JP2006313167A - Navigation device for vehicle and route guidance method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To set an optimum final guidance point with respect to a set destination or passing points. <P>SOLUTION: This navigation device is equipped with an information storage means for therein housing information necessary for navigation, an input means for therein inputting the point of the destination, an output means for therefrom outputting information for route guidance with respect to the point inputted by the input means, a present position detection means for detecting a present position of a vehicle, a control means for processing the information for route guidance outputted from the output means based on the information necessary for navigation and on the present position of the vehicle, and a learning/storage means for learning and storing the position of the vehicle when it misses a route in the vicinity of the destination as the position of a guidance point corresponding to the point inputted by the input means. The control means processes information for performing route guidance to the position of a guidance point, if a point is inputted and the position of the corresponding guidance point is already learned and stored. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle navigation apparatus and a route guidance method for searching for a route based on a destination, a passing point, or the like and performing route guidance according to the searched route.

In a conventional vehicle navigation apparatus, information on a facility or building is stored as information for selecting a destination, a passing point, or the like, and position coordinates are stored as map information along with the outline of the facility. . Conventionally, for example, parking data is stored in a storage device corresponding to an input designated destination, and when the destination is designated by input, the parking data corresponding to the destination is searched and guidance information is output, A display scale for displaying the destination and the final guide point on the same map is determined, and the destination and the final guide point are displayed on the map at the determined scale. A device that learns and stores the position of the final guidance point relative to the point and performs route guidance based on the position of the next final guidance point has been proposed (see, for example, Patent Documents 1 to 3).
Japanese Patent No. 2613232 Japanese Patent No. 3141556 Japanese Patent Laid-Open No. 11-23302

  FIG. 13 is a diagram for explaining an example in which the final guidance point is separated from the entrance of the facility according to the conventional point setting, and FIG. 14 is a diagram for explaining an example in which the final guidance point is separated from the actual destination. FIG. As described above, in the conventional vehicle navigation apparatus, the position on the road closest to the position coordinates of the center of the facility or the midpoint position of the line segment facing the road of the facility stored in advance is set as the final guide point. Therefore, in practice, it may not be the optimum point as the final guide point. In particular, in a facility with a large site such as a public facility, the entrance of the parking lot may be separated from a guide point set in advance based on a database point. In that case, the driver can receive guidance until he or she arrives at the destination, but cannot actually receive guidance until the entrance of the facility. In addition, when a facility with a wide facility is separated from an entrance for actually parking a vehicle, the searched route may be an inappropriate route.

  For example, as shown in FIG. 13, the case where the facility 71 is at the southwest corner of the crossroad and faces the road on the north side and the east side of the facility 71 will be described as an example. In this example, as shown in FIG. 13A, the entrance 72 through which the vehicle can actually enter the facility 71 faces the east side road, but is a position that is set in advance as the final guide point 74 for the facility 71. The coordinates are registered on the road facing the north side. Therefore, since the guide route 73 guides to the final guide point 74 of the registered position coordinates on the road facing the north side, it is necessary to further detour from that point to the entrance 72 facing the east side road. However, if there is a median strip 75 on the east side road, even if you proceed from the final guide point 74 of the north side road to the intersection and turn right on the east side road, turn right from the east side road in front of the entrance 72 I cannot enter the facility 71. Therefore, as shown in the travel locus 76 of FIG. 13B, overrun to the break of the median strip 75 and make a U-turn, or go around the east side road and go north to the entrance 72 of the facility 71. You have to find a route to get there. Thus, even if the final guidance point 74 is set based on the position coordinates corresponding to the facility 71 registered in advance, the search route with the position coordinates as the final guidance point 74 is appropriate to the actual entrance 72 of the facility 71. I can't give you guidance.

  In addition, when setting the destination etc. with coordinates by town page data and map scroll, the point on the guide road nearest to the destination etc. is set as the final guide point, but in such a case However, it may not be possible to simply enter the destination from the set final guide point. For example, as shown in FIG. 14A, there is a railway 83 or a river between the destination 81 and the corresponding final guide point 82, so that the destination 81 cannot be entered from the vicinity of the final guide point 82. In other cases, as shown in FIG. 14B, the roads 86 to 88 that connect the guide road 84 and the narrow street 85 near the final guide point 82 are restricted by one-way traffic. There are cases where it is not possible to enter the destination 81 from the vicinity.

  The present invention solves the above-described problems, and makes it possible to set an optimum final guide point for a set destination or passing point.

