JP2006194638A - Route computing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route computing device for computing a route which definitely passes a parking lot and passes an optimum parking lot in terms of costs. <P>SOLUTION: One travels from a departing point to a parking lot near the destination by a vehicle, such as an automobile, and parks the vehicle at the parking lot by using road data network data including a P node. A plurality of candidate routes for traveling from the parking lot to the destination are computed by means, such as walking, other than the vehicle. When executing route computing processing with a candidate route whose total costs are minimized as an optimum route, a computing rule regarding the presence or absence of the passage through the P node is applied in the computing process of the candidate route by the route computing processing. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a route calculation apparatus.

  Conventionally, there is a route guidance function as one function of a car navigation apparatus. Many of the route guidance functions guide a route to a road where vehicles near the destination can pass, and do not guide the vehicle to a parking space. Therefore, the user has to search for a parking space by himself after reaching the vicinity of the destination.

  On the other hand, a car navigation device having a function of guiding a selected parking lot as a destination by displaying a parking lot near the destination on the screen and allowing the user to select a desired parking lot from the parking lot. is there. By using this function, the user does not have to search for the parking space himself, but in this case, the user has to select a parking lot while considering the route to the original destination. there were.

As a solution to this problem, for example, a route search device disclosed in Patent Document 1 can be cited. In this route search device, a parking lot position in the vicinity of the station is used as a node, a link is provided from a node indicating the parking lot position to a node indicating the position of the station, and the link cost (link travel time) of this link is set as a distance. Determine based on. Then, a route search is performed using a known Dijkstra method for selecting a link string having the lowest link cost among the possible link strings from the current location to the destination.
JP 2001-106076 A

  In the conventional route search device, when the destination is a station, the route to the destination can be searched in consideration of the cost of the link connecting the parking lot position near the destination and the location of the destination. In this route search device, the link sequence having the smallest link cost based on the link distance is selected as the optimum route, so that the optimum route passing through the parking lot can only be obtained locally.

  That is, in the above-described Dijkstra method, when a plurality of candidate routes reach the same node, the candidate route with the higher link cost to that node is deleted at that time. However, for example, if the deleted candidate route is a route that has passed through the parking lot before reaching the node, and all other candidate routes are routes that do not pass through the parking lot until the destination is reached, It becomes impossible to search for a route passing through the parking lot.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a route calculation device that can always calculate a route that passes through a parking lot and passes through an optimal parking lot in terms of cost. .

The route calculation apparatus according to claim 1, which is made to achieve the above object,
Road network data storage means for storing road network data including a parking lot node which is a node of a parking lot position connected to a surrounding road, and a parking lot link connecting the parking lot node and the surrounding road. When,
Using the cost given to the link of the road network data, calculate the total cost of the candidate route that travels from the departure point to the parking lot by vehicle, and moves from the parking lot to the destination by means other than the vehicle, and the total cost A route calculation apparatus comprising: processing means for executing route calculation processing with the candidate route having the smallest value as an optimal route,
The processing means is characterized by executing a calculation rule applying process for applying a preset calculation rule relating to whether or not a parking lot node has passed in the course of candidate route calculation by the route calculation process.

  As described above, in the route calculation apparatus according to the present invention, the calculation rule relating to whether or not the parking lot node passes is applied in the process of calculating the optimum route using the cost given to the link of the road network data. As a result, it is possible to calculate an optimum route in consideration of whether or not the parking lot has passed, so that it is possible to calculate a route that always passes through the parking lot and passes through the optimal parking lot in terms of cost.

According to the route calculation device according to claim 2, the processing means includes:
As a route calculation process, the total cost of the candidate route is calculated by sequentially following the nodes connected to the departure location from the departure location to the destination, and adding the costs of the links that have passed until reaching the destination. And
The calculation rule application process is a calculation rule:
When passing through the parking lot node when sequentially following the nodes connected to the departure place, the cost given to the link from the parking lot node to the destination is changed to the cost when moving by means other than the vehicle. A first calculation rule;
A second calculation rule for excluding the candidate route from the candidate for the optimum route when the candidate route that has reached the destination does not pass through the parking lot node;
When sequentially following the nodes connected to the departure place, multiple candidate routes arrive at the same node, and pass through the parking lot node when the same node is reached in the multiple candidate routes. And a candidate route that has passed through a parking lot node having a minimum total cost when reaching the same node among a plurality of candidate routes. A third calculation rule is set in which a route and a candidate route that does not pass through a parking lot node are set as candidate routes that sequentially follow from the same node toward the destination.

  With the above-described first calculation rule, for example, the cost can be changed to a cost when walking from a parking lot to a destination. In addition, the candidate route that does not pass through the parking lot can be excluded from the optimum route candidates by the second calculation rule. Furthermore, according to the third calculation rule, candidate routes that cannot be determined whether or not they can be excluded from candidate routes when they reach the same node can be left without being excluded.

  FIG. 3 shows an example of a determination pattern determined by applying the third calculation rule when two candidate routes, candidate route A and candidate route B, arrive at the same node. In the figure, a case where the candidate route A is smaller than the candidate route B when the total cost when reaching the same node is shown.

