pn is larger than the number N of points, and if it is N or less, the process returns to step ST404, the second point data is extracted, and steps ST405 to ST407 are executed. If Lb is within a predetermined distance, Rm and Pn are counted up by one. If Lb is not within the predetermined distance, Rm is not changed and only Pn is counted up. If N or less, the process returns to step ST404 again, and thereafter, it is repeated until it is determined that Pn is larger than the number N of points.

  When Pn exceeds the number N of points (step ST411) or when L does not reach the lower limit of the predetermined range in step ST407, the ratio of the value of the parallel running counter Rm to the value of the current point number counter Pn is calculated. If the ratio of Rm / Pn exceeds a predetermined value (step ST411), it is determined that parallel running is performed, and the comparison information generating unit 8 generates comparison information for parallel running (step ST412). When the ratio of Rm to Pn is equal to or less than a predetermined value, it is determined that there is no parallel running, and comparison information that does not run parallel is generated (step ST413).

  In FIG. 5, for example, a case where the ratio of Rm to Pn is 0.75 is set as a threshold value for determining whether or not to run in parallel, only the line segment Lb exceeds Lmax, and the other line segments La and Lc to Le are If the value is greater than or equal to Lmin and less than or equal to Lmax, the ratio of the parallel running counter Rm value (= 4) to the number of points N (= 5) is 0.80. Comparing by voice like “I will run parallel to the route.”

  In this way, even when the re-search route and the original route are partially separated or approached, it is determined whether or not they are running side by side based on the statistical processing of the shortest distance between the two routes. Can do.

  FIG. 6 shows an example of a road that does not run in parallel. Point O represents a route departure intersection, points a to g and points H to J are points that have been re-searched, point H represents a confluence, and point T represents a destination. On the other hand, points A to I are points on the original route, and points I and J between the junction point H and the destination T point are points common to both routes. Points a to g and points A to G are points obtained under the same conditions and method as described in FIG. 5, and line segments La to Lg are also obtained by the same method as described in FIG. Line segment.

  For example, when the line segment La and the line segment Lg in FIG. 6 are distances within a predetermined range, but five line segments from the line segment Lb to the line segment Lf are distances exceeding the predetermined range, the point number counter The ratio of the numerical value (= 2) of the parallel running counter Rm to the value of Pn (= 7) is about 0.29, and it is determined that parallel running is performed when the ratio of Rm to Pn is 0.75 as in the above description. When the threshold value is set as the threshold value, the comparison information generation means 8 displays the comparison information by voice such as “the re-searched route does not run in parallel with the original route” or the diagram display as shown in FIG. Compare information by.

  The comparison information generation means 8 calculates the distance and required time from the current location to the junction where the parallel running ends, and further detects the name of the junction, for example, “the re-searched route is the origin at the XX intersection. It is also possible to generate comparative information such as “The parallel running time is approximately XX minutes.” FIG. 7 shows a display example of comparison information when running in parallel, and the re-search route runs parallel to the original route for the first approximately 60% of the route to the destination arrival, and merges. It can be seen at a glance that the distance from is about 40% of the total distance, and that the total distance is about 15% longer than the original path.

  In the present embodiment, the comparison of geographical conditions related to parallel roads has been described. However, as an example of comparison information of other geographical conditions, the map data stored in the map information storage unit 2 can be used on the route. It is also possible to detect the number of bends and count the number, and based on the counted number, comparison information regarding the number of winding roads may be generated. Further, from the map data stored in the map information storage means 2, the number of points where the slope value of the road is equal to or greater than a predetermined value is counted. It is also possible to generate comparison information regarding. It is also possible to detect the continuity of the slope value of the road, and to generate comparison information regarding the presence of a hail when it is determined that the road has crossed the hail when the descent continues after a continuous climb.

  As described above, according to the present embodiment, when the user deviates from the route being guided, the user is notified of the geographical status of the route that has been re-searched and the original route. You can be sure of the parallel running situation, such as whether to run in parallel or merge after the parallel run, the degree of bending of the two routes, the intensity of up-down and the presence of wrinkles, etc. It is possible to eliminate the user's anxiety about the geographical situation on the route when selecting.

