JP2006252533A - Navigation system and its terminal device, center device, queue detecting method, program for carrying out the same, and recording medium recording the program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect the tail position of a queue at an entrance of a facility and to search a route to the tail position as a destination to guide. <P>SOLUTION: A terminal device comprises a position information computing section 112 for computing position information of a device body; a wide area radio transmitting section 121 for transmitting the position information of the device body computed by the position information computing section 112, to a center device 201; a wide area radio receiving section 118 for receiving queue information related to the queue transmitted from the center device 201; and a route searching section 116 for searching a route to the tail position of the queue based on the queue information received by the wide area radio receiving section 118. The tail position of the queue for entering the entrance of a facility, an intersection, a branch road, or the like is detected, and a route to the tail can be searched. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a navigation system that sets an optimum route to a destination even when a queue is formed at the destination, and a terminal device, a center device, a queue detection method, a program that executes the navigation system, and a program therefor The present invention relates to a recording medium that records

  In general, an in-vehicle navigation system is equipped with a route guidance function that enables a driver to travel from a current position of a vehicle toward a destination desired by a driver without making a mistake.

  In a conventional navigation system, a route from a road adjacent to a departure place to a road adjacent to a destination is searched, and when reaching an actual vehicle entrance / exit (for example, a parking lot entrance / exit such as a department store) In many cases, the restrictions on the number of right and left turns, the number of lanes, and traffic information on the opposite lane are not taken into consideration. In view of this problem, the route from the road adjacent to the departure point to the road adjacent to the destination is searched, and the vehicle entrance / exit for the departure point or destination facility is set as the departure point and destination respectively. In addition, it is also possible to search for whether or not a destination can be entered by making a right turn in consideration of the presence / absence of a median, the number of oncoming lanes, and traffic conditions (for example, see Patent Document 1). ).

  Accordingly, it is possible to save time and effort for the driver to search for the location of the entrance / exit by himself / herself or to search for a detour that can enter the left turn when the right turn cannot be entered.

  Also, considering the same problem, after searching for a route for the destination, check whether the searched route is a right turn approach, and if it is a right turn approach, determine whether a right turn is possible due to a median or traffic jam. If it is impossible, it is also possible to search for a second route to detour (see, for example, Patent Document 2).

Thereby, when a right turn cannot be entered, it is possible to save the trouble of searching for a detour that can be entered by a left turn.
Japanese Patent Laid-Open No. 11-83516 JP 2001-255163 A

  However, for example, as shown in FIG. 4, even if a route to the entrance / exit 21 of the destination 20 is provided as shown by a dotted line 23 on a map showing the periphery of the facility 20 as the destination, the entrance / exit of the vehicle When a vehicle waiting to enter 21 forms a queue 24, it is necessary to set a route for the end position 22 as shown by a solid line 25. The problem arises that the driver himself has to find a detour in order to move to the end position.

  Even if there is no median or there are few lanes and there is no queue, it is easy to enter a right turn if there are queues of vehicles waiting for entry into the doorway. However, the problem arises that the driver himself has to find a detour to the end of the queue.

  That is, as a result, there arises a problem that it takes extra time to enter a vehicle entrance / exit (such as a parking lot).

  Furthermore, if the road in the direction you want to turn is congested and queued at an intersection or branch point that passes along the route to the destination, if you do not induce it to arrive at the end early, Depending on the group of vehicles that make up the queue, you may not be able to enter the direction you want to turn when you realize that there is a queue in the direction you want to go, and you will have to search for a roundabout route again, which takes extra time The problem arises.

  The present invention solves such a conventional problem, and when there is a queue at the entrance of the facility, or waits on a road in the direction where the intersection or branch point that is passing along the route to the destination is desired. Navigation system capable of detecting the end position of the queue and guiding to the end position, such as when there is a queue, and its terminal device, center device, queue information generation method, and execution thereof It is an object of the present invention to provide a program to be recorded and a recording medium on which the program is recorded.

  The terminal device of the present invention is transmitted from the center device, a position information calculation unit that calculates the position information of the device body, a terminal transmission unit that transmits the position information of the device body calculated by the position information calculation unit to the center device, and A terminal reception unit that receives queue information about a queue and a route search unit that searches for a route to the tail position of the queue based on the queue information received by the terminal reception unit.

  With this configuration, since it is possible to detect the position information of the queue, it is possible to know the end of the queue related to the facility or the like at each terminal device through the center device by transmitting the information to the center device. It is possible to search for a route to the end.

  The terminal device of the present invention has a configuration in which the queue information is information about a queue formed with respect to an entrance to a facility, a road branch point, or a road intersection.

  With this configuration, since it is possible to detect the position information of the queue formed with respect to the entrance / exit of the facility or the road junction or road intersection, each terminal is transmitted through the center device by transmitting the information to the center device. In the apparatus, the end position of the queue formed with respect to the entrance / exit of the facility or the road junction or road intersection can be known, and the route to the end of the queue can be searched.

  Further, the terminal device of the present invention includes a map data storage unit that stores map data, a position information of the queue based on the position information of the device body calculated by the position information calculation unit and the map data stored in the map data storage unit. And a terminal transmission unit configured to transmit the position information of the queue detected by the queue detection unit to the center device.

  With this configuration, it is possible to detect the position information of the queue using the map data, so that each terminal device can know the end of the queue through the center device by transmitting the information to the center device. It is possible to search for a route to the end.

  In the terminal device of the present invention, the map data storage unit stores map data including facility entrance / exit information, or map data including road information regarding road junctions or intersections, and the queue detection unit stores the map data. Based on the position information of the queue.

  With this configuration, since it is possible to detect the position information of the queue for the entrance to the facility or the approach to the branch or intersection of the road, by transmitting the information to the center device, each terminal device through the center device , Know the end position of the queue to any facility entrance or road branch or intersection, and search for the route to the end of any facility entrance or road branch or intersection Become.

  Further, in the terminal device of the present invention, the queue detection unit determines whether or not the destination of the facility entrance of the road along the facility is congested, or the road on the extension line in the traveling direction of the branch or intersection is congested. The position information of the queue is detected based on the result of determining whether or not it is.

  With this configuration, it can be determined that the traffic jam at the entrance / exit of the facility or the road junction or intersection is not based on a general traffic jam.

  In the terminal device of the present invention, whether or not the queue detection unit is located on the road where the position of the device main body proceeds along the section including the facility is based on the position information calculated by the position information calculation unit. And a second determination unit that determines whether or not the movement of the position of the apparatus main body is within a predetermined distance within a predetermined time.

  With this configuration, since it is possible to detect the queue position information and the queue waiting time for the entrance to the entrance of the facility, by transmitting the information to the center device, each terminal device through the center device can arbitrarily It is possible to know the end position of the queue to the facility entrance and the queue waiting time, and to search for a route to the end of the entrance of any facility along with provision of the waiting time.

  In addition, the terminal device of the present invention has a configuration in which the road traveling along the section including the facility is a road traveling in the counterclockwise or clockwise direction along the section including the facility.

  With this configuration, even if the road traveling along the section containing the facility is a road traveling in the counterclockwise or clockwise direction along the section including the facility, the queue for the entrance to the facility entrance / exit It is possible to search for a route appropriately to the end.

  In the terminal device of the present invention, the queue detection unit determines whether the movement of the device main body before the branching point or the intersection is within a predetermined distance within a predetermined time based on the positional information calculated by the positional information calculation unit. It has the structure which determines.

  With this configuration, it is possible to determine whether or not the terminal device is in a queue before the branch point or the intersection.

  The terminal device of the present invention further includes a display unit that displays the route to the end position of the queue searched by the route search unit in a superimposed manner on the map data stored in the map data storage unit. Have.

  With this configuration, when there is a queue related to the facility or the like, the route information to the end position of the queue is displayed on the map, so that the driver can easily grasp it.

  Further, the terminal device of the present invention provides at least one of information indicating the end position of the queue, information indicating the position of the queue, and text information including at least one of the queue waiting time or the queue length of the queue. And a display unit for displaying one of them.

  With this configuration, depending on the queue waiting time or queue length of the queue, the driver can determine in advance what to do when going to the facility, and the queue information is displayed on the screen. , Information can be easily obtained based on the information.

  In addition, the terminal device of the present invention has a configuration in which the queue information includes at least one of a queue end position, a queue waiting time, or a queue length.

  With this configuration, in the terminal device, the end of the queue is transmitted from the center device based on queue information including at least one of the queue end position, the queue waiting time of the queue, or the queue length. The route to can be searched.

  Furthermore, the center device of the present invention includes a center receiving unit that receives position information from the terminal device, a queue information generating unit that generates queue information based on the position information, and a center that transmits the queue information to the terminal device. And a transmission unit.

  With this configuration, based on the position information from the terminal device, these can be statistically aggregated and the respective queue information can be provided to the terminal device. In the terminal device, the queue information from these center devices is used. Thus, the route to the end of the queue can be searched accurately.

  The center device according to the present invention has a configuration in which the queue information is information related to a queue formed with respect to an entrance to a facility, a road branch point, or a road intersection.

  With this configuration, the terminal device can search for a route to the end of the queue formed with respect to the entrance to the facility, the road junction, or the road intersection.

  In the center device of the present invention, the center receiving unit receives the queue position information from the terminal device, and generates a queue information related to the queue based on the queue position information received by the center receiving unit. A queue information generation unit is further provided, and the center transmission unit is configured to transmit the queue information generated by the queue information generation unit to the terminal device.

  With this configuration, based on the queue position information from the terminal device, these can be statistically aggregated to generate queue information at each position and provided to the terminal device. Using the queue information from the device, it is possible to accurately search for a route to the end of the queue.

  Further, the center device of the present invention includes a map accumulation unit that accumulates map data, a queue detection unit that detects position information of a queue based on position information and map data accumulated in the map data accumulation unit, and a queue A queue information generation unit that generates queue information related to the queue based on the position information of the queue, and the center transmission unit has a configuration for transmitting the queue information generated by the queue information generation unit to the terminal device .

  With this configuration, the center device detects the queue position information based on the queue position information and map data received from the terminal device, and generates queue information related to the queue, and the generated queue information. Can be transmitted to the terminal device.