  Pattern 1 shown in FIG. 3 shows a pattern that does not pass through the parking lot node (P node) when both candidate routes A and B reach the same node, and pattern 4 is the same for both candidate routes A and B. The pattern which passed the parking lot node (P node) when it reached | attained the node is shown. In this way, when reaching the same node, if all candidate routes that have reached that node are candidate routes that have passed through the P node, or are candidate routes that have not passed through the P node, The determination may be made according to the total cost at the time of reaching the same node.

  On the other hand, the pattern 2 shows a pattern that passes through the P node when the candidate route A reaches the same node and does not pass through the P node when the candidate route B reaches the same node. 3 shows a pattern of the reverse (passing the P node when the candidate route B reaches the same node and not passing the P node when the candidate route A reaches the same node).

  In the pattern 2, the candidate route A moves from the same node to the destination by means other than the vehicle. On the other hand, the candidate route B is a vehicle that moves from the same node toward the destination. When this candidate route B reaches the destination, there is still a possibility of passing through the P node before reaching the destination, and when the candidate route B passes through the P node before reaching the destination, There is also a possibility that the total cost to reach the destination is smaller than that of the candidate route A. Therefore, in pattern 2, when reaching the same node, it cannot be determined whether candidate routes A and B can be excluded from the candidate route.

  Pattern 3 is the case shown in FIG. That is, the candidate route A is a vehicle that moves from the same node (node c in FIG. 4) toward the destination by a vehicle. If the parking lot is far from the destination even if it passes through the P node, the total cost to reach the destination is larger than that of the candidate route B. There is also a possibility. Accordingly, in Pattern 3, as in Pattern 2, when it reaches the same node, it cannot be determined whether both candidate routes A and B can be excluded from the candidate route.

  In this way, by applying the third calculation rule and leaving the candidate route that cannot be determined whether or not it can be excluded from the candidate route when reaching the same node, the parking lot is It is possible to improve the optimality of the route that passes through.

  In the past, in order to increase the optimality of the route, it was necessary to increase the number of route calculations with the number of parking lots. By applying this third calculation rule, the same node was reached. Since it is possible to delete a route that can be determined to be excluded from the candidate route at this point, the number of route calculations can be reduced compared to the conventional method.

According to the route calculation apparatus according to claim 3, the road network data storage means is
A pedestrian link that constitutes a pedestrian road,
Pedestrian-only road entrance / exit nodes that are the start / end nodes of the pedestrian-only link,
Public transport links that travel using public transport,
Stores road network data including public transport landing / departure nodes, which are the start and end nodes of public transport links,
The calculation rule application process of the processing means is to calculate a pedestrian-only link and a public transportation platform node for a candidate route that does not pass through the parking lot node as the calculation rule when sequentially tracing the nodes connected to the departure place. A fourth calculation rule for preventing the passage is set.

  By applying this fourth calculation rule, the optimal route that the vehicle passes through the pedestrian road and the optimal route that uses public transport without passing through the parking lot are not calculated. Can do.

According to the route calculation apparatus of claim 4, the road network data storage means is
Taxi stand node, which is a taxi stand node,
Taxi stand entrance node, which is a taxi stand entrance node located on the road around the taxi stand,
A taxi stand exit node that is an exit node from the taxi stand located on the road around the taxi stand,
A walk-in link that allows pedestrians to enter the taxi stand node from the taxi stand entrance node,
Store road network data including a taxi exit link that allows a taxi to exit from a taxi stand node to a taxi stand exit node;
In the calculation rule application processing of the processing means, as a calculation rule, when sequentially following nodes connected to the departure place, a candidate route that does not pass through the parking lot node is prevented from passing through the taxi stand node. A calculation rule is set.

  By applying this fifth calculation rule, it is possible to avoid calculating an optimal route that uses a taxi without passing through a parking lot.

  According to the route calculation apparatus according to claim 5, the calculation rule application processing of the processing means uses the public transportation platform after passing through the parking lot node as the calculation rule when sequentially tracing the nodes connected to the departure place. When the node or / and taxi station node passes, the cost given to the link from the public transport station node or / and taxi station node to the destination is moved by public transport or / and taxi A sixth calculation rule for changing to a cost is set.

  By applying this sixth calculation rule, it is possible to calculate the optimum route using the cost according to the means for moving.

  The route calculation apparatus according to claim 6 includes use parking lot designating means for designating a parking lot to be used, and the calculation rule application processing of the processing means sequentially selects nodes that are connected to the departure place as calculation rules. When tracing, the seventh calculation rule that excludes candidate routes passing through parking lot nodes that are nodes of parking lot locations other than the parking lot designated by the use parking lot designation means from the candidates for the optimum route is set. Features.

  By applying this seventh calculation rule, it is possible to calculate the optimum route passing through the designated parking lot.

The route calculation device according to claim 7 is a notification unit that notifies the user about the use of the parking lot before performing the route calculation process by the processing unit,
An input means for inputting the use of the parking lot,
The processing means is characterized in that, when performing the route calculation process, if there is an input to use the parking lot from the input means after the notification from the notification means, the optimum route including the parking lot is calculated.

  For example, if the destination set by the user is a private home or an arbitrary point on the map, it cannot be determined whether the destination has a parking lot (individual Unless there is data on the existence of parking spaces for visitors at all homes.)