(Embodiment 2)
A second embodiment of the present invention will be described.

  As in the first embodiment, the navigation device according to the present embodiment deviates from the route and re-searches the route from the current location to the destination. It is a navigation device to provide.

  FIG. 8 is a functional block diagram of the navigation device according to Embodiment 2 of the present invention. The difference from the first embodiment is that the information generated by the comparison information generating means 14 is information related to the road type. The hardware configuration is the same as that shown in FIG. 2, and illustration and description thereof are omitted.

  The route guidance process is basically the same as that shown in FIG. 3, and the major difference is that comparison information relating to the road type is generated in the comparison information generation process of step ST310. Therefore, explanations other than this difference and illustrations regarding route guidance processing are omitted.

  About the navigation apparatus of this Embodiment comprised as mentioned above, the operation | movement is demonstrated below.

  FIG. 9 is a flowchart of the comparison information generation process of the navigation device according to the second embodiment of the present invention, and shows the flow of the process of generating the comparison information of the geographical situation related to the road type. FIG. 10 is also a diagram showing a comparison information display example, and shows comparison information regarding the road type. FIG. 11 is also a road type detection processing flowchart, and shows a flow of processing for detecting the type of road on the route.

  In the flow of the route guidance process in FIG. 3, when the re-search condition is satisfied and the route to the destination is re-searched, the process control unit 28 executes a routine of the comparison information generation process (step ST310). In the second embodiment, the comparison information generation unit 14 in FIG. 8 generates comparison information regarding road types as an example of comparison information of geographical conditions. Hereinafter, the comparison information generation processing operation in the present embodiment will be described.

  As shown in FIG. 9, the process control unit 28 first executes a road type detection process on the original route (step ST901), and identifies a road type existing on the original route. For example, as described later, when a toll road exists, the toll road flag is set to 1. Next, in step ST902, a road type detection process on the re-search route is executed, and a road type existing on the re-search route is specified. The road type detection process will be described in detail later.

  Next, in order to detect whether there is a road type that exists in either the original route or the re-search route, first, a road type match flag is initialized to 0 (step ST903), and then steps ST904 to ST911 are performed. Then, for each road type, it is determined whether the road type flag in the original route and the road type flag in the re-search route match, and if they match, 1 is set in each road type match flag.

  For example, if the toll road flag in the original route is 1 and the toll road flag in the re-search route is 1 in step ST904, 1 is set in the toll road match flag in step ST905. This means that a toll road exists on both the original route and the re-search route. For example, when the narrow street flag in the original route is 0 and the narrow street flag in the redevelopment route is 1 in step ST909, the narrow street match flag remains 0. This means that a narrow street exists in either the original route or the re-search route.

  When the setting of each road type match flag is completed, the comparison information generating unit 14 generates comparison information regarding the road type in step ST912. For example, when the road type match flag is 1, comparison information by voice such as “There is a toll road on both the original route and the re-search route” is generated. Alternatively, comparison information may not be generated particularly for road types existing on both routes.

  On the other hand, when the road type match flag is 0, the comparison information generating unit 14 detects which road type flag of the original route or the re-search route is set to 1 and, for example, 1 is set for the re-search route. If it has been set, comparison information such as “There is a new narrow street on the re-searched route” is generated. Further, not only voice but also road type comparison information may be displayed on the screen as shown in FIG. In the example of FIG. 10, it can be seen at a glance that a narrow street that did not exist in the original route is newly searched for in the re-search route.

  Next, the operation of the road type detection process will be described in detail with reference to FIG.

  As shown in FIG. 11, the process control unit 28 first restores X intersections from the current position of the re-search route to the destination (step ST1101), and initializes the intersection counter Qn and the road type flag. First, an intersection counter Qn is set to 1 (step ST1102), and then a road type flag for each road type is set to 0 (step ST1103).