  In the center device of the present invention, the map data storage unit stores map data including facility entrance / exit information or map data including road information regarding road junctions or intersections, and the queue detection unit stores the map data. Based on the position information of the queue.

  With this configuration, the center apparatus can detect the position information of the queue with respect to the entrance of the facility or the approach to the road junction or intersection.

  Further, in the center device of the present invention, the queue detection unit determines whether or not the destination of the facility entrance of the road along the facility is congested, or the road on the extension line in the traveling direction of the branch or intersection is congested. The position information of the queue is detected based on the result of determining whether or not it is.

  With this configuration, the center device can determine that the traffic jam at the entrance / exit of the facility or the road junction or intersection is not based on a general traffic jam.

  Further, the center device of the present invention, the queue detection unit, based on the position information, a first determination unit that determines whether the terminal device is located on the road traveling along the section including the facility, A second determination unit that determines whether or not the movement of the terminal device is within a predetermined distance within a predetermined time.

  With this configuration, the center apparatus can detect the queue position information and the queue waiting time for the entrance to the facility entrance.

  The center device of the present invention has a configuration in which the road traveling along the section including the facility is a road traveling in the counterclockwise or clockwise direction along the section including the facility.

  With this configuration, the center device detects the position information of the queue even if the road traveling along the section including the facility is the road traveling in the counterclockwise or clockwise direction along the section including the facility. can do.

  Further, the center device of the present invention has a configuration in which the queue detection unit determines whether or not the movement of the terminal device is within a predetermined distance within a predetermined time before the branching point or the intersection based on the position information.

  With this configuration, it is possible for the center device to determine whether or not the terminal device is in a queue before the branch point or intersection.

  The center device of the present invention has a configuration in which the queue information includes at least one of a queue end position, a queue waiting time of the queue, and a queue length.

  With this configuration, these are statistically aggregated based on the queue position information from the terminal device, and the queue position, the queue waiting time, and the queue length at each position. Queue information including at least one of the queue information can be generated and provided to the terminal device, and the terminal device can accurately search the route to the end of the queue using the queue information from these center devices.

  Furthermore, the navigation system of the present invention has a configuration including any one of the above terminal devices and a center device.

  With this configuration, the terminal device can detect the position information of the queue and transmit it to the center device. The center device transmits the queue information to many terminal devices including other terminal devices. Therefore, the terminal device can receive information from the center device, search for a route to the end of the queue, and provide guidance.

  Furthermore, the queue detection method of the present invention determines whether or not the position of the terminal device is located on a road along the section including the destination or the facility, and the traveling direction of the terminal device follows the section of the destination or the facility. A first step for determining whether or not the direction of the terminal device moves and whether or not the movement of the position of the terminal device is equal to or less than a predetermined distance within a predetermined time, and a result obtained by combining the determinations satisfy a preset condition. And a second step of determining a queue at times.

  With this configuration, it is possible to accurately detect the position of the queue to the destination or the entrance of the facility, and use this to provide a route with the end position of the queue as the destination or facility. Even if the user sets a destination or facility with a queue, it is possible to search for a route that can easily reach the destination or facility without waste.

  Furthermore, the queue detection program of the present invention determines whether the position of the terminal device is located on the road along the section including the destination or the facility, and the traveling direction of the terminal device follows the section of the destination or the facility A first step for determining whether or not the direction of the terminal device moves and whether or not the movement of the position of the terminal device is equal to or less than a predetermined distance within a predetermined time, and a result obtained by combining the determinations satisfy a preset condition. And a configuration for causing the computer to execute a second step of determining a queue sometimes.

  With this configuration, it is possible to accurately detect the position of the queue to the destination or facility entrance / exit using a computer, and use this to provide a route that uses the end position of the queue as the destination or facility. Therefore, even if the user sets a destination or facility having a queue, it is possible to search for a route that can be easily and efficiently reached without waste.

  Furthermore, a computer-readable recording medium on which the queue detection program of the present invention is recorded has a configuration for causing the computer to execute the queue detection program.

  With this configuration, it is possible to read from a recording medium such as a CD-ROM and use a computer to accurately detect the position of the queue to the facility entrance and exit, and use this to determine the end position of the queue. Therefore, even if the user sets a facility with a queue as a facility, it is possible to search for a route that can be easily and efficiently reached without waste. .

  Furthermore, the terminal device of the present invention includes a position information calculation unit that calculates position information of the device main body, a destination setting unit that sets a destination to which the device main body is directed, an intersection on the position information of the device main body and the destination or route Or it has the structure provided with the terminal transmitter which transmits the information regarding a branch point to a center apparatus, and the terminal receiver which receives the queue information regarding the queue transmitted from the center apparatus.

  With this configuration, the terminal device receives information on the queue where the terminal device is located from the center device by transmitting the position information and information on the destination or the intersection or branch point on the route to the center device.

  In addition, the terminal device of the present invention further includes a queue detection unit that detects the position information of the queue from the positional relationship between the intersection or branch point on the destination or route and the device body, or the speed of the device body.

  With this configuration, the terminal device transmits information on the queue where the terminal device is located from the center device by transmitting the location information of the queue where the terminal device is located and information on the destination or the intersection or branch point on the route to the center device. Receive.

  In addition, the terminal device of the present invention has a configuration in which the information on the intersection or branch point on the route is the information on the previous or next intersection or branch point.

  With this configuration, the terminal device receives not only the queue before the intersection or branch point that is the current destination, but also continuous queue information ahead.

  In addition, the center device of the present invention includes a center receiving unit that receives position information of a terminal device and information on a destination or an intersection or a branch point on a route from the terminal device, and a queue that generates queue information based on the position information. An information generation unit and a center transmission unit that transmits queue information to the terminal device are included.

  With this configuration, the center device transmits information related to the queue in which the terminal device is located to the terminal device based on the location information of the terminal device transmitted from the terminal device and the information on the destination or the intersection or branch point on the route. .

  In the center device of the present invention, the queue information generation unit has a configuration for generating queue information from a set of location information of terminal devices having the same information regarding an intersection or a branch point on a destination or route.

  With this configuration, the center device generates queue information from a set of location information of terminal devices having the same information regarding the intersection or branch point on the destination or route.

  The center device of the present invention further includes a queue detection unit that detects the positional information of the queue from the positional relationship between the intersection or branch point on the destination or route and the terminal device, or the speed of the terminal device.

  With this configuration, the center device detects the position information of the queue from the positional relationship between the intersection or branch point on the destination or route and the terminal device, or the speed of the terminal device.

  The center device of the present invention has a configuration in which the information on the intersection or branch point on the route is the information on the previous or next intersection or branch point.

  With this configuration, the center device transmits not only the queue before a certain intersection or branch point but also the queue information ahead.

  As described above, according to the navigation system of the present invention, the terminal device includes the terminal device and the center device that can communicate with each other, and the terminal device calculates the position information of the terminal device body, and the position information calculation unit. Based on the queue information received by the terminal receiver, the terminal receiver for receiving the queue information related to the queue transmitted from the center device, And a route searching unit for searching for a route to the end position of the queue, and the center device receives the location information from the terminal device and transmits the queue information corresponding to the location information to the terminal device. And a center transmission unit. With this configuration, the terminal device can detect queue position information and transmit it to the center device. Since the device transmits the queue information of the queue corresponding to the waiting position information to many terminal devices including other terminal devices, the terminal device receives the information from the center device and supports the position information. You can search and guide the route to the end of the queue.

  In addition, according to the terminal device of the present invention, the position information calculation unit for calculating the position information of the apparatus main body, the destination setting unit for setting the destination to which the apparatus main body is directed, the position information of the apparatus main body and the information on the destination And a terminal receiving unit for receiving queue information related to the queue transmitted from the center device. According to the center device of the present invention, the location information of the terminal device and the terminal The terminal device includes a center receiving unit that receives information about a destination to which the device is directed from the terminal device, and a center transmission unit that transmits queue information corresponding to the position information to the terminal device. By transmitting the position information of the apparatus main body and the information on the destination to the center apparatus, the queue can be detected in the terminal apparatus.

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

(Embodiment 1)
1, 2 and 3 are schematic block diagrams showing the configuration of the navigation system according to Embodiment 1 of the present invention. In the present embodiment, as shown in FIG. 1, a case where the terminal device is an in-vehicle terminal device 101 will be described as an example.

  In FIG. 1, an in-vehicle terminal device 101 includes a digital map database 110 as a map data storage unit in which a road network including information about entrances and exits of vehicles is stored in facility information on map data, and an in-vehicle terminal device 101. A sensor unit 111 having a GPS receiver, a gyro sensor, and the like for detecting the position and traveling direction of the vehicle and the like, and a position information calculating unit 112 for calculating the vehicle position information and the traveling direction based on the sensor information from the sensor unit 111, It has.

  Furthermore, the in-vehicle terminal device 101 has information on whether the vehicle is located on the road along the section including the facility, the location information of the vehicle, the information on the entrance / exit of the facility in the map data, the traffic congestion information ahead of the entrance / exit of the facility, A queue detection unit 113 is provided for detecting whether a queue is formed at the entrance of the facility based on the speed information of the vehicle at that time.

  Specifically, as shown in FIG. 3, the queue detection unit 113 of the present embodiment uses the speed information and the digital map database 110 for the vehicle position information and the traveling direction calculated by the position information calculation unit 112. While referring to the map data regarding the entrance of the facility, the traffic information at the destination of the entrance of the facility of the traffic information storage unit 117, and the detection result detected by the destination periphery information detection unit 115, the counterclockwise along the section including the facility As a result of the determination by the first determination unit 1131 and the first determination unit 1131 that determine whether or not the vehicle is traveling on the road traveling in the direction, it is determined whether or not the vehicle moves within a predetermined distance within a predetermined time. A queue for entering the entrance of the facility by adding the weighting factor to the evaluation value (that is, the train that is generated to enter the facility unlike ordinary traffic jams) A second determination unit 1132 that determines whether or not the current position is from the evaluation value, and determines position information at the time when measurement of a predetermined time is started as end position information of the queue; and And a matrix waiting time measuring unit 1133 that measures a required time (hereinafter referred to as a matrix waiting time) from the time when measurement is started until it reaches the entrance of the facility.