  Therefore, before executing the route calculation process, for example, a message regarding the use of the parking lot such as “Do you park at the set destination?” Or “Do you want to automatically search for the optimal parking lot?” The user is notified, and an input regarding the use of the parking lot “Yes” or “No” is obtained from the user. And when there is an input to use the parking lot from the input means, the destination node is set as the parking lot node and the optimum route is calculated, or the optimum route passing through the parking lot near the destination is calculated. Or calculate.

  As a result, the user cannot use the car even though the destination has a parking lot, or the user feels stress by guiding the route to the destination by vehicle even though there is no parking lot at the destination. You won't be letting it go.

  According to the route calculation apparatus according to claim 8, the processing means sets the destination node as a parking lot node when the destination includes a parking lot when executing the route calculation processing. It is characterized by providing. Thereby, the optimal path | route which goes to the destination provided with a parking lot can be calculated.

  The route calculation apparatus according to claim 9 includes an unusable parking lot designating unit that designates a parking lot that should not be used, and the calculation rule application process of the processing unit is a calculation rule of an unusable parking lot designating unit. An eighth calculation rule for changing a cost given to a parking lot node, which is a node at a designated parking lot position, to a higher cost than a cost given to another parking lot node is set. To do.

  By applying the eighth calculation rule, it becomes difficult to calculate the optimum route passing through the parking lot designated as unusable. When the eighth calculation rule is applied, if there is no parking lot that is not designated by the user near the destination, a route that passes through the designated parking lot may be calculated. . This is to avoid the generation of an extreme optimum route such as parking the vehicle in a parking lot several tens of kilometers away from the destination and heading to the destination on foot from there.

  Hereinafter, the route calculation apparatus of the present invention will be described with reference to the drawings. In the present embodiment, an example in which the function of the route calculation device of the present invention can be always installed and operated as a basic function of the navigation device will be described.

(First embodiment)
FIG. 1 is a block diagram showing a schematic configuration of a navigation device according to the present embodiment. As shown in the figure, the navigation device 100 of this embodiment includes a position detector 1, a map data input device 6, an operation switch group 7, an external memory 9, a display device 10, a voice input / output device 11, and a VICS receiver 12. , The communication device 13, the remote control sensor 14, and the control circuit 8 connected thereto.

  The control circuit 8 is configured as a microcomputer, and includes a well-known CPU, ROM, RAM, I / O, and a bus line for connecting these configurations. In the ROM, a program to be executed by the navigation device 100 is written, and a CPU or the like executes predetermined arithmetic processing according to this program.

  The position detector 1 includes a well-known geomagnetic sensor 2, a gyro sensor 3, a distance sensor 4, and a GPS receiver 5 for GPS (Global Positioning System) that detects the current position of the vehicle based on radio waves from satellites. Have. Since these have errors of different properties, they are configured to be used while being complemented by a plurality of sensors. Depending on the accuracy of each sensor, the position detector 1 may be configured as a part of the above-described ones, and a steering rotation sensor (not shown), a vehicle speed sensor for each rolling wheel, or the like may be used.

  The map data input device 6 is a device for inputting map data composed of road network data, index data, drawing data, and the like, and transmits various data in response to a request from the control circuit 8. A CD-ROM or DVD-ROM is generally used as a storage medium for storing these various data, but a writable storage medium such as a memory card or a hard disk may be employed. Here, link data, node data, index data, and drawing data constituting the road network data will be described.

  First, a link is defined by dividing each road on the map at a plurality of nodes such as intersections, branches, and merging points, and each node is defined as a link. Configure. The link data includes a unique number (link ID) that identifies the link, a link length that indicates the length of the link, link start and end node coordinates (latitude / longitude), road name, road type (highway, toll road, national road) , Prefectural roads, etc.), road width, link travel time (travel time when moving by foot or car), etc.

  On the other hand, the node data describes node IDs, node coordinates (latitude / longitude), and link IDs of all links connected to the nodes, for each node where each road on the map intersects, branches, and merges. Connected link ID, branch point, junction point, point attribute indicating which point corresponds to an intersection, and each data such as presence / absence of a traffic light.

  In addition, as shown in FIG. 2, the parking lot node (P node) which node-ized the parking lot position in the whole country is added to the road network data of this embodiment as node data. In addition, a node for the parking lot entrance (P entrance node) provided in the existing road network data connected to the entrance of the parking lot is added as node data, and the P entrance node and the P node are connected as link data. A car entry link is also added.

  Further, a link for exiting on foot for leaving the parking lot on foot is added as link data. This walk-exit link may be connected to the P entrance node depending on the configuration of the road entering and exiting the parking lot, or provided on a road different from the road of the P entrance node as shown in FIG. It may be connected to a parking lot exit node (P exit node).

  Index data is data used to search for facilities, etc., and includes information such as names of facilities, roads, points of branching / merging / intersecting roads, facility types, addresses, telephone numbers, and positions (latitude / longitude). It is configured. Rendering data is data used for map display, topographical features such as the sea (including lakes, ponds, etc.) and mountains, facilities, roads, road junctions, road junctions, road intersections, etc. It consists of information on the display position (latitude / longitude), polygon, and landmark (landmark, etc.).

  For example, a touch switch or a mechanical switch integrated with the display device 10 is used as the operation switch group 7 and is used for various inputs such as a scroll operation of a map displayed on the screen of the display device 10 and character input. The The external memory 9 is a storage device used when temporarily storing the calculation result of the control circuit 8.