  Next, road data between the Qn-th intersection and the (Qn + 1) -th intersection of the X restored intersections are acquired from the map information storage unit 2 (step ST1104). First, road data between the first and second intersections is acquired. Steps ST1105 to ST1108 sequentially determine whether the acquired road is a toll road, a national road, a main road, or a narrow street based on the acquired road data, and set a flag corresponding to the matching road type to 1 (Step ST1111 to Step ST1114), the process proceeds to Step ST1109. For example, if it is determined that the road is a toll road, 1 is set in the toll road flag.

  When the determination of the road type is completed, 1 is added to the intersection counter Qn in step ST1109, and then it is determined in step ST1210 whether the value of Qn is less than X. If not, the process returns to step ST1104, and a new Qnth The road type is determined for the road data between the (Qn + 1) -th intersection and steps ST1104 to ST1110 are repeated until the value of Qn reaches X in step ST1110. If it is determined in step ST1110 that the value of Qn has reached X, the road type detection process is terminated.

  In the above description, the road type detection processing for the re-search route has been described, but the same processing flow is performed for the original route. In the range of X intersections to be restored in FIG. 11, the starting point of the original route may be set as the starting point, or an intersection that deviates from the route may be set as the starting point.

  As described above, according to the present embodiment, since the information on the road type in the two routes of the route that has been re-searched and the original route when it deviates from the route being guided is compared and notified to the user, When a route including a new toll road or narrow street that has not been set in the route is searched, it is possible to confirm with certainty. Anxiety can be dispelled.

(Embodiment 3)
Embodiment 3 of the present invention will be described.

  As in the first embodiment, the navigation apparatus according to the present embodiment deviates from the route and re-searches the route from the current location to the destination, and provides the user with comparison information regarding the road width of the re-search route and the original route. It is a navigation device to provide.

  FIG. 12 is a functional block diagram of the navigation device according to Embodiment 3 of the present invention. The difference from the first embodiment is that the information generated by the comparison information generating means 15 is information regarding the road width. The hardware configuration is the same as that shown in FIG. 2, and illustration and description thereof are omitted.

  The route guidance processing is basically the same as that shown in FIG. 3, and the major difference is that comparison information relating to the road width is generated in the comparison information generation processing in step ST310. Therefore, explanations other than this difference and illustrations regarding route guidance processing are omitted.

About the navigation apparatus of this Embodiment comprised as mentioned above, the operation | movement is demonstrated below.
FIG. 13 is a comparison information generation process flowchart of the navigation device according to the third embodiment of the present invention, and shows a flow of a process for generating comparison information of the geographical situation related to the road width. FIG. 14 is a diagram similarly showing the calculation result, and is an example of the integrated distance for each road width calculated in the road width detection process. FIG. 15 is a view showing a display example of comparison information of road width. FIG. 16 is a flowchart of a road width detection process, and shows a flow of a process for detecting the width of a road on the route.

  In the flow of the route guidance process in FIG. 3, when the re-search condition is satisfied and the route to the destination is re-searched, the process control unit 28 executes a routine of the comparison information generation process (step ST310). In the third embodiment, the comparison information generation unit 15 in FIG. 12 generates comparison information regarding the road width as an example of comparison information of the geographical situation. Hereinafter, the comparison information generation processing operation in the present embodiment will be described.

  As shown in FIG. 13, the process control unit 28 first executes a road width detection process on the original route (step ST1301), and calculates an integrated distance for each road width of the road existing on the original route. For example, as will be described later, the integrated distance of a road whose road width on the route is 3 m or more and less than 5.5 m is calculated as 8 km. Next, in step ST1302, a road width detection process on the re-search route is executed, and an integrated distance for each road width of the existing road existing on the re-search route is calculated. The road width detection process will be described in detail later.

  Next, the difference between the accumulated distances accumulated for each road width between the original route and the re-search route is calculated, and a predetermined reference is set. If it is within a predetermined range including zero, N exceeds the predetermined range. A comparison information code is assigned such that P increases when the number increases and M decreases when the number decreases. In FIG. 13, although shown in steps ST1304 to ST1323, the operation will be described below taking a road of less than 3 m as an example.