  Here, as described above, the queue detection unit 113 determines the weighting factor based on the moving distance of the vehicle within a predetermined time. For example, the weight is determined depending on whether the moving distance within one minute is 50 m or less. The coefficient can be determined.

For example, in the traffic information guidelines, traffic congestion is defined as 10 km / h or less, and when waiting for a parking lot that is a queue when the destination is a parking lot, the traffic jam is less than the traffic jam.
Since it is considered to be slower than the walking speed, assuming that the vehicle travels at a speed of 3 km or less when waiting for a parking lot, the vehicle moves 50 m or less in one minute. Therefore, in this way, if the movement is within 50 m per minute, it can be determined as a traffic jam.

  Further, the in-vehicle terminal device 101 includes a travel locus storage unit 120 that accumulates travel locus information (including at least one of a latitude / longitude coordinate sequence, a travel speed, and a traveling direction) calculated by the position information calculation unit 112; The vehicle trajectory information and the queue position information (that is, the position information of the vehicle in the queue to the facility and the queue waiting time) are transmitted via the wide area radio 122 and the network 123. And a wide area wireless transmission unit 121 as a terminal transmission unit that transmits to the center apparatus 201.

  Here, the wide area wireless 122 represents a communication means such as a cellular phone network, the Internet network, an optical / radio wave beacon, a wireless LAN, and a specific low power wireless (hereinafter, the wide area wireless has the same meaning).

  Furthermore, the in-vehicle terminal device 101 includes an input information setting unit 114 (that has a function of a destination setting unit) for setting information on a route such as a departure point, a destination, and a search condition. At this time, the position information of the vehicle acquired by the position information calculation unit 112 may be set as the departure place. Search conditions include, for example, searching for the shortest arrival time to the destination (time priority search) and searching for the shortest arrival distance to the destination (distance priority search). ) Furthermore, it indicates the conditions of the route to be searched, such as searching for a highway with priority (highway priority search) and searching for a general road (general road priority search). .

  On the other hand, the center apparatus 201 shown in FIG. 2 includes a wide area wireless reception unit 211 as a center reception unit that receives the travel locus information and the queue position information from a plurality of vehicles via the wide area wireless 122 and the network 123. A moving body information storage unit 212 that stores travel locus information and queue position information is provided.

  Further, the center device 201 uses a method such as statistical processing to generate traffic information (information related to traffic that generally occurs regardless of the destination) from the travel locus information stored in the mobile body information storage unit 212. The generation unit 213 and the position information of the in-vehicle terminal device group using a method such as statistical processing from the position information of the queue, that is, the queue information (in the present embodiment, at least of the queue end position and the queue waiting time) And a matrix information generation unit 214 that generates information including one).

  Furthermore, the center device 201 combines the traffic information generated by the traffic information generation unit 213 and the queue information generated by the matrix information generation unit 214 with reference to the digital map database 218, A traffic information accumulation unit 216 that accumulates information synthesized by the traffic information synthesis unit 215, and a center transmission unit that transmits the traffic jam information and queue information to the in-vehicle terminal device 101 via the network 124 and the wide area radio 125 As a wide area wireless transmission 217.

  The in-vehicle terminal device 101 receives the wide area wireless reception unit 118 as a terminal reception unit that receives traffic information such as traffic jam information and traffic regulations and queue information transmitted from the center device 201 and the wide area wireless reception unit 118. And a traffic information storage unit 117 for storing the traffic information and queue information.

Further, the in-vehicle terminal device 101 extracts the traffic information and queue information included in a predetermined range centered on the destination set in advance by the input information setting unit 114, and the destination surrounding information extracting unit 11 extracts the traffic information and the queue information.
5. From the queue information to the vehicle entrance / exit of the facility that is the destination, set the end position of the queue to the temporary destination, and the traffic information from the departure point to the vehicle entrance / exit via the temporary destination And a route search unit 116 for searching while taking the above into consideration. As a route search method at this time, a Dijkstra method, another shortest route search method, or the like can be adopted.

  Furthermore, as shown in the route explanatory diagram of FIG. 4, the in-vehicle terminal device 101 includes a digital map display unit 119 that superimposes and displays the searched route information on a digital map.

  In FIG. 4, when the entrance / exit 21 of the vehicle of the facility 20 to be visited is set as the destination, in the case of the conventional system, the vehicle is guided by the dotted line 23, but according to the present embodiment, the queue 24 Is set as a temporary waypoint and can be guided by a solid line 25, eliminating the need to search for a detour to the end of the queue as in the prior art.

  In addition, the in-vehicle terminal device 101 uses the digital map display unit 119 to display, in addition to the traffic information received from the center device 201, a mark 801 indicating the end position of the queue, as shown in the route explanatory diagram of FIG. Among text information 804 indicating at least one of a mark 802 indicating a queue, a line segment 803 representing a queue from the end position of the queue to the entrance of the facility, a waiting time of the queue, a queue length, and a destination facility name At least one of them may be displayed.

  Next, details of the method of detecting the queue position information in the present embodiment will be described with reference to FIGS.

  6 and 7 show flowcharts for detecting queue information in the in-vehicle terminal device 101 when the destination is not set by the input information setting unit 114 in the in-vehicle terminal device 101.

  In the in-vehicle terminal 101, when the queue detection unit 113 acquires the vehicle position information and the traveling direction calculated by the position information calculation unit 112 based on the sensor information from the sensor 111, the digital map database 110 in which the road network is accumulated and The first determination unit 1131 determines whether or not the vehicle position information is located on the road along the section including the facility on the digital map while referring to the detection result of the destination periphery information detection unit 115 (S401). ).

  That is, as shown in the explanatory diagram of the route in FIG. 5, it is determined whether or not the vehicle position coincides with the counterclockwise road 303 along the section 302 including the facility 301 as the destination. In FIG. 5, 305 indicates the vehicle entrance / exit of the facility 301, and 306 indicates the end position of the queue.

  If the result of determination in step S401 is on the road (Yes in S401), the weight coefficient α1 is added to the matrix evaluation value (S402). If not on the road (No in S401), the weight is smaller than the weight coefficient α1. The coefficient α2 (α1> α2) is added to the matrix evaluation value (S403). Here, for example, α1 = 1.0, α2 = 0, and the like can be applied as weighting factors.

  Next, it is determined whether the traveling direction of the vehicle calculated by the position information calculation unit 112 matches the direction of the counterclockwise road of the facility section (S404).

  That is, as shown in FIG. 5, it is determined whether the counterclockwise direction (the arrow direction of the road 303) along the section 302 including the facility 301 matches the traveling direction of the vehicle.

  The first determination unit 1131 performs a series of processes from step S401 to step S404.

  As a result of the determination in step S404, if the directions match (Yes in S404), the weighting factor β1 is added to the matrix evaluation value (S405), and if the directions do not match (No in S404), the weight is smaller than the weighting factor β1. The coefficient β2 (β1> β2) is added to the matrix evaluation value (S406). Here, for example, β1 = 1.0, β2 = 0, or the like can be applied as the weighting factor.

  Furthermore, the second determination unit 1132 determines whether or not there is a movement within a predetermined distance within a predetermined time by referring to the vehicle position information and determining from the movement time and movement speed. Then, this is divided into three stages. First, as described above, it is determined whether the movement is less than 50 m within one minute (for example, 3 km / h or less as described above) (S407).

  If the result of determination in step S407 is affirmative (Yes in S407), the weighting factor γ1 is added to the matrix evaluation value (S408), and if negative (No in S407), then the vehicle is within one minute. It is determined whether the movement is 50 m or more and less than 80 m (for example, 3 to 5 km / h) (S409).

  If the result of determination in step S409 is affirmative (Yes in S409), a weighting factor γ2 (γ1> γ2) smaller than the weighting factor γ1 is added to the matrix evaluation value (S410), and if negative (No in S409) That is, if the movement of the vehicle is 80 m or more per minute (for example, 5 km / h or more), a weighting factor γ3 (γ2> γ3) smaller than the weighting factor γ2 is added to the matrix evaluation value (S411). Here, for example, γ1 = 3.0, γ2 = 2.0, γ3 = 1.0, and the like can be applied as weighting factors.

  Thereafter, it is determined whether or not the total matrix evaluation value (α + β + γ) is equal to or greater than a preset threshold value σ (α + β + γ ≧ σ, for example, σ = 4.0) (S412).

  If the result of determination in step S412 is greater than or equal to the threshold σ (Yes in S412), the position information of the in-vehicle terminal device at the start of measurement for a predetermined time is registered as position information of the queue (S413). The time required to reach the entrance of the facility from the queue position is calculated and registered using the travel locus (position information) stored in the travel locus storage unit 120 (S414), and the position information and queue of the queue are calculated. The waiting required time information is transmitted to the center apparatus via the wide area information transmitting unit 121 (S415), and the series of processing ends.

  The processes from step S405 to step S413 are performed by the second determination unit 1132, and the processes of steps S414 and S415 are performed by the matrix waiting time measuring unit 1133.

  If the matrix evaluation value (α + β + γ) summed up in step S412 is equal to or smaller than a preset threshold value σ (No in S412), it is determined that the queue is not in a queue state, and the operation of detecting the queue position information is performed. finish.

  Next, details of a method for detecting information including queue position information and queue waiting time information with higher accuracy will be described with reference to FIGS.

  8 and 9 are flowcharts for detecting the position information of the queue with higher accuracy by setting the destination by the input information setting unit 114 in the in-vehicle terminal device 101.

  In the in-vehicle terminal device 101, when the queue detection unit 113 acquires the vehicle position information and the traveling direction calculated by the position information calculation unit 112 based on the sensor information from the sensor unit 111, the digital map database in which the road network is accumulated The first determination unit 1131 determines whether the position information of the vehicle is located on a road along the section including the facility on the digital map while referring to the detection results at 110 and the destination periphery information detection unit 115. (S501).

  That is, as shown in FIG. 5, it is determined whether or not the vehicle position coincides with a counterclockwise road 303 along a section 302 including a facility 301 as a destination.

  If the result of determination in step S501 is on the road (Yes in S501), the weighting factor α1 is added to the matrix evaluation value (S502). If not on the road (No in S501), the weighting factor α1 is smaller than the weighting factor α1. The weight coefficient α2 (α1> α2) is added to the matrix evaluation value (S503). Here, for example, α1 = 1.0, α2 = 0, and the like can be applied as weighting factors.