  The display device 10 is configured by, for example, a liquid crystal display, and the vehicle position mark corresponding to the current position of the vehicle input from the position detector 1 and the map input from the map data input device 6 are displayed on the screen of the display device 10. A road map around the vehicle generated by the data can be displayed.

  The voice input / output device 11 includes a microphone and a speaker (not shown), and outputs a voice signal input from the microphone to the control circuit 8. The control circuit 8 recognizes the user's utterance content from the audio signal and uses it for various inputs of the navigation device 100. In addition, the speaker outputs a synthesized voice or a rousing sound generated by the control circuit 8.

  The VICS receiver 12 receives road traffic information provided from a VICS (Vehicle Information and Communication System) (registered trademark) center through beacons laid on the road and FM broadcast stations in various places.

  The road traffic information received by the VICS receiver 12 includes, for example, congestion information such as the degree of congestion of each link mentioned above and travel time (required travel time) for each link, traffic closures due to accidents and construction, expressways, etc. It is regulation information such as entrance and exit closure of. Note that the degree of congestion is expressed in a plurality of evaluation stages (for example, congestion, congestion, empty space, etc.). The received road traffic information is processed by the control circuit 8. For example, traffic jam information, regulation information, and the like can be displayed on the road map displayed on the screen of the display device 10.

  The communication device 13 is a communication device that enables mobile communication such as a mobile phone, and can be connected to the Internet via an external information network or to a dedicated information center. The communication device 13 acquires information regarding the P node parking lot added to the road network data described above from the information center that manages the parking lot as needed. Information on this parking lot includes, for example, empty / full, number of cars that can be parked, business hours, height / width of vehicles that can be parked, parking charges (for example, charges per unit time), etc. is there.

  When the destination is set from the operation switch group 7 or the remote controller (remote controller) 15 or the like, the navigation device 100 automatically sets an optimum route from the current location (or any designated point) to the destination. A so-called route guidance function for calculating and displaying a guidance route is provided.

  Such a method for automatically calculating the optimum route is, for example, cost calculation by the well-known Dijkstra method, that is, sequentially tracing a node connected to the departure place from the departure place to the destination, and then to the destination. A method of calculating the total cost of each of a plurality of candidate routes (candidate routes) by adding the costs of the links that have passed through to reach the candidate route and setting the candidate route having the minimum total cost as the optimum route is adopted. The link cost is a cost attached to each link in consideration of, for example, the link length of the link, the number of lanes, the road width, the link travel time, and the like.

  These functions are executed mainly by performing various arithmetic processes by the control circuit 8. That is, when the destination is set, the control circuit 8 calculates a route using the map data of the map data input device 6 and displays the route on the display device 10 as well as a branch point or an intersection to turn right or left. The map is enlarged and voice guidance is provided.

  The navigation device 100 of the present embodiment configured as described above can guide the user to the destination without feeling stress even in a situation where parking in the vicinity of the destination such as an urban area or an event venue is difficult. It can be done.

  In order to achieve this object, as described above, the navigation device 100 uses the road data network data to which the P node is added to move from the departure place to the parking lot near the destination using a vehicle such as an automobile. The vehicle is parked at the parking lot, and a plurality of candidate routes moving from the parking lot to the destination by means other than the vehicle (for example, walking) are calculated, and the candidate route with the smallest total cost is determined as the optimum route. A route calculation process based on the Dijkstra method is executed.

  In the present embodiment, in order to calculate a route that always passes through the parking lot and passes through the optimal parking lot in terms of cost, in the calculation process of the candidate route by this route calculation processing, 3 A calculation rule application process for applying one calculation rule is executed. These three calculation rules will be described below.

(Calculation rule 1)
When passing through the P node when sequentially following the nodes connected to the departure place, the cost given to the link from the P node to the destination is changed to the cost when moving by means other than the vehicle (for example, Multiply the walking cost by the cost of traveling by vehicle.)

  With this first calculation rule, for example, the cost can be changed when walking from a parking lot to a destination on foot.

(Calculation rule 2)
If the candidate route that has reached the destination does not pass through the P node, the candidate route is excluded from the candidates for the optimum route.

  With this second calculation rule, candidate routes that do not pass through the parking lot can be excluded from candidates for the optimum route.

(Calculation rule 3)
When sequentially following the nodes connected to the departure place, a plurality of candidate routes arrived at the same node, and further passed through the P node when the same node was reached among the plurality of candidate routes. When a candidate route and a candidate route that does not pass through the P node are included, a candidate route that has passed through the P node having a minimum total cost when reaching the same node among the plurality of candidate routes; A candidate route that does not pass through the P node is a candidate route that sequentially follows from the same node toward the destination.

  By this third calculation rule, candidate routes that cannot be determined whether or not they can be excluded from candidate routes when they reach the same node can be left without being excluded. This calculation rule 3 is applied for the following reason.

  FIG. 3 shows an example of a determination pattern determined by applying the third calculation rule when two candidate routes, candidate route A and candidate route B, arrive at the same node. In the figure, a case where the candidate route A is smaller than the candidate route B when the total cost when reaching the same node is shown.