  In step ST1304, for a road less than 3 m, it is determined whether or not the accumulated distance of the re-search route has increased by a predetermined value or more with respect to the accumulated distance of the original route. (Step ST1305). If it is determined that it has not increased, it is determined in step ST1306 whether it has decreased by a predetermined value or more. If it is determined that the road has decreased, M is set to the road increase / decrease flag of less than 3 m (step ST 1307). ST1308). As a result of executing the same operations as those in steps ST1304 to ST1308 for each road width, a comparison information code for each road width as shown in FIG. 14 is set.

  Next, based on the comparison information code and the calculation result of each accumulated distance, the comparison information generating means 15 generates comparison information regarding the road width in step ST1324. For example, in the case of the table in FIG. 14, for roads with a width of 3 m or less, based on the accumulated distance 0 km of the original route, the accumulated distance 3 km of the re-search route, and the comparison information code P, the “re-searched route is Comparison information by voice is generated, such as “the road with a width of 3 m is increased by 3 km compared to the route”. FIG. 15 shows a comparative information display example of each road width, but it can be seen at a glance that a 3 m wide road that did not exist in the original route has been newly searched on the re-search route. .

  Next, the operation of the road width detection process will be described in detail with reference to FIG. Since the same operation is explained for both the original route and the re-search route, only the searched route will be described.

  As shown in FIG. 16, the process control unit 28 first restores X intersections from the current position of the searched route to the destination (step ST1601), and initializes the intersection counter Qn and the integrated distance register. First, 1 is set to the intersection counter Qn (step ST1602), and then the accumulated distance register for each road width is set to 0 (step ST1603).

  Next, road data between the Qn-th and (Qn + 1) -th intersections of the X restored intersections is acquired from the map information storage unit 2 (step ST1304). First, road data between the first and second intersections is acquired. From step ST1605 to step ST1608, it is sequentially judged whether the road width acquired based on the acquired road data is less than 3 m, 3 m or more and less than 5.5 m, 5.5 m or more and less than 10 m, or 10 m or more. When it is satisfied, the distance data in the road data is added to the integrated distance register corresponding to the road width (step ST1611 to step ST1614), and the process proceeds to step ST1609.

  For example, when it is determined that the road has a width of 3 m or more and less than 5.5 m, the distance of the road of 3 m or more and less than 5.5 m, for example, 8 km, is added to the accumulated distance register in step ST1612. When the determination of the road width and the integration process are completed, 1 is added to the intersection counter Qn in step ST1609. Then, in step ST1610, it is determined whether the value of Qn is less than X. If not, the process returns to step ST1604. The road width is determined for road data between the Qnth and (Qn + 1) th intersections, and steps ST1604 to ST1610 are repeated until the value of Qn reaches X in step ST1610.

  If it is determined in step ST1610 that the value of Qn has reached X, the road width detection process ends, and the contents of each accumulated distance register are as shown in the table of FIG. 14, for example.

  As described above, according to the present embodiment, since the information on the road width in the two routes, the route re-searched when deviating from the route being guided, and the original route are compared and notified to the user, It is possible to surely confirm the case where a narrow road that was not set in the route of is newly set or the distance traveled on a wide road is reduced compared to the original route, etc. It is possible to eliminate the user's anxiety about the geographical situation regarding the road width on the route when selecting the route.

(Embodiment 4)
Embodiment 4 of the present invention will be described.

  As in the first embodiment, the navigation device according to the present embodiment deviates from the route and re-searches the route from the current location to the destination, and immediately before the destination in each of the re-search route and the original route. It is a navigation device that provides the user with comparative information regarding the position of the destination with respect to the traveling direction of the vehicle when it arrives.

  FIG. 17 is a functional block diagram of the navigation device according to Embodiment 4 of the present invention. The difference from Embodiment 1 is that the information generated by the comparison information generating means 16 is comparison information regarding the position of the destination with respect to the traveling direction of the vehicle immediately before the destination. The hardware configuration is the same as that shown in FIG. 2, and illustration and description thereof are omitted.

  The route guidance process is basically the same as that shown in FIG. 3, and the major difference is that in the comparison information generation process of step ST310, comparison information regarding the position of the destination point with respect to the traveling direction of the vehicle immediately before the destination is obtained. It is a point to generate. Therefore, explanations other than this difference and illustrations regarding route guidance processing are omitted.