  For this purpose, the present invention provides information storage means for storing information necessary for navigation, input means for inputting a destination point, and output means for outputting information for route guidance for the point input by the input means. Current position detecting means for detecting the current position of the vehicle, control means for processing information necessary for navigation and information for route guidance output from the output means based on the current position of the vehicle, and the object Learning storage means for learning and storing the position of the vehicle when it is off the road in the vicinity of the ground as the position of the guidance point corresponding to the point input by the input means, and the control means has a position of the corresponding guidance point. When a point that has already been learned and stored is input, information for performing route guidance to the position of the guidance point is processed. The means learns and displays a travel locus of the non-guide target road after traveling on the non-guide target road after deviating from the guide target road, and the learning storage means includes a vehicle ignition switch When it is turned off, road data for a predetermined distance from the point where the ignition switch is turned off is learned and stored based on the travel locus, and the learning storage means is the point inputted by the input means And the position of the last guidance point corresponding to the said point is registered into an IC card, It is characterized by the above-mentioned.

  Information storage means for storing information necessary for navigation; input means for inputting a destination point; output means for outputting information for route guidance to the point input by the input means; and the current position of the vehicle Current position detection means for detecting the vehicle, control means for processing information necessary for navigation and route guidance information output from the output means based on the current position of the vehicle, and parking outside the facility at the destination Learning storage means for learning and storing the entrance of the parking lot as the entrance of the parking lot corresponding to the facility at the destination when traveling to the parking lot, and the control means has already learned the entrance of the corresponding parking lot. When a stored facility is input as a destination, information for route guidance to the entrance of the parking lot is processed.

  As is clear from the above description, according to the present invention, learning is performed in the vicinity of the final guidance point set by the route search, and from the guidance target road based on the travel locus in the vicinity of the final guidance point registered in advance. Since the point where the ignition is off or the point where the ignition is turned off is registered as the actual final guide point such as the destination or passing point, the entrance such as the set destination or passing point is made the final guide point by the route search. Even when the location is far from the point of departure or when the route to the entrance is complicated, it is possible to reliably guide to the entrance. Therefore, even in a vast facility or a facility that is far from a parking lot, even if the entrance or parking location changes, there is no need to perform complicated operations such as registering the entrance or parking location one by one. But it can respond flexibly.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a configuration of one embodiment of a vehicle navigation apparatus according to the present invention. The vehicle navigation apparatus according to the present invention inputs and outputs information on route guidance and information for selecting and executing various functions. An input / output device 1 for performing detection, a current position detecting device (current position detecting means) 2 for detecting information on the current position of the host vehicle, navigation data necessary for route calculation, and display / voice guidance data necessary for route guidance, Information storage device (information storage means) 3 in which programs (OS and / or applications) are stored, central processing for performing display / voice guidance processing necessary for route search processing and route guidance, and controlling the entire system The apparatus 4 is configured. First, each configuration will be described.

  The input / output device 1 inputs the destination and outputs the navigation information from at least one of voice and / or screen when the driver needs it. And a function of printing out the processed data and the like. As means for realizing the function, the input unit includes a touch switch 11 and an operation switch for inputting a destination by a telephone number or coordinates on a map, or requesting route guidance. Of course, as the input means, a remote controller or the like may be used instead of the touch switch 11 or the operation switch, or these may be used in combination. Furthermore, a video camera 15 for taking a landscape image in front of the vehicle is provided. In addition, the output unit displays the input data on the screen, or automatically displays the route guidance on the screen in response to the driver's request. The display (display output means) 12 stores data and information processed by the central processing unit 4. A printer 13 for printing out data stored in the apparatus 3 and a speaker (voice output means) 16 for outputting route guidance by voice are provided.

  Here, a voice recognition device for enabling voice input and a recording card reader for reading data recorded on an IC card or a magnetic card can be added. It is also possible to add a data communication device for exchanging data with an information source such as a personal computer in which driver-specific data such as map data and destination data is stored in advance.

  The display 12 is composed of a color CRT or a color liquid crystal display, and all screens necessary for navigation such as a route setting screen, a section diagram screen, and an intersection diagram screen based on map data and guide data processed by the central processing unit 4 are displayed. Are displayed in color, and buttons for setting route guidance, switching the guidance screen during route guidance, and selecting and calling various functions are displayed on this screen. In particular, passing intersection information such as passing intersection names is displayed in color in a pop-up on the section diagram screen as needed.

  The display 12 is provided in an instrument panel in the vicinity of the driver's seat, and the driver can confirm the current location of the vehicle by looking at the displayed map, and can obtain information on the route from now on. . The display 12 is provided with a touch switch 11 corresponding to the display of the function buttons, and is configured to execute the above operation based on a signal input by touching the button. The input signal generating means including the button and the touch switch constitutes an input unit, but detailed description thereof is omitted here.