  Pattern 1 shown in FIG. 3 shows a pattern that does not pass the P node when both candidate routes A and B reach the same node, and pattern 4 shows a time when candidate routes A and B both reach the same node. Shows a pattern passing through the P node. In this way, when reaching the same node, if all candidate routes that have reached that node are candidate routes that have passed through the P node, or are candidate routes that have not passed through the P node, The determination may be made according to the total cost at the time of reaching the same node.

  On the other hand, the pattern 2 shows a pattern that passes through the P node when the candidate route A reaches the same node and does not pass through the P node when the candidate route B reaches the same node. 3 shows a pattern of the reverse (passing the P node when the candidate route B reaches the same node and not passing the P node when the candidate route A reaches the same node).

  In the pattern 2, the candidate route A moves from the same node to the destination by means other than the vehicle. On the other hand, the candidate route B is a vehicle that moves from the same node toward the destination. When this candidate route B reaches the destination, there is still a possibility of passing through the P node before reaching the destination, and when the candidate route B passes through the P node before reaching the destination, There is also a possibility that the total cost to reach the destination is smaller than that of the candidate route A. Therefore, in pattern 2, when reaching the same node, it cannot be determined whether candidate routes A and B can be excluded from the candidate route.

  Pattern 3 is the case shown in FIG. That is, the candidate route A is a vehicle that moves from the same node (node c in FIG. 4) toward the destination by a vehicle. If the parking lot is far from the destination even if it passes through the P node, the total cost to reach the destination is larger than that of the candidate route B. There is also a possibility. Accordingly, in Pattern 3, as in Pattern 2, when it reaches the same node, it cannot be determined whether both candidate routes A and B can be excluded from the candidate route.

  In this way, by applying the third calculation rule and leaving the candidate route that cannot be determined whether or not it can be excluded from the candidate route when reaching the same node, the parking lot is It is possible to improve the optimality of the route that passes through.

  In the past, in order to increase the optimality of the route, it was necessary to increase the number of route calculations with the number of parking lots. By applying this third calculation rule, the same node was reached. Since it is possible to delete a route that can be determined to be excluded from the candidate route at this point, the number of route calculations can be reduced compared to the conventional method.

  Next, route calculation processing to which the above calculation rule is applied in the route guidance function of the navigation device 100 of the present embodiment will be described with reference to the flowchart shown in FIG. First, in step (hereinafter referred to as S) 10, a destination is set, and in S20, a message regarding the use of the parking lot is notified by voice or screen display.

  For example, if the destination set by the user is a private home or an arbitrary point on the map, it cannot be determined whether the destination has a parking lot (individual Unless there is data on the existence of parking spaces for visitors at all homes.)

  Therefore, in this embodiment, before executing the route calculation, for example, “Do you park at the set destination?” Or “Do you want to automatically search for the optimal parking lot?” A message about usage is notified to the user.

  Thereafter, the user uses the operation switch group 7 and the remote controller 15 to input “Yes” or “No” regarding the use of the parking lot. In S30, it is determined whether or not there is an input from the user to use the parking lot. Here, if an affirmative determination is made, an optimal route that passes through the parking lot near the destination is calculated in S40, and if a negative determination is made, an optimal route that does not pass through the parking lot is calculated in S50. I do.

  In S40, if there is a “yes” response to the question “Do you want to park at the set destination?” In S20, the destination node is treated as a P node. Set as P node and calculate the optimal route. Even when the destination includes a parking lot, the destination node is set as the P node. Thereby, the optimal path | route which goes to the destination provided with a parking lot can be calculated.

  Further, in S40, if the answer “Yes” is answered to the question “Do you want to automatically search for the optimum parking lot?” In S20, the optimum route passing through the parking lot near the destination is calculated. .

  As a result, the user cannot use the car even though the destination has a parking lot, or the user feels stress by guiding the route to the destination by vehicle even though there is no parking lot at the destination. You won't be letting it go.

  As described above, the navigation device 100 according to the present embodiment uses the road data network data to which the P node is added to move the vehicle from the starting point to the parking lot near the destination using a vehicle such as an automobile, and move the vehicle at the parking lot. Carries out a plurality of candidate routes that are parked and moves from the parking lot to the destination by means other than the vehicle (for example, on foot), and performs route calculation processing with the candidate route with the lowest total cost as the optimal route Therefore, a calculation rule relating to whether or not a P node passes is applied in the candidate route calculation process by this route calculation process.

  As a result, it is possible to calculate an optimum route in consideration of whether or not the parking lot has passed, so that it is possible to calculate a route that always passes through the parking lot and passes through the optimal parking lot in terms of cost.

(Modification 1)
In the first embodiment, in S40 shown in FIG. 5, the optimum route passing through the parking lot near the destination is calculated, but the user designates the parking facility and uses the designated parking lot. It is assumed that Therefore, in the route calculation process of the present modification, the user specifies the parking lot to be used, and then calculates the optimum route (R1) from the departure place to the designated parking lot, and then from the parking lot The optimum route (R2) to the destination is calculated. Then, a route connecting the optimum route (R1) and the optimum route (R2) is set as a final optimum route for moving from the departure place to the destination.

  In this modification, a calculation rule (seventh calculation rule) that excludes candidate routes that pass through a P-node other than the parking lot designated by the user from the optimal route candidates is set as the calculation rule, and the optimal route is set. This calculation rule is applied when calculating (R1). Thereby, the optimal route (R1) passing through the designated parking lot can be calculated.