  About the navigation apparatus of this Embodiment comprised as mentioned above, the operation | movement is demonstrated below.

  FIG. 18 is a flowchart of the comparison information generation process of the navigation device according to the fifth embodiment of the present invention, and shows the flow of the process of generating the comparison information of the geographical situation regarding the position of the destination. FIG. 19 is a diagram showing a comparative information display example regarding the destination position. FIG. 20 is also a flowchart of processing for calculating the positional information of the destination, and shows the flow of processing for detecting the direction of the destination based on the traveling direction of the vehicle when it arrives immediately before the destination.

  In the flow of the route guidance process in FIG. 3, when the re-search condition is satisfied and the route to the destination is re-searched, the process control unit 28 executes a routine of the comparison information generation process (step ST310). In the fourth embodiment, the comparison information generation unit 16 in FIG. 17 generates comparison information regarding the direction of the destination point with respect to the traveling direction of the vehicle immediately before the destination as an example of the comparison information of the geographical situation. Hereinafter, the comparison information generation processing operation in the present embodiment will be described.

  First, in step ST1801 of FIG. 18, the processing control unit 28 sets the target in relation to the traveling direction of the vehicle at the node on the road that is the end point of the route when the vehicle travels according to the original route. Calculate in which direction the ground is. The destination positional relationship information calculation process will be described in detail later.

  Next, when traveling according to the re-search route, it is calculated in which direction the destination point is relative to the traveling direction of the vehicle at the node on the road that is the end point of the route when the vehicle arrives immediately before the destination ( Step ST1802). As will be described later, the calculation result is extracted as the destination direction flag by coding the same (directly in front), right direction, or left direction, but the direction is divided into multiple stages. May be.

  Next, in step ST1803, the comparison information generating unit 16 determines, for example, “the destination point at the time of arrival at the destination is the original direction and the re-search route based on the destination direction flag. The route is to the left of the road, and the re-search route is to the right of the road. FIG. 19 shows a display example of comparison information regarding the position of the destination when the destination arrives. In FIG. 19, it is necessary to display the road so that the presence or absence of the oncoming lane is known based on the lane number data in the road link data including the end point node of the route, and to cross the oncoming lane to reach the final destination point. A display example is shown in which the user can see at a glance whether or not there is.

  Although the direction of the destination point has been described in the present embodiment, the distance from the end point of the route to the final destination point may be calculated and notified.

  Next, the operation of the destination positional relationship information calculation process will be described in detail with reference to FIG. Since the same operation is explained for both the original route and the re-search route, it will be explained as a searched route.

  As shown in FIG. 20, the process control unit 28 first acquires data of the last node N (x) and the immediately preceding node N (x−1) of the searched route (step ST2001), and roads are acquired from the acquired data. Is restored (step ST2002). Next, an azimuth angle A (degree) when the node N (x) is viewed from the node N (x−1) is obtained with reference to the north (step ST2003), and then the node N (x ) To determine the azimuth angle B (degrees) at which the target point is viewed (step ST2004). Next, the value obtained by subtracting the angle A from the angle B is set as X (step ST2005), and if X becomes a negative value, 360 degrees is added and corrected (step ST2007).

  Subsequently, it is determined whether X is 0 degrees, greater than 0 degrees and less than 180 degrees, or a value exceeding 180 degrees. If it is 0 degrees, a code indicating "same" is set in the destination direction flag (step ST2009) If the angle is greater than 0 degrees and equal to or less than 180 degrees, a code indicating “right direction” is set in the destination direction flag (step ST2011), and if it exceeds 180 degrees, “left direction” is indicated in the destination direction flag. A code is set (step ST2012), and the process ends.

  As described above, according to the present embodiment, for each of the two routes, the route re-searched when deviating from the route being guided and the original route, the destination is reached immediately before the destination (the end point of the route). The positional relationship information between the vehicle direction and the destination point, such as whether the point is in the left-handed direction, the right-handed direction, or the front end is the destination, is notified to the user. Therefore, it is possible to dispel the user's anxiety about the geographical situation related to the positional relationship between the car and the destination at the route end point when selecting the route.