  Then, the facility entrance / exit is the destination set in advance in the input information setting unit 114, and whether the destination is set in the input information setting unit 114 is detected as to whether the vehicle is being routed. Or by detecting whether the route search unit 116 has calculated the route information to the destination (S504).

  In other words, if the route is being guided, it is more likely that low-speed driving or movement along the section near the destination will be present in the queue at the entrance of the destination facility compared to when the route is not being guided. Determining whether the route is being guided in step S504 increases the accuracy with which it is determined that the vehicle position information is the queue position information.

  As a result of the determination in step S504, if the route is being guided (Yes in S504), the weighting factor ζ1 is added to the matrix evaluation value (S505). If the route is not being guided (No in S504), the weighting factor ζ1 is used. The smaller weight coefficient ζ2 (ζ1> ζ2) is added to the matrix evaluation value (S506). Here, for example, ζ1 = 2.0, ζ2 = 1.0, etc. can be applied as weighting factors.

  Subsequently, it is determined whether or not the traveling direction of the vehicle calculated by the position information calculation unit 112 matches the counterclockwise direction of the facility section (S507). That is, as shown in FIG. 5, it is determined whether the counterclockwise direction (the arrow direction of the road 303) along the section 302 including the facility 301 matches the traveling direction of the vehicle.

  The first determination unit 1131 performs a series of processes from step S501 to step S507.

  As a result of the determination in step S507, if the directions match (Yes in S507), the weighting coefficient β1 is added to the matrix evaluation value (S508), and if they do not match (No in S507), the weight smaller than the weighting coefficient β1. The coefficient β2 (β1> β2) is added to the matrix evaluation value (S509). Here, for example, β1 = 1.0, β2 = 0, or the like can be applied as the weighting factor.

  Further, referring to the vehicle position information, the second determination unit 1132 determines whether the movement is within a predetermined distance within a predetermined time as a result of the determination based on the movement time and the movement speed (S510).

  In this case as well, as in the case of FIGS. 6 and 7, it is divided into three stages, and it is first determined whether the movement is less than 50 m within one minute (S510).

  If the determination result in step S510 is affirmative (Yes in S510), the weighting factor γ1 is added to the matrix evaluation value (S511). If the determination result is negative (No in S510), then the vehicle Is determined to be a movement of 50 m or more and less than 80 m within 1 minute (S512).

  If the result of determination in step S512 is affirmative (Yes in S512), a weighting factor γ2 (γ1> γ2) smaller than the weighting factor γ1 is added to the matrix evaluation value (S513), and if negative (No in S512) In other words, if the movement of the vehicle is 80 m or more per minute, a weighting factor γ3 (γ2> γ3) smaller than the weighting factor γ2 is added to the matrix evaluation value (S514). Here, for example, γ1 = 3.0, γ2 = 2.0, γ3 = 1.0, and the like can be applied as weighting factors.

  Here, in order to further improve the accuracy of the position information of the queue, the general road accumulated in the traffic information accumulation unit 117 indicates that the road on the extension in the traveling direction of the road along the section including the facility is not congested. Is determined using the traffic jam information (S515).

  That is, as shown in FIG. 5, for roads 303 (four roads in FIG. 5) along the section 302 including the destination 301, the roads 304 (dotted arrows in FIG. 5) ahead are not congested. The determination in step S510 results from the queue to the vehicle entrance / exit of the facility. Therefore, by determining whether or not the road ahead of the section including the destination facility is congested in step S515, as in step S504, it is possible to increase the accuracy with which the vehicle position information is the queue position information. .

  Therefore, as described above, it is first determined whether or not the road on the extension of the traveling direction of the road along the section including the facility is congested (S515).

  If the result of determination in step S515 is that there is a traffic jam (Yes in S515), the weighting factor ξ1 is added to the matrix evaluation value (S516), and if there is no traffic jam (No in S515), it is smaller than the weighting factor ξ1. The weighting coefficient ξ2 (ξ1> ξ2) is added to the matrix evaluation value (S517). Here, for example, ξ1 = 2.0, ξ2 = 1.0, etc. can be applied as weighting factors.

  Thereafter, it is determined whether the total matrix evaluation value (α + ζ + β + ξ + γ) is equal to or greater than a preset threshold value σ (α + ζ + β + ξ + γ ≧ σ, for example, σ = 7.0) (S518).

  If the result of determination in step S518 is greater than or equal to the threshold σ (Yes in S518), the position information of the in-vehicle terminal device at the time of starting the measurement for a predetermined time is registered as the position information of the queue (S519), The required time from the queue position to the facility entrance is calculated and registered (S520), and the queue position information and the queue wait time information are sent to the center device 201 via the wide area information transmission unit 121. (S521), and a series of processing ends.

  The processes from step S508 to step S519 are performed by the second determination unit 1132, and the processes of steps S520 and S521 are performed by the matrix waiting time measurement unit 1133.

  If the matrix evaluation value (α + ζ + β + ξ + γ) summed up in step S518 is equal to or smaller than a preset threshold value σ (No in S518), it is determined that the queue is not in a queue state, and the operation of detecting the queue position information is performed. finish.

In the embodiment shown in FIGS. 6, 7, 8 and 9, the matrix evaluation value is determined that the vehicle does not exist in the queue when the vehicle becomes, for example, 10 km / h or more. And is initialized. Thereafter, when the speed is 10 km or less, the weighting factors α, β,
, Ζ, ξ are added.

  6 and 7, the weighting factors α, β, and γ are determined in this order, and the weighting factors α, β, γ, ζ, and ξ are determined in this order and added in this order. However, the present invention is not limited to this, and the order in which the weighting coefficients α, β, γ, ζ, ξ are judged or the order of addition may be any order. It goes without saying that the same effect can be obtained by adding the values.

  FIG. 10 is a flowchart illustrating an operation when the queue information (that is, the position information of the in-vehicle terminal device group in the queue) is generated in the center device 201.

  In FIG. 10, when the center device 201 receives queue position information from a plurality of in-vehicle terminal devices 101 via the wide-area wireless reception unit 211 (S601), the queue position information is received from the in-vehicle terminal device 101 at the same time. After the vehicle travel locus information is accumulated in the moving body information accumulation unit 212, the queue information generation unit 214 performs statistical processing such as an average value in the past accumulation information to generate the tail position information of the queue (S602). Further, matrix waiting time information is generated (S603).

  Next, the traffic information generated by the traffic information generation unit 213 and the queue information generated by the queue information generation unit 214 are referred to the digital map database 218 in which the latest road network information is stored. The information is combined in the information combining unit 215 (S604), and this is stored in the traffic information storage unit 216, and the traffic jam information and queue information are transmitted to the in-vehicle terminal device 101 via the wide area wireless transmission 217 (S605).

  FIG. 11 is a flowchart illustrating an operation in the case where the in-vehicle terminal device 101 searches for a route whose destination is the tail position of the queue based on the traffic information and the queue information received from the center device 201.

  In FIG. 11, in the in-vehicle terminal device 101, the input information setting unit 114 first sets a departure place and a destination (S701). At this time, the current position of the vehicle acquired from the position information calculation unit 112 may be set as the departure point.

  When the destination is set, the vehicle entrance / exit position information is acquired from the facility information of the destination in the digital map database 110, and the destination position is set as the vehicle entrance / exit position (for example, the vehicle entrance / exit 21 in FIG. 4) ( S702).

  Next, the route search unit 116 refers to the traffic information storage unit 117 and determines whether traffic information is received from the center device 201 (S703).

  If traffic information is not received as a result of the determination in step S703 (No in S703), it is determined whether or not the search process is the first time after the destination is set (S708), and in step S708. As a result of the determination, if it is the first search process (Yes in S708), a route search is performed using the vehicle entrance and exit as the destination (temporary waypoint) without using the traffic information. It is determined whether it has reached (S710).

  As a result of the determination in step S708, if it is not the first search process but a second or more search (No in S708), it is determined whether or not the destination (temporary transit point) has been reached (S710).

In step S703, it is determined whether traffic information is received from the center apparatus 201 (
If traffic information is received as a result of S703) (Yes in S703), the destination periphery information extraction unit 115 checks the presence or absence of queue information in the traffic information storage unit 117, and queues around the destination It is determined whether information is received from the center apparatus 201 (S704).

  If the result of determination in step S704 is that queue information around the destination has not been received (No in S704), route search using the traffic information in the traffic information storage unit 117 as the destination at the vehicle entrance / exit Is executed (S707), and it is determined whether or not the destination (provisional waypoint) has been reached (S710).

  If it is determined in step S704 that queue information around the destination has been received from the center apparatus 201 (S704), if queue information around the destination has been received (Yes in S704), traffic The end position of the queue is specified from the information storage unit 117, the place is set as a temporary stop (for example, the end position 22 of the queue in FIG. 4) (S705), and the traffic information of the traffic information storage unit 117 is used. A route search with the temporary transit point (that is, the tail position of the queue) as the destination is executed, and a route from the temporary transit point to the entrance of the facility vehicle is also generated (S706).

  Then, the vehicle position information acquired by the position information calculation unit 112 is compared with the route information acquired by the route search unit 116, and a temporary stop point (if the temporary stop point is not set, destination = vehicle It is determined whether or not the doorway position has been reached (S710).

  If the result of determination in step S710 is that the destination (temporary waypoint) has not been reached (No in S710), the process returns to step S703, and the same operation is repeated thereafter.

  In other words, when new traffic information or queue information is received before reaching the destination, a route search is performed using the new traffic information as the provisional waypoint at the end position of the new queue.

  If the result of determination in step S710 is that the destination (provisional waypoint) has been reached (Yes in S710), a series of route search processing is terminated.

  By the above, it is possible to detect the queue end position of the entrance / exit of the vehicle provided in the facility, and to perform a route search using the end position as the destination, which allows the driver to detour to the end of the queue. There is no need to search each time, and it is possible to save extra time. As a result, it also contributes to reducing traffic congestion in the surrounding area.