(Modification 2)
In the first embodiment, in S40 shown in FIG. 5, since the optimum route for passing through the parking lot near the destination is calculated, the optimum route for passing through the parking lot that the user does not want to use is calculated. There is a case. Therefore, in the route calculation process of this modification, the user is allowed to specify a parking lot that should not be used. Regarding the designation of the parking lot, a plurality of designations may be possible, or the type of parking lot (three-dimensional / planar parking lot, etc.) may be designated.

  In addition, as a calculation rule, a calculation rule that changes the cost assigned to the P node of the parking lot designated by the user to be unusable to a cost that is (significantly) higher than the cost assigned to other P nodes 8 calculation rules). Then, this calculation rule is applied when calculating the optimum route.

  This makes it difficult to calculate the optimum route that passes through the parking lot designated as unusable. When this calculation rule is applied, if there is no parking lot that is not designated by the user near the destination, a route that passes through the designated parking lot may be calculated. This is to avoid the generation of an extreme optimum route such as parking the vehicle in a parking lot several tens of kilometers away from the destination and heading to the destination on foot from there.

(Modification 3)
In the first embodiment, an optimal route that passes through a parking lot that is optimal in terms of cost is calculated, but information on the parking lot that is acquired from the communication device 13 may be taken into consideration. That is, even if the parking lot is optimal in terms of cost, it is impossible to park in the parking lot when it is out of business hours or when the parking lot is full.

  Therefore, when the optimal route that passes through the optimal parking lot in terms of cost is calculated, information on the parking lot may be acquired to determine whether or not parking is possible (the parking lot) Judgment may be made based on the estimated arrival time. If it is determined that parking is not possible, the parking lot may be designated as a parking lot that cannot be used, and an optimal route passing through another parking lot may be calculated. Furthermore, with reference to the height and width of the vehicle on which the navigation device 100 is mounted, it may be determined whether or not parking is possible in the parking lot.

(Second Embodiment)
Since the second embodiment is often in common with that according to the first embodiment, a detailed description of the common parts will be omitted below, and different parts will be described mainly. As shown in FIG. 2, the road network data of the first embodiment includes a P node, a P entrance node, a P exit node, a car entry link, and a walk exit link in which parking locations in Japan are nodeized. Is added.

  On the other hand, the road network data of this embodiment is a public transport system such as a pedestrian road link, a train, a bus, and a ship (ferry) that constitutes a pedestrian road in the road network data of this first embodiment A link for exclusive use of public transportation to move using is added.

  That is, as shown in FIG. 7, a pedestrian road link, a public transport link, and a public transport link for connecting a public transport node to an existing road are added as link data. The node data includes the pedestrian-only road entrance / exit nodes, which are the start / end nodes of the pedestrian-only road link, and the public transport platform / exit nodes, which are the start / end points of the public transport-only link. Append. In addition, a public transportation link for connecting a public transportation platform / exit node from an existing road may be added as link data.

  In the route calculation process according to the present embodiment, the vehicle travels from the departure place to the parking lot, and calculates the optimum route to the destination using walking or public transportation, which is a means other than the vehicle. In addition, when performing route calculation using road network data including links and nodes of this pedestrian road and public transportation, it is necessary to set and apply the following two calculation rules.

(Fourth calculation rule)
When sequentially following the nodes connected to the departure place, candidate routes that do not pass through the P node are prevented from passing through the pedestrian exclusive road link and the public transportation platform node.

  By applying this fourth calculation rule, the optimal route that the vehicle passes through the pedestrian road and the optimal route that uses public transport without passing through the parking lot are not calculated. Can do.

(Sixth calculation rule)
When sequentially traversing the nodes connected to the departure place, and passing through the public transportation platform node after passing through the P node, the cost given to the link from the public transportation platform node to the destination is determined by public transportation. The cost is changed to the cost when moving (for example, the walking coefficient multiplied by the cost when moving by vehicle is changed to the public transportation coefficient).

  By applying this sixth calculation rule, it is possible to calculate the optimum route using the cost according to the means for moving. In addition, about the cost given to a public transport exclusive link, the time table of public transport is acquired with the communication apparatus 13, and the link travel time between a public transport stop and a landing node is calculated from this time table. You may make it reflect in cost. Furthermore, the expected arrival time of the public transportation platform node may be calculated, and the waiting time until the user gets on the public transportation from the predicted arrival time and the timetable may be calculated and reflected in the cost.

(Third embodiment)
Since the third embodiment is often in common with that according to the first embodiment, a detailed description of the common parts will be omitted below, and different parts will be described mainly. As shown in FIG. 2, the road network data of the first embodiment includes a P node, a P entrance node, a P exit node, a car entry link, and a walk exit link in which parking locations in Japan are nodeized. Is added.

  On the other hand, the road network data of this embodiment adds a taxi stand node that is a node of taxi stands in Japan to the road network data of this first embodiment, and calculates the optimum route using a taxi. It is possible.

  That is, as shown in FIG. 8, as node data, a taxi stand node, a taxi stand entrance node which is a node of a taxi stand located on a road around the taxi stand, and a road around the taxi stand are located. A taxi stand exit node that is an exit node from the taxi stand is added.

  Also, as link data, a walk entry link that allows a pedestrian to enter the taxi stand node from the taxi stand entrance node and a taxi exit link that allows the taxi to leave the taxi stand exit node are added.