  As described above, the navigation device according to the present invention can provide the user with information indicating the relationship between the route re-searched at the time of departure from the route and the original route, and the user's anxiety about the geographical status of the route after the re-search. It is useful as a navigation device or the like that performs route guidance.

Functional block diagram of the navigation device in Embodiment 1 of the present invention 1 is a hardware configuration diagram of a navigation device according to Embodiment 1 of the present invention. Route guidance processing flowchart of the navigation device in Embodiment 1 of the present invention Comparison information generation processing flowchart of the navigation device in Embodiment 1 of the present invention The figure which shows the example of the road where the navigation apparatus in Embodiment 1 of this invention runs in parallel. The figure which shows the road example which the navigation apparatus in Embodiment 1 of this invention does not run in parallel. The figure which shows the comparative information display example of the navigation apparatus in Embodiment 1 of this invention. Functional block diagram of the navigation device in Embodiment 2 of the present invention Comparison information generation processing flowchart of the navigation device in Embodiment 2 of the present invention The figure which shows the comparative information display example of the navigation apparatus in Embodiment 2 of this invention. Road type detection processing flowchart of the navigation device in Embodiment 2 of the present invention Functional block diagram of the navigation device in Embodiment 3 of the present invention Comparison information generation processing flowchart of the navigation device in Embodiment 3 of the present invention The figure which shows the road width detection process result of the navigation apparatus in Embodiment 3 of this invention. The figure which shows the comparative information display example of the navigation apparatus in Embodiment 3 of this invention. Road width detection processing flowchart of the navigation device in Embodiment 3 of the present invention Functional block diagram of the navigation device in Embodiment 4 of the present invention Comparison information generation processing flowchart of the navigation device in Embodiment 4 of the present invention The figure which shows the comparative information display example of the navigation apparatus in Embodiment 4 of this invention. Destination positional relationship information calculation processing flowchart of the navigation device according to the fourth embodiment of the present invention. The figure which shows the re-search path | route selection screen display example of the navigation apparatus in Embodiment 4 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Positioning means 2 Map information storage means 3 Input means 4 Map information acquisition means 5 Route search means 6 1st route storage means 7 2nd route storage means 8 Comparison information generation means (geographical situation)
9 Information output control means 10 Route re-search control means 11 Image display means 12 Voice output means 14 Comparison information generation means (road type)
15 Comparison information generation means (road width)
16 Comparison information generating means (destination position)
DESCRIPTION OF SYMBOLS 21 GPS receiving part 22 Autonomous navigation sensor part 23 Operation part 24 Map data storage medium 25 Data reader 26 Display 27 Speaker 28 Process control part

Claims (6)

Map information storage means for storing map information;
First route storage means for storing the first route;
Second route storage means for storing the second route;
Geographical situation between the first route stored in the first route storage unit and the second route stored in the second route storage unit based on the map information stored in the map information storage unit Comparison information generating means for generating comparison information of
A navigation device comprising output means for outputting the comparison information generated by the comparison information generation means. In the comparison information of the geographical situation generated by the comparison information generating means, the first route and the second route are compared with respect to at least one of the parallel running of the roads and the bending and the slope of each road. The navigation device according to claim 1, wherein information is included. When the comparison information generating unit generates the comparison information regarding the parallel running of the road, the other of the plurality of points sampled in a predetermined section on one of the first route and the second route. Calculate the shortest distance to the route, and if the percentage of all sampling points where the shortest distance is determined to be within the specified range exceeds the specified value, the two routes run in parallel The navigation device according to claim 2, wherein the navigation device is determined to be operating. The navigation apparatus according to claim 1, wherein the comparison information on the geographical situation generated by the comparison information generation unit includes comparison information on a road type. The navigation apparatus according to claim 1, wherein the comparison information on the geographical situation generated by the comparison information generation unit includes comparison information on a road width. The comparison information of the geographical situation generated by the comparison information generating means includes comparison information regarding the position of the destination point with respect to the traveling direction of the vehicle when traveling according to the route and reaching just before the destination. The navigation device according to claim 1.

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