  In this embodiment, the center device and the in-vehicle terminal device constitute a navigation system. However, the in-vehicle terminal device may be a mobile terminal such as a personal computer, a mobile phone, or a PDA, and in short, is movable. Any terminal device may be used.

  In the present embodiment, the in-vehicle terminal device detects the position information of the queue and the queue waiting time, and transmits them to the center device. However, in the in-vehicle terminal device, the position information and the traveling direction are detected. , It is assumed that only traveling locus information such as speed information is detected and transmitted to the center device, and the center device detects the queue, the queue position information, the queue waiting time, etc. Thus, the load on the in-vehicle terminal device can be reduced.

That is, the center device 201 shown in FIG. 1 further includes a function like the queue detection unit 113 shown in FIG. 3, thereby reducing the load on the in-vehicle terminal device. Specifically, the center device 201 is stored in the general traffic jam information stored in the traffic information storage unit 216 and the digital map database 218 based on the position information of the in-vehicle terminal device 101 received by the wide area wireless reception unit 211. It is only necessary to include a queue detection unit that detects position information of a queue formed by the in-vehicle terminal device 101 using map data of a facility or the like and supplies the detection result to the queue information generation unit 214. .

  However, in the present invention, the queue information may be generated by either the center device or the terminal device.

  As described above, according to the present embodiment, when there is a queue at the entrance / exit of the facility, the queue is detected and the position information of the queue is transmitted to the center device. You can know the end of the queue to the entrance and exit of any facility, and if there is a queue by searching for the route to that destination with the end of the queue as the destination, without knowing it It is very useful for the user, because it can save the extra time of going to the entrance of the facility and then looking for the end of the queue.

  And if you provide the waiting time of the queue, you can also decide what to do in advance when you go to the facility, and if you display the queue information on the screen with lines, marks, etc. Queue information can be easily obtained based on them, which is very useful.

  In the present embodiment, it is described in step S401, step S404, step S501, and step S507 whether or not the vehicle position is on the counterclockwise road 303 along the section 302 including the facility 301. However, the present invention is not limited to this. For example, a road in which traffic of a vehicle is regulated to the right-hand traffic, such as the United States, includes a facility 901 as shown in FIG. It may be determined whether or not the vehicle position coincides with the clockwise road 903 along the section 902. If the road along the section 902 including the facility 901 is one-way, one of the roads Needless to say, it may be determined whether or not the vehicle position matches on the passing road.

  In the present embodiment, the queue information includes the queue position information and the queue waiting time. However, the present invention is not limited to this, and the end position of the queue is specified. It is only necessary to include information that can be provided, for example, at least one of queue end position information, queue waiting time, or queue length. These pieces of information can be acquired by the queue detection unit 113 as in the present embodiment, or can be measured and acquired by other portions.

(Embodiment 2)
In the first embodiment, the terminal device, the navigation system, and the queue detection method for guiding to the end of the queue to the entrance / exit of the destination such as the facility have been described, but the route toward the destination such as the parking lot or the theme park The direction of a certain branch at a junction such as an expressway or a general road is a matrix due to traffic jams (hereinafter, unlike general traffic jams, it occurs in the middle of the route to the destination in this way. In this embodiment, a terminal device, a navigation system, and a queue detection method for detecting position information of this traffic queue and guiding it to the end thereof will be described in this embodiment. To do.

When branching in the direction in which the congestion queue exists, there is a case where, for example, at the exit of the expressway 1000 as shown in FIG. 14, the exit lane 1001 is congested due to congestion and the congestion queue 1002 exists. In such a case, when guiding the searched route 1003 to exit at this exit, by generating and providing guidance information that guides to the tail position 1004 of the detected congestion queue, the vehicle 1005 By making a lane change at an early stage, it will be possible to exit at an exit without fail.

  In other words, it is possible to prevent a roundabout time loss due to being unable to exit at the exit due to a queue due to congestion.

  In FIG. 14, the traffic rule is described assuming that the vehicle travels on the left side. However, the present invention is not limited to this, and the vehicle travel as shown in FIG. 15 is performed on the right side. Even in this case, the same effect can be obtained by guiding the vehicle in the same manner.

  Further, at an intersection 1200 on a general road as shown in FIG. 16, for example, a right turn lane may be congested due to traffic and a queue 1201 may exist. In such a case, when the searched route 1202 guides the vehicle to turn right at the intersection 1200, the vehicle 1204 is preliminarily fast by generating and providing guidance information for guiding to the detected congestion end position 1203. By changing the lane at certain times, you can definitely turn right at the intersection.

  In other words, it is possible to prevent a detour time loss due to the inability to turn right due to a queue due to traffic jams.

  In FIG. 16, the traffic rule is described assuming that the vehicle travels on the left side. However, the present invention is not limited to this, and the vehicle travel as shown in FIG. Even in this case, the same effect can be obtained by guiding the vehicle in the same manner.

  The configuration of the terminal device, the center device, and the navigation system of the present embodiment can be realized by the configurations shown in FIGS. 1, 2, and 3 described in the first embodiment.

  However, in the present embodiment, the digital map database 110 stores a road network including information about intersections, branch points such as expressways and general roads.

  Further, the queue detection unit 113 waits for traffic jams at each intersection or branching point while referring to map data in the digital map database 110 and traffic jam information in the traffic information storage unit 117 for vehicle position information and travel directions. Calculate the queue length of the queue (hereinafter referred to as traffic jam length), the location information of the traffic queue (hereinafter referred to as traffic jam location), and the transit time of the traffic jam queue (hereinafter referred to as traffic jam transit time) Information on the traffic jam queue including the position (hereinafter referred to as traffic jam queue information) is generated.

  The wide area wireless transmission unit 121 transmits the traffic congestion matrix information including the traffic congestion position to the center apparatus 201 together with the travel locus information.

  The in-vehicle terminal device 101 uses the wide area wireless communication to generate the traffic congestion matrix information including the traffic congestion position, the traffic congestion information (so-called general traffic congestion information), and traffic information generated by the center device 201 and traffic regulations. When received via the receiving unit 118, it is accumulated in the traffic information accumulating unit 117. When the traffic information and traffic jam matrix information included in a predetermined range centered on the destination set in advance by the input information setting unit 114 are extracted by the destination surrounding information extraction unit 115, the traffic jam matrix information at the intersection or branch point is extracted. A traffic jam position is set as a temporary destination, and a route from the departure point to the intersection or branch point and the route to the destination is searched by the route search unit 116 while taking traffic information into consideration.

  Here, if there is a traffic jam on the lane heading in the direction to bend at an intersection or highway / general road branch on the searched route, the vehicle travels with the traffic jam end position obtained from the traffic jam matrix information. The power lane is displayed on the digital map display means 119.

  As a route search method, the Dijkstra method, other shortest route search methods, and the like are adopted as in the first embodiment.

  Note that when displaying on the digital map display means 119, the lane to be traveled and the end position of the traffic jam may be displayed in an enlarged manner, or instead of the display by the digital map display means 119, guidance may be given by voice. These may be used in combination.

  Moreover, as a display method in the digital map display unit 119 of the in-vehicle terminal device 101, in addition to the general traffic information received from the center device 201, as shown in FIG. 18, a mark 1501 indicating the traffic jam end position of the traffic jam matrix information , Mark 1502 indicating a traffic jam queue, line segment 1503 representing a queue from the traffic jam end position to the traffic jam queue head position, text information 1504 indicating at least one of the traffic jam transit time or the traffic jam length, and the traffic jam queue By displaying at least one of the line segments 1505 guided to the end, visibility from the operator is improved, and route guidance with less time loss due to detouring can be performed.

  The details of the method for detecting the position information of the traffic congestion matrix including the traffic congestion position occurring at the intersection on the route and the junction of the highway / general road and the traffic passage time will be described with reference to FIG.

  In the in-vehicle terminal 101, when the queue detection unit 113 acquires the vehicle position information and the traveling direction calculated by the position information calculation unit 112 based on the sensor information from the sensor 111, the digital map database 110 in which the road network is accumulated is obtained. While referring to, it is determined whether or not the vehicle position information passes through an intersection on a digital map or a branch point such as an expressway / general road (S1401).

  In step S1401, if the vehicle position information does not pass through the intersection or branch point (No in S1401), the process is terminated.

  In step S1401, when the vehicle position information passes through an intersection or a branch point (Yes in S1401), it is specified which intersection or branch point has passed in which direction (S1402).

  Further, it is determined whether or not there is a traffic jam section that occurs due to passing through an intersection or a branch point by comparing the vehicle speed with a threshold value (S1403).

  Specifically, based on the position information determined to have passed the intersection, the average vehicle speed V is calculated for each lane at a constant distance and at a constant time, that is, for each arbitrary small section, and this is calculated as a threshold Vth (for example, A section below 3 km / h) is determined as a traffic jam section. Judgment of a traffic jam section is continuously performed in the traveling direction of the road, and a section from a small section determined to be a traffic jam section to an intersection for the first time is determined as a traffic jam section of an intersection.

  At this time, by judging whether the road ahead of the intersection or branch point of the road is a traffic jam, the traffic generated due to passing through the intersection or the branch point is not a general traffic jam but an intersection or a branch point. The accuracy with which it can be determined that the traffic queue is due to a vehicle queue in the vehicle is increased. That is, if the road ahead of the intersection or branch extension line is congested, it will be affected by general traffic congestion, not the congestion queue, but the road ahead of the intersection or branch extension line If there is no traffic jam, it can be determined that the traffic queue is related to the destination.

  Similarly, in the case of a branch point, for each lane, a section in which the average vehicle speed V calculated for any small section at a certain distance and every certain time is below the threshold value Vth is determined as a traffic jam section. Judgment of the traffic jam section is continuously performed in the traveling direction of the road, and the small section from the small section determined to be the traffic jam section for the first time until immediately before becoming the traffic jam section is determined as the traffic jam section at the branch point.

  If there is no traffic jam section in step S1403 (No in S1403), the process ends.

  If a traffic jam section exists in step S1403 (Yes in S1403), the length of the traffic jam section at the intersection or branch point is calculated (S1404), the position of the traffic jam section is calculated (S1405), and the in-vehicle terminal device A traffic jam passing time required for the mounted vehicle to pass through the traffic jam section is calculated (S1406). Thereafter, the information on the traffic jam position and the traffic jam transit time is transmitted to the center apparatus via the wide area information transmission unit 121 (S1407), and the series of processes is terminated.