  As in the case of the P node, the walking approach link and the taxi exit link may be links between the same nodes as shown in FIG. 8 depending on the structure of the road to / from the taxi stand. In other cases, it may be connected to a landing exit node provided on a road different from the road of the taxi landing entrance node. Further, a plurality of walk-in links and a plurality of taxi exit links may be provided from roads around the taxi rank node.

  In the route calculation process according to the present embodiment, the vehicle travels from the departure place to the parking lot, and calculates the optimum route to the destination using walking or taxi, which is a means other than the vehicle. When performing this route calculation, it is necessary to set and apply the following calculation rule.

(Fifth calculation rule)
When sequentially following the nodes connected to the departure place, candidate routes that do not pass through the P node are prevented from passing through the taxi stand node.

  By applying this fifth calculation rule, it is possible to avoid calculating an optimal route that uses a taxi without passing through a parking lot.

  The sixth calculation rule described above can also be applied to the taxi stand node.

(Sixth calculation rule)
When following the nodes that are connected to the departure point in sequence, if you pass the taxi node after passing through the P node, the cost given to the link from the taxi point node to the destination is the cost of moving by taxi Change (for example, invalidate the multiplication of the walk coefficient and set it as the cost for traveling by vehicle).

  By applying this sixth calculation rule, it is possible to prevent the moving cost of the section moving by taxi from being the same as the walking cost. And an optimal route can be calculated using the cost according to the means at the time of movement.

(Modification 4)
In the above-described route calculation processing in the first to third embodiments, the cost assigned to the link or node is treated as a fixed value, but this cost may be a variable value. For example, prior to executing the route calculation process, the user is allowed to select a priority condition in route calculation (for example, “as cheap as possible”, “as easy as possible”, etc.).

  For example, when “as cheap as possible” is selected, the parking fee included in the information regarding the parking lot that can be acquired by the communication device 13 (may be databased in advance and acquired from the database), public transportation The route calculation processing is executed after setting the cost of the P node and the cost of the link that travels by public transport or taxi to a high level according to the fee of the institution and the taxi fare.

  In addition, when “Easy as possible” is selected, the cost of the link that travels on foot is increased, or the cost of the public transportation platform node is set higher depending on the number of transits of public transportation. Perform the calculation process. As a result, it is possible to calculate an optimum route according to the priority condition of the user.

(Modification 5)
Further development of the priority conditions in Modification 4 above, for example, it is possible to set detailed priority conditions such as “You can walk if you are within XX minutes. If you can't do that, you want to use a taxi within △△ yen”. Also good.

  In this case, the navigation device 100 of the present modification first executes the route calculation after passing through the P node after changing to the cost when moving on foot (after multiplying the walking coefficient). If the obtained candidate route does not meet the condition of “within walking ○○ minutes”, the route calculation after passing through the P node is executed as moving by taxi. If the candidate route obtained here is “within a taxi fare ΔΔ yen”, the candidate route using the taxi from the parking lot is determined as the optimum route.

  This makes it possible to calculate the optimum route that satisfies the priority conditions set in detail. In addition, if there is no candidate route that satisfies any of the conditions of “within walking ○○ and taxi fare △△ yen”, it matches “within walking ○○ minutes” and “within taxi fare △△ yen” Both candidate routes that are not to be displayed may be displayed on the screen so that the user can finally select them.

  When using a taxi, the user himself may call the taxi to the vicinity of the parking lot, or after the completion of the route calculation process, the taxi company will be dispatched to the vicinity of the parking lot at the estimated arrival time. You may make it request automatically via the communication apparatus 13.

(Modification 6)
In this modification, before executing the route calculation process, the user sets the time when the user leaves the destination and arrives on the return road, and based on this time, it is determined whether or not the car can be left from the parking lot. If it is determined that the car cannot be delivered, the cost is changed so that the cost of the P node of the parking lot is significantly increased, and then the route calculation process is performed again to obtain another parking lot that can be delivered. Calculate the route that uses.

  Specifically, first, before executing the route calculation process, the user sets the time at which the user leaves the destination, and then calculates the optimum route that passes through the parking lot near the destination. When this optimum route is calculated, a return route from the destination to the parking lot is calculated. In this return path calculation, the first and sixth calculation rules are applied according to the moving means on the return path. The estimated arrival time when the user arrives at the parking lot is calculated from the calculation result of the return journey and the time when the user leaves the destination set by the user.

  And when this estimated arrival time is a time that is out of business hours included in the information related to the parking lot that can be acquired by the communication device 13 (which may be stored in a database in advance and acquired from the database), The cost of the P node in the parking lot is changed to a significantly high cost and the route calculation is performed again. As a result, the optimum route using another parking lot is calculated. Thereby, although parked in the parking lot, the situation where it becomes impossible to leave the parking lot when arriving home can be prevented.

1 is a block diagram showing an overall configuration of a navigation device 100. FIG. It is the figure which showed the road network. It is a figure which shows the example of the judgment pattern judged by applying the 3rd calculation rule, when the candidate route of candidate route A and candidate route B arrives at the same node. FIG. 6 is a diagram showing a pattern 3; 4 is a flowchart showing a flow of route calculation processing to which a calculation rule in the route guidance function of the navigation device 100 is applied. It is a figure of the road network which shows the example which the link for a walk exit connects to P exit node different from P entrance node. It is a figure which shows the example which added the pedestrian exclusive road link and the public transport exclusive link to the road network. It is a figure which shows the example which added the taxi rank to the road network as a node.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Position detector 6 Map data input device 7 Operation switch group 8 Control circuit 9 External memory 10 Display device 11 Voice input / output device 12 VICS receiver 13 Communication device 14 Remote control sensor 15 Remote control 100 Navigation device

Claims (9)

Road network data for storing road network data including a parking lot node that is a node of a parking lot position connected to a surrounding road, and a parking lot link that connects the parking lot node and the surrounding road. Storage means;
Using the cost given to the link of the road network data, moving from the departure place to the parking lot by vehicle, calculating the total cost of the candidate route to move from the parking lot to the destination by means other than the vehicle, A route calculation device comprising: processing means for performing route calculation processing with the candidate route having the smallest total cost as an optimum route,
The route calculation apparatus characterized in that the processing means executes a calculation rule application process for applying a preset calculation rule relating to whether or not the parking lot node has passed in the course of candidate route calculation by the route calculation process. The processing means includes
As the route calculation process, the candidate route is obtained by sequentially following the nodes connected to the departure point from the departure point toward the destination, and adding the cost of the link that has passed until reaching the destination. Which calculates the total cost of
In the calculation rule application process, as the calculation rule,
When sequentially traversing a node connected to the departure place, when passing a parking lot node, the cost given to the link from the parking lot node to the destination is moved by means other than the vehicle A first calculation rule to change to cost;
If the candidate route that has reached the destination does not pass through the parking lot node, a second calculation rule that excludes the candidate route from the candidates for the optimum route;
When sequentially following the nodes connected to the departure place, a plurality of candidate routes arrive at the same node, and further, when the same node is reached among the plurality of candidate routes, the parking lot node If the candidate route that has passed through and the candidate route that has not passed through the parking lot node are included, the parking lot that has the lowest total cost when reaching the same node among the plurality of candidate routes A third calculation rule that sets a candidate route that has passed through a node and a candidate route that has not passed through the parking lot node as a candidate route that sequentially follows from the same node toward the destination is set. The route calculation apparatus according to claim 1, wherein: The road network data storage means includes
A pedestrian link that constitutes a pedestrian road,
A pedestrian-only road entrance / exit node which is a start / end node of the pedestrian link; and
Public transport links that travel using public transport,
Storing road network data including a public transportation landing / departure node which is a start / end node of the public transport link;
The calculation rule application processing of the processing means, as the calculation rule, when sequentially following a node connected to the departure place, for the candidate route that does not pass through a parking lot node, the pedestrian exclusive link, and the The route calculation apparatus according to claim 1 or 2, wherein a fourth calculation rule is set so as not to pass through a public transportation platform node. The road network data storage means includes
Taxi stand node, which is a taxi stand node,
A taxi stand entrance node which is a node of the taxi stand entrance located on a road around the taxi stand;
A taxi stand exit node which is an exit node from the taxi stand located on a road around the taxi stand;
A walking approach link that allows a pedestrian to enter the taxi stand node from the taxi stand entrance node;
Storing road network data including a taxi exit link that allows a taxi to exit from the taxi stand node to the taxi stand exit node;
In the calculation rule application process of the processing means, as the calculation rule, when sequentially following a node connected to the departure place, a candidate route that does not pass through a parking lot node is not passed through the taxi stand node. 5. The route calculation device according to claim 1, wherein a fifth calculation rule is set.   In the calculation rule application processing of the processing means, as the calculation rule, when sequentially traversing the nodes connected to the departure place, after passing through the parking lot node, the public transport landing node, and / or the taxi When passing through the boarding node, the cost given to the public transportation boarding node or / and the link from the taxi boarding node to the destination is the cost when moving by the public transportation or / and the taxi. The route calculation device according to claim 3 or 4, wherein a sixth calculation rule to be changed to is set. Use parking lot designation means to designate the parking lot to be used,
The calculation rule application processing of the processing means is a node at a parking lot position other than the parking lot designated by the use parking lot designation means when sequentially tracing nodes connected to the departure place as the calculation rule. The route calculation device according to any one of claims 1 to 5, wherein a seventh calculation rule for excluding a candidate route that passes through a parking lot node from candidates for an optimum route is set. Before executing the route calculation processing by the processing means, informing means for informing the user regarding the use of the parking lot,
Input means for inputting the use of the parking lot,
When executing the route calculation process, the processing means calculates an optimum route including the parking lot when there is an input from the input means to use the parking lot after notifying from the notifying means. The route calculation apparatus according to claim 1, wherein:   The said processing means is provided with the destination node setting means which sets the node of the said destination as the said parking lot node, when the said destination is provided with a parking lot when performing the said route calculation process. Item 8. The route calculation device according to Item 6 or 7. It has an unusable parking lot designation means to designate a parking lot that should not be used,
In the calculation rule application process of the processing means, as the calculation rule, a cost given to a parking lot node which is a node of a parking lot designated by the unusable parking lot designation means is given to another parking lot node. The route calculation device according to claim 1, wherein an eighth calculation rule for changing to a higher cost than the cost to be set is set.

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