  FIGS. 20 and 21 illustrate intersections of an in-vehicle terminal device 101 and intersections of expressways and general roads that exist on a route searched based on traffic jam matrix information including traffic jam positions received from the center device 201 and traffic information. It is a flowchart which shows operation | movement in the point, when the traffic congestion queue by traffic congestion has generate | occur | produced.

  20 and 21, steps S701 to S709 are the same as the operations shown in FIG. 11 when the in-vehicle terminal device performs the route search process with the end position of the matrix as the destination.

  It is determined whether or not there is a traffic jam tail position at an intersection or a highway / general road branch point existing on the route searched in steps S706 and S707 (S1601).

  In step S1601, when there is no traffic jam end position at the intersection or branch point (No in step S1601), it is determined whether or not the destination (temporary transit point) has been reached (S710).

  If there is a traffic jam tail position at the intersection or branching point in step S1601 (Yes in step S1601), the route search unit 116 guides the traffic jam tail position to the traffic jam tail position, the traffic jam tail position, the traffic jam length, the traffic jam transit time, the lane. At least one of the change guide information is generated (S1602). At least one of the generated traffic jam end position, traffic jam length, traffic jam transit time, and lane change guidance information is displayed on the digital map display unit 119 (S1603).

  Then, the vehicle position information acquired by the position information calculation unit 112 is compared with the route information acquired by the route search unit 116, and a temporary stop point (if the temporary stop point is not set, destination = vehicle It is determined whether or not the position has reached the entrance / exit position (S710). If the position information has not reached the temporary transit point (No in S710), the process returns to step 703, and the same operation is repeated thereafter. In other words, when new traffic information or queue information is received before reaching the destination, a route search is performed using the new traffic information as the provisional waypoint at the end position of the new queue.

  If the position information has reached the temporary waypoint (Yes in S710), a series of route search processing is terminated.

Note that as guidance information in step S1602, guidance information using voice may be generated, and guidance information may be provided using a voice guidance speaker or the like in step S1603.

  As described above, in the present embodiment, even if the road in the direction you want to turn at a junction such as an intersection or a highway / general road that passes along the route to the destination is congested and forms a congestion queue Since it is possible to provide guidance information for guiding to the end position, it is possible to reliably reach the end of the traffic jam and to save time loss due to detours.

  In this embodiment, the center device and the in-vehicle terminal device constitute a navigation system. However, the in-vehicle terminal device may be a mobile terminal such as a personal computer, a mobile phone, or a PDA, and in short, is movable. Any terminal device may be used.

  In the present embodiment, the in-vehicle terminal device detects the traffic jam position information and the queue time, and transmits them to the center device. However, in the in-vehicle terminal device, the position information, the traveling direction, and the speed By detecting only travel locus information such as information and transmitting it to the center device, the center device detects congestion waiting time, detects congestion location information or queue time, etc. The load on the terminal device can be reduced. That is, the center device 201 shown in FIG. 1 has a function similar to the queue detection unit 113 shown in FIG. 3 as in the first embodiment, so that the load on the in-vehicle terminal device can be reduced. it can. However, according to the present invention, the congestion tail information or the queue information may be generated by either the center device or the terminal device.

  Furthermore, in the present embodiment, the traffic jam queue information has been described as consisting of the traffic jam location information and the traffic jam transit time, but the present invention is not limited to this, information that can identify the end position of the queue due to traffic jam, For example, it is sufficient to include at least one piece of information from the end position information of the queue due to traffic jam, the queue waiting time of the queue due to traffic jam, or the length of the queue due to traffic jam. These pieces of information can be acquired by the queue detection unit 113 as in the present embodiment, or can be measured and acquired by other portions.

(Embodiment 3)
The configuration and operation of the in-vehicle terminal device 101 and the center device 201 will be described using those in the first or second embodiment.

  First, the in-vehicle terminal device 101 transmits the destination and position information to the center device 201, the center device 201 calculates the position information of the queue, generates the queue information, and the in-vehicle terminal device 101 An example of transmission will be described.

  The in-vehicle terminal device 101 has the configuration shown in FIG. 1, and the position information of the in-vehicle terminal device 101 calculated by the position information calculating unit 112 and the information about the destination set by the input information setting unit 114 (at least the destination Is transmitted from the wide area wireless transmission unit 121 to the center apparatus 201.

  These pieces of information may be sent to the center apparatus 201 via the wide area wireless transmission unit 121 at predetermined time intervals, or information detected by the queue detection unit 113 at a predetermined number of times is temporarily displayed in time series. The information stored in time series may be sent to the center apparatus 201 via the wide area wireless transmission unit 121 at certain timings.

  The center device 201 according to the present embodiment has the configuration shown in FIG. 22, and further includes a queue detection unit 219 in addition to the center device according to the first embodiment shown in FIG.

In FIG. 22, the center device 201 receives the position information and the information related to the destination transmitted from a large number of in-vehicle terminal devices 101 via the wide area wireless reception unit 211 and temporarily accumulates them in the mobile body information accumulation unit 212. Next, the queue detection unit 219 extracts only the position information of the vehicle having the same destination from the moving body information storage unit 212. Thereafter, as in step 510 shown in FIG. 9, for example, it is determined whether or not the speed of the extracted vehicle is 10 km or less, and those vehicles may form a queue for those having a speed of 10 km or less. The position information of these vehicles is detected, and the queue information generation unit 214 generates queue information from the continuity of the vehicle positions.

  Further, for the vehicles that have already reached the destination, the queue waiting time of the queue is obtained on average from the time at which the end of the queue is reached and the time at which the destination is reached. In this case, the queue time may be calculated by increasing the weight of the queue time of the latest vehicle. Alternatively, the queue waiting time may be calculated by averaging the speed information of the vehicles currently forming the queue, calculating the moving speed in the queue, and multiplying the queue length.

  Thereafter, in this way, the queue information generation unit 214 calculates the queue information including the queue waiting time calculated as shown in steps S602 and S603 of FIG. 10 as shown in step S605. The data is transmitted to the vehicle terminal device 101 via the unit 217.

  As described above, in the first case, the in-vehicle terminal device 101 transmits the destination and position information of the vehicle to the center device 201, and the center device is based on these information transmitted from a large number of in-vehicle terminal devices 101. 201 generates queue information and transmits it to the in-vehicle terminal device 101.

  Secondly, it detects that the in-vehicle terminal device 101 is in the queue, transmits the destination and the position information of the queue (position information of the terminal in the queue) to the center device 201, and the center device 201 An example in which queue information is generated from these pieces of information and transmitted to the in-vehicle terminal device 101 will be described.

  In the in-vehicle terminal device 101, the position information calculation unit 112 calculates the vehicle speed from the position information of the in-vehicle terminal device 101 detected by the sensor unit 111. Thereafter, in the queue detection unit 113, as in step 510 shown in FIG. 9, for example, it is determined whether or not the speed of the subject vehicle is 10 km or less. If the speed is 10 km or less, the vehicle forms a queue. The position information of the vehicle is transmitted as the position information of the queue to the center apparatus 201 together with information on the destination set by the input information setting unit 114 (at least the position of the destination).

  The center device 201 temporarily stores the position information of the queue and the information related to the destination transmitted from a large number of in-vehicle terminal devices 101 in the mobile body information storage unit 212 via the wide area wireless reception unit 211.

  Next, the queue information generation unit 214 extracts the position information of the queue (in time series) of the vehicles having the same destination from the moving body information storage unit 212. After that, the latest queue position information is extracted from the time information attached to the extracted vehicle queue position information and arranged on the map to generate the queue information from the continuity of the queue position information. To do. As in the first case, for the vehicles that have already reached the destination, the queue waiting time of the queue is obtained on the average from the time at which the end of the queue is reached and the time at which the destination is reached. In this case, the queue time may be calculated by increasing the weight of the queue time of the latest vehicle. Alternatively, the queue waiting time may be calculated by averaging the speed information of the vehicles currently forming the queue, calculating the moving speed in the queue, and multiplying the queue length.

  Thereafter, the queue information including the queue waiting time generated by the queue information generating unit 214 is transmitted to the vehicle terminal device 101 via the wide area wireless transmission unit 217.

  As described above, in the second case, it is detected that the in-vehicle terminal device 101 is in the queue, and the destination and the position information of the queue are transmitted to the center device 201. Queue information is generated from the information and transmitted to the in-vehicle terminal device 101.

  Thirdly, when the in-vehicle terminal device 101 is on a road along a section including a destination, the in-vehicle terminal device 101 itself detects that it is in a queue, and sends the destination and the position information of the queue to the center device 201. An example will be described in which the center device 201 transmits queue information including the queue waiting time of the queue to the in-vehicle terminal device 101 from these pieces of information.

  In the in-vehicle terminal device 101, as in the second case, the position information calculation unit 112 calculates the speed of the vehicle, and the queue detection unit 113 has a high possibility that the vehicle forms a queue. Queue status information is calculated.

  Further, as described in step S501 shown in FIG. 5, the queue detection unit 113 determines whether the vehicle is on a road along a section including the destination, and the vehicle is along the section including the destination. When on the road, only the vehicles on the road along the section including the destination are in the queue waiting state calculated by the position information calculating unit 112 and the queue detecting unit 113. And the destination information input to the input information setting unit 114 is transmitted to the center device 201.

  The center device 201 temporarily stores the position information of the queue and the information related to the destination transmitted from a large number of in-vehicle terminal devices 101 in the mobile body information storage unit 212 via the wide area wireless reception unit 211.

  Next, as in the second case, the queue information generation unit 214 extracts the position information of the queues (in time series) of the vehicles having the same destination from the moving body information storage unit 212. Thereafter, the latest queue position information is extracted from the time information associated with the extracted vehicle queue position information and arranged on the map to generate queue information from the continuity of the position information. For each vehicle, as in the second case, the queue waiting time of the queue is obtained on the average from the time when the end of the queue is reached and the time when the destination is reached. Alternatively, the queue waiting time may be calculated by averaging the speed information of the vehicles currently forming the queue, calculating the moving speed in the queue, and multiplying the queue length.

  Thereafter, the queue information including the queue waiting time of the queue generated by the queue information generating unit 214 is transmitted to the vehicle terminal device 101 via the wide area wireless transmission unit 217.

  As described above, in the third case, when the vehicle is on a road along a section including the destination, the in-vehicle terminal device 101 transmits the destination information of the vehicle and the position information of the queue to the center device 201. Then, based on these pieces of information transmitted from a large number of in-vehicle terminal devices 101, the center device 201 generates queue information and transmits it to the in-vehicle terminal devices 101. Therefore, in the case of the third case, compared to the case of the second case, the amount of data transmitted from the in-vehicle terminal device 101 to the center device 201 becomes very small, the load on the center device becomes light, and the in-vehicle The terminal device 101 can make an accurate determination.

In the first case, when the center device 201 transmits destination and position information from a large number of in-vehicle terminal devices 101, the matrix information generation unit 214 moves the mobile body information storage unit 212.
If the vehicle has the same destination and the vehicle is on the road along the section including the destination, the queue information may be generated by extracting only the position information of the vehicle. The effect of reducing the load on the device is born.

  After the fourth case, the in-vehicle terminal device 101 has a route searched by the route search unit 116, and the vehicle is on the searched route at a certain point in time, and is the nearest intersection of the current vehicle position. Or the example which set the branch point as a temporary destination is demonstrated.

  Fourthly, the in-vehicle terminal device 101 detects the position information of the temporary destination (that is, the nearest intersection or branching point on the searched route), the position information of the vehicle, and the traveling direction at the temporary destination (right-left turn at the intersection). Alternatively, the center device 201 calculates queue position information and queue wait time and sends the queue information to the in-vehicle terminal device 101. An example of transmission will be described.

  The in-vehicle terminal device 101 also has the configuration shown in FIG. 1. First, the position information calculation unit 112 calculates the position information of the in-vehicle terminal device 101. Further, based on the route searched by the route search unit 116, the current position information, and the position information regarding the intersection and the branch point accumulated in the digital map database 110, the position information of the temporary destination and the traveling direction at the temporary destination are obtained. To detect. Further, the position information of the in-vehicle terminal device 101, the position information of the temporary destination, and the traveling direction at the temporary destination are transmitted to the center device 201 via the wide area wireless transmission unit 121.

  As in the first case, these pieces of information may be sent to the center apparatus 201 via the wide area wireless transmission unit 121 at predetermined time intervals, or detected by the queue detection unit 113 at a predetermined number of times. The information thus stored may be temporarily stored in time series, and the information stored in time series may be transmitted to the center apparatus 201 via the wide area wireless transmission unit 121 at certain timings.

  The center device 201 has the configuration shown in FIG. 2, and the position information of the vehicle, the position information of the temporary destination, and the traveling direction at the temporary destination transmitted from a number of in-vehicle terminal devices 101 are displayed in the wide area wireless reception unit 211. And is temporarily stored in the mobile object information storage unit 212.

  Next, the queue detection unit 219 receives position information on the vehicle having the same temporary destination from the moving body information storage unit 212 and traveling in the same direction at the intersection or branch point that is the temporary destination. Extract only. Thereafter, as in the first case, for example, it is determined whether or not the speed of the extracted vehicle is 10 km or less, and those vehicles that have a speed of 10 km or less form a queue at the temporary destination. Assuming that there is a high possibility, the position information of these vehicles is detected, and the matrix information generation unit 214 generates queue information at an intersection or a branch point that is a temporary destination from the continuity of the position information.

  Further, for the vehicles that have already reached the temporary destination, the queue waiting time of the queue is obtained on average from the time at which the end of the queue is reached and the time at which the temporary destination is reached. In this case, the queue time may be calculated by increasing the weight of the queue time of the latest vehicle. Alternatively, the queue waiting time may be calculated by averaging the speed information of the vehicles currently forming the queue, calculating the moving speed in the queue, and multiplying the queue length.

  Thereafter, as in the first case, the queuing information including the queuing time of the queuing generated by the queuing information generation unit 214 is transmitted to the vehicle terminal device via the wide area wireless transmission unit 217. 101.

For example, if the information is obtained only from the terminal devices near the intersection within a predetermined range from the intersection, the processing of the center device can be reduced.

  As described above, in the fourth case, the in-vehicle terminal device 101 transmits the temporary destination of the vehicle, the position information, and the traveling direction at the temporary destination to the center device 201, and is transmitted from many in-vehicle terminal devices 101. Based on these information, the center device 201 calculates queue position information and queue waiting time at the temporary destination, generates queue information, and transmits the queue information to the in-vehicle terminal device 101.

  Fifth, it is detected that the in-vehicle terminal device 101 is in the queue, and the temporary destination, the traveling direction at the temporary destination, and the position information of the queue are transmitted to the center device 201. An example in which the queue information at the temporary destination 201 is transmitted from the information to the in-vehicle terminal device 101 will be described.

  In the in-vehicle terminal device 101, as in the second case, the position information calculation unit 112 calculates the vehicle speed. Thereafter, as in the second case, the queue detection unit 113 detects the position information of the queue and transmits it to the center apparatus 201 together with the temporary destination and the traveling direction at the temporary destination.

  The center device 201 temporarily stores the mobile body information via the wide area wireless reception unit 211, the position information of the queues transmitted from the many in-vehicle terminal devices 101, the information about the temporary destination, and the traveling direction at the temporary destination. The data is accumulated in the unit 212.

  Next, the queue information generation unit 214 extracts the position information of queues (in time series) of vehicles having the same temporary destination and traveling in the same direction at the temporary destination from the mobile information storage unit 212. . Thereafter, the latest queue position information is extracted from the time information associated with the extracted vehicle queue position information and arranged on the map to generate queue information from the continuity of the position information. For vehicles that have already reached the temporary destination, the queue waiting time of the queue is obtained on average from the time at which the end of the queue is reached and the time at which the temporary destination is reached. In this case, the queue time may be calculated by increasing the weight of the queue time of the latest vehicle. Alternatively, the queue waiting time may be calculated by averaging the speed information of the vehicles currently forming the queue, calculating the moving speed in the queue, and multiplying the queue length.

  Thereafter, the queue information including the queue waiting time at the temporary destination generated by the queue information generation unit 214 is transmitted to the vehicle terminal device 101 via the wide area wireless transmission unit 217.

  As described above, in the fifth case, the in-vehicle terminal device 101 transmits the temporary destination of the vehicle, the traveling direction at the temporary destination, and the position information of the queue to the center device 201, and a large number of in-vehicle terminal devices. Based on the information transmitted from 101, the center apparatus 201 generates queue information at the temporary destination and transmits it to the in-vehicle terminal apparatus 101.

  Sixth, the in-vehicle terminal device 101 transmits the position information, the current temporary destination and the traveling direction, and the past temporary destination to the center device 201, and the center device 201 detects the queue at the current temporary destination. An example in which queue position information is calculated, queue information is generated from the position information, and the queue information is transmitted to the in-vehicle terminal device 101 will be described.

Basically, it is the same as in the fourth case, but transmits not only the current temporary purpose but also the information of the previous previous temporary destination to the center apparatus 201. In the center apparatus 201, the queue detection unit 219 extracts only the position information about the vehicle having the same traveling direction and past temporary destination at the current temporary destination and the current temporary destination, for example, extracted. It is determined whether or not the speed of the vehicle is 10 km or less, and it is highly likely that these vehicles form a queue for those having an hourly speed of 10 km or less. The information generation unit 214 generates queue information from the continuity of the vehicle position.

  In this way, not only the current temporary destination but also the previous temporary destination is combined to generate queue information, so that only the queue information just before the intersection or branch point that is the temporary destination. Instead, it is possible to know the queue information ahead and to realize the navigation in anticipation of the future.

  Seventh, it is detected that the in-vehicle terminal device 101 is in the queue, and the position information, the current temporary destination and the traveling direction, the past temporary destination, and the position information of the queue are sent to the center device 201. An example in which the center device 201 generates queue information at the current temporary destination and transmits the queue information to the in-vehicle terminal device 101 will be described.

  Basically, this is the same as in the fifth case, but not only the current temporary destination and the direction of travel, but also the previous previous temporary destination information is transmitted to the center device 201. In the center apparatus 201, the queue detection unit extracts only the position information about the vehicles having the same traveling direction and the past temporary destination at the current temporary destination and the current temporary destination, and the positions of these vehicles. Queue information is generated from the continuity of information.

  In this way, not only the current temporary destination but also the previous temporary destination is combined to generate queue information, so that only the queue information just before the intersection or branch point that is the temporary destination. Instead, it is possible to know the queue information ahead and to realize the navigation in anticipation of the future.

  As described above, according to the present invention, when there is a queue, the queue position information is transmitted to the center apparatus, and the queue information regarding the queue or the tail position of the queue is transmitted via the center apparatus. Therefore, if there is a queue, it goes to the destination without knowing it if the end position of the queue is the destination, and the route to the destination is searched. It is possible to save the extra time such as searching for the end of the name, and it is very useful for the user.

  In other words, it detects queues occurring at the entrance of facilities, etc. that exist on the route to the searched destination, or congestion queues due to traffic jams occurring at intersections, expressways and general roads. Can be guided to the end position of the queue, thereby avoiding a roundabout by passing through the end of the queue and not being able to enter the queue, and eliminating time loss due to the roundabout, Very useful for users.

  According to the present invention, a queue can be detected, and a vehicle is guided by searching for a route with the end of the queue as a destination, so that the entrance of a facility, for example, a parking lot such as a department store or a theme park Therefore, it is very useful as a navigation system when a long queue is frequently formed at the entrance.

  In addition, it is possible to guide to the end position of the traffic jam that occurs in the direction you want to turn at the intersection of the searched route, the intersection of the expressway and general road, for example, the right or left turn of the expressway exit or intersection This is very useful as a navigation system when long queues are frequently formed in the lane.

  The present invention is not limited to in-vehicle terminal devices but is also widely used in mobile terminals such as personal computers, mobile phones, and PDAs, and also in center systems such as traffic control systems that collect and generate traffic information and queue information. Can be useful.

The block diagram which shows schematic structure of the vehicle-mounted terminal device of the navigation system in Embodiment 1 of this invention. Block diagram showing the schematic configuration of the center device The block diagram which shows the principal part schematic structure of the in-vehicle terminal device In the navigation system in Embodiment 1 of this invention, explanatory drawing which shows the path | route to the last position of the matrix of the vehicle made to the destination which it is going to search In the navigation system in Embodiment 1 of this invention, explanatory drawing which shows the state of the matrix of the vehicle which can be made into the destination which is going to search In the navigation system according to Embodiment 1 of the present invention, a first flowchart showing an operation when detecting position information of a queue without setting a destination. Second flowchart 1st flowchart which shows operation | movement in the navigation system in Embodiment 1 of this invention, when detecting the positional information on a queue in the state which set the destination. Second flowchart The navigation system in Embodiment 1 of this invention WHEREIN: The flowchart which shows operation | movement when a center apparatus produces | generates queue information. The navigation system in Embodiment 1 of this invention WHEREIN: The flowchart which shows operation | movement when a vehicle-mounted terminal device performs a route search process by making the end position of a matrix into the destination. The figure which shows the state which each displayed the queue information and the route search result which makes the end position of the queue the destination in the vehicle-mounted terminal device which comprises the navigation system in Embodiment 1 of this invention. In the navigation system in Embodiment 1 of this invention, explanatory drawing which shows the state of the matrix of the vehicle which can be made into the destination which is going to search In the navigation system in Embodiment 2 of this invention, explanatory drawing which shows the state of the matrix of the vehicle made into the junction of a highway or a general road In the navigation system in Embodiment 2 of this invention, explanatory drawing which shows the other state of the matrix of vehicles which can be made into the junction of a highway or a general road Explanatory drawing which shows the state of the matrix of the vehicle for every lane made into the intersection of a general road in the navigation system in Embodiment 2 of this invention. Explanatory drawing which shows the other state of the vehicle matrix for every lane which can be made into the intersection of a general road in the navigation system in Embodiment 2 of this invention. In the in-vehicle terminal device constituting the navigation system according to the second embodiment of the present invention, a state in which traffic congestion tail information generated at an intersection, a highway or a general road branch point and guidance information for guiding to the tail position of the matrix is displayed. Illustration The navigation system in Embodiment 2 of this invention WHEREIN: The flowchart which shows the operation | movement in the case of detecting the positional information on a queue when the queue by the traffic congestion which exists on the path | route which the vehicle-mounted terminal searched exists. In the navigation system according to the second embodiment of the present invention, a first flowchart showing an operation when performing a route search process when a matrix due to a traffic jam exists on the route searched by the in-vehicle terminal device. Second flowchart The block diagram which shows schematic structure of the center apparatus of the navigation system in Embodiment 3 of this invention.

Explanation of symbols

101 In-vehicle terminal device 110, 218 Digital map database 111 Sensor unit 112 Location information calculation unit 113, 219 Queue detection unit 114 Input information setting unit 115 Destination peripheral information extraction unit 116 Route search unit 117, 216 Traffic information storage unit 118, 211 Wide-area wireless reception unit 119 Digital map display unit 120 Traveling track accumulation unit 121, 217 Wide-area wireless transmission unit 201 Center device 212 Mobile body information accumulation unit 213 Traffic information generation unit 214 Matrix information generation unit 215 Traffic information synthesis unit 1131 First determination Part 1132 second determination part 1133 matrix waiting time measurement part

Claims (32)

A position information calculation unit for calculating the position information of the apparatus main body, a terminal transmission unit for transmitting the position information of the apparatus main body calculated by the position information calculation unit to the center apparatus, and a wait for the queue transmitted from the center apparatus. A terminal device comprising: a terminal receiving unit that receives queue information; and a route search unit that searches for a route to the end position of the queue based on the queue information received by the terminal receiving unit. . 2. The terminal device according to claim 1, wherein the queue information is information related to a queue formed with respect to an entrance / exit to a facility, a road junction, or a road intersection. A map data storage unit that stores map data, and a queue that detects the location information of the queue based on the location information of the apparatus main body calculated by the location information calculation unit and the map data stored in the map data storage unit The terminal device according to claim 1, further comprising a detection unit, wherein the terminal transmission unit transmits position information of the queue detected by the queue detection unit to a center device. The map data storage unit stores map data including facility entrance / exit information, or map data including road information regarding road junctions or intersections, and the queue detection unit stores queue positions based on the map data. The terminal device according to claim 3, wherein information is detected. The queue detection unit determines whether the destination of the facility on the road along the facility is congested, or whether the road on the extension line in the traveling direction of the branch or intersection is congested. 5. The terminal device according to claim 3, wherein position information of the queue is detected based on the determined result. The queue detection unit determines whether the position of the apparatus main body is located on a road traveling along a section including the facility based on the position information calculated by the position information calculation unit. 6. The apparatus according to claim 3, further comprising: a first determination unit; and a second determination unit configured to determine whether the movement of the position of the apparatus main body is equal to or less than a predetermined distance within a predetermined time. The terminal device described in 1. The terminal device according to claim 6, wherein the road traveling along the section including the facility is a road traveling in a counterclockwise or clockwise direction along the section including the facility. The queue detection unit determines, based on the position information calculated by the position information calculation unit, whether or not the movement of the apparatus main body before the branch point or intersection is within a predetermined distance within a predetermined time. The terminal device according to claim 3, wherein: 4. The display device according to claim 3, further comprising a display unit that superimposes and displays the route to the end position of the queue searched by the route search unit on the map data stored in the map data storage unit. The terminal device according to claim 8. A display unit for displaying at least one of information indicating the end position of the queue, information indicating the position of the queue, or text information including at least one of a queue waiting time or a queue length of the queue The terminal device according to claim 3, further comprising: 11. The queue information according to claim 1, wherein the queue information includes at least one of a tail position of the queue, a queue waiting time of the queue, or a length of the queue. The terminal device in any one. A center receiving unit for receiving position information from the terminal device; a queue information generating unit for generating queue information based on the position information; and a center transmitting unit for transmitting the queue information to the terminal device. The center apparatus characterized by the above-mentioned. 13. The center apparatus according to claim 12, wherein the queue information is information related to a queue formed with respect to an entrance to a facility, a road junction or a road intersection. The center reception unit receives queue position information from a terminal device, and the queue information generation unit obtains queue information related to the queue based on the queue position information received by the center reception unit. 14. The center device according to claim 12, wherein the center device is generated. A map accumulation unit that accumulates map data; and a queue detection unit that detects position information of a queue based on the position information and the map data accumulated in the map data accumulation unit, and the queue information generation The center device according to claim 12 or 13, wherein the unit generates queue information related to the queue based on position information of the queue. The map data storage unit stores map data including facility entrance / exit information, or map data including road information regarding road junctions or intersections, and the queue detection unit stores queue positions based on the map data. 16. The center device according to claim 15, wherein information is detected. The queue detection unit determines whether the destination of the facility entrance of the road along the facility is congested, or whether the road on the extension line in the traveling direction of the branch or intersection is congested The center device according to claim 15 or 16, wherein position information of the queue is detected based on the result. A first determination unit that determines whether the queue detection unit is located on a road traveling along a section including the facility based on the position information; and movement of the terminal device The center device according to any one of claims 15 to 17, further comprising a second determination unit that determines whether or not the distance is equal to or less than a predetermined distance within a predetermined time. 19. The center device according to claim 18, wherein the road traveling along the section including the facility is a road traveling in a counterclockwise or clockwise direction along the section including the facility. The said queue detection part determines whether the movement of a terminal device is below a predetermined distance within a predetermined time before the said branching point or intersection based on the said positional information. Item 18. The center device according to any one of Items 17. The queue information according to any one of claims 12 to 20, wherein the queue information includes at least one of a tail position of the queue, a queue waiting time of the queue, or a length of the queue. The center device according to the above. A navigation system comprising the terminal device according to any one of claims 1 to 11 and the center device according to any one of claims 12 to 21. Determining whether the position of the terminal device is located on a road along the section including the destination or the facility; Determining whether the traveling direction of the terminal device matches the direction along the section of the destination or facility The first step of determining whether or not the movement of the position of the terminal device is within a predetermined distance within a predetermined time, and determining that the queue is a queue when a result obtained by combining the determinations satisfies a preset condition A queue detection method comprising: a second step of: Determining whether the position of the terminal device is located on a road along the section including the destination or the facility; Determining whether the traveling direction of the terminal device matches the direction along the section of the destination or facility The first step of determining whether or not the movement of the position of the terminal device is within a predetermined distance within a predetermined time, and determining that the queue is a queue when a result obtained by combining the determinations satisfies a preset condition A queue detection program for causing a computer to execute the second step. A computer-readable recording medium on which the queue detection program according to claim 24 is recorded. A position information calculation unit for calculating the position information of the apparatus main body, a destination setting unit for setting a destination to which the apparatus main body is directed, and information on the position information of the apparatus main body and an intersection or a branch point on the route. A terminal device comprising: a terminal transmission unit that transmits to a center device; and a terminal reception unit that receives queue information related to a queue transmitted from the center device. 27. The apparatus according to claim 26, further comprising a queue detection unit that detects positional information of a queue from a positional relationship between an intersection or a branch point on the destination or route and a device main body, or a speed of the device main body. Terminal equipment. 28. The terminal apparatus according to claim 27, wherein the information on the intersection or branch point on the route is information on the previous or next intersection or branch point. A center receiving unit that receives position information of the terminal device and information about an intersection or a branch point on the destination or route from the terminal device, a queue information generating unit that generates queue information based on the position information, and the waiting A center device comprising: a center transmission unit that transmits matrix information to the terminal device. 30. The queue information generation unit according to claim 29, further comprising a queue information generation unit configured to generate queue information from a set of position information of terminal devices having the same information regarding an intersection or a branch point on the destination or route. Center device. 30. The apparatus according to claim 29, further comprising a queue detection unit that detects position information of a queue from a positional relationship between an intersection or a branch point on the destination or route and a terminal device, or a speed of the terminal device. Item 30. The center device according to item 30. The center device according to any one of claims 29 to 30, wherein the information on the intersection or branch point on the route is information on the previous or next intersection or branch point.