  The current position detection device 2 is a device that detects or receives information related to the current position of the vehicle, and includes an absolute direction sensor 24 composed of a geomagnetic sensor, a relative direction sensor 25 composed of a steering sensor, a gyro, and the like, wheels A distance sensor 26 that detects a travel distance from the number of rotations, a GPS receiver 21 using a satellite navigation system (GPS), and a communication device. The communication device is composed of a VICS receiver 22 and a data transmitter / receiver 23 which are traffic information acquisition means, and the VICS (Vehicle Information & Communication System) FM multiplexes road traffic information in real time (text broadcasting). ), Radio beacons and optical beacons are transmitted to the vehicle. FM multiplexing transmits rough information over a wide area, and information on radio beacons and optical beacons is detailed in a narrow area within a radius of about 10 km centering on the beacons. Information that can be received when the vehicle passes the beacon. The VICS transmission data is based on the link number assigned to each road, such as the degree of traffic congestion (for example, inaccessibility, congestion, congestion, heavy traffic volume, normal traffic, etc.), traffic jam head position, traffic length, traffic It consists of regulations (construction information, closed roads, etc.) and travel time (time required at a predetermined speed). The data transmitter / receiver 23 is, for example, a mobile phone or a personal computer, and exchanges information necessary for navigation with a traffic information center (for example, ATIS) at the request of the driver.

  The information storage device 3 is an external storage device that stores a navigation program and data in an external storage medium such as a CD-ROM (hereinafter simply referred to as a CD), a DVD (digital video disc) -ROM, an optical CD, or an IC card. . The program is composed of a map drawing unit, a route search unit, a route guide unit, a current position calculation unit, a destination setting operation control unit, etc., and is composed of an application unit and an OS unit that perform navigation signal processing. Program for performing such processing, display output control necessary for route display guidance, program for performing voice output control necessary for voice guidance and necessary data, and further necessary for route guidance and map display Display information data is stored. The data stores all data necessary for navigation such as map data, intersection data, road data, and various guidance data.

  Specifically, a program (route search means) that sets a destination and a passing point based on position information from the current position detection device 2 and an input signal from the input device 11 and executes a route search using searched road data. , A program for converting the searched road data based on the traffic information acquired from the communication device and executing the route search again, a program for converting the searched route in a three-dimensional manner (route information converting means), Alternatively, a feature for recognizing or recognizing features from a map drawing, map matching, a program for determining the audio output timing and the content of the audio phrase along the route, and an image captured from the video camera 15 as an image photographing means A program for determining the relative movement direction on the image of the featured object and determining the advancing path from the movement direction is stored. By starting the program stored in the broadcasting memory 3, the functions of navigation in the present invention is performed. That is, in the present embodiment, a program for realizing the functions of the present invention is stored in the information storage device 3 that is an external storage medium.

  Also, all or part of the program for realizing the functions of the present invention, all or part of the data is received from the information center or other vehicle via the data transmission / reception device 23, and recorded on the recording medium in the navigation device. You may make it memorize | store in a certain flash memory 41 or RAM42.

  The central processing unit 4 includes a CPU 40 that executes various arithmetic processes, and a flash memory 41 that reads and stores a program from the CD of the information storage device 3. The flash memory 41 erases an existing program so that it can be rewritten even if the program of the CD is changed. In addition, the first ROM 43a storing a program (program reading means) for performing a program check and update process of the flash memory 41, the set point coordinates of the destination, the road code No. The RAM 42 temporarily stores the searched route guidance information and the data being calculated, and the second ROM 43b in which display information data necessary for route guidance and map display is stored. Note that a program for performing the above-described update processing may be stored in an external storage device.

  Further, the image memory 44 stores image data used for screen display on the display, and the image processor 45 extracts image data from the image memory based on a display control signal from the CPU 40, performs image processing, and outputs the image data to the display 12. The voice processor 46 for synthesizing the voice read from the RAM 42 based on the voice output control signal from the CPU 40, the phrase, the sentence, the sound, etc., and converting it into an analog signal and outputting it to the speaker 16; A communication interface 47 for exchanging input / output data, a sensor input interface 48 for capturing sensor signals of the current position detection device 2, and a clock 49 for entering date and time in internal diagnosis information are provided.

  The captured image is converted from an analog signal to a digital signal by the CPU 40 and stored in the RAM 42. From this image data, features at intersections and branch points are recognized, and image recognition processing is executed. In this image recognition process, the feature object is recognized by referring to the color and shape information of the image data file stored in the information storage device 3.

  In the central processing unit 4, when data acquired by each sensor of the current position detection device 2 is fetched from the sensor input interface 48, the CPU 40 calculates the current position coordinates at regular intervals based on the data, and temporarily Write to RAM42. The current position coordinates are obtained by performing map matching processing in consideration of detection errors of various data. Further, the output values from various sensors are always corrected. Here, the route guidance is performed by screen display and voice output, and the driver can select whether or not to output voice.

  A program necessary for navigation may be stored in advance in the ROM 43a of the central processing unit 4, or may be configured to be stored in the information storage device (storage medium) 3. When a program is stored in the information storage device 3, for example, when the program is read from the information storage device 3 and stored in the flash memory 41, a new program is updated by replacing the information storage device 3. Can be executed. Also, the program read from the information storage device 3 can be temporarily stored in the RAM 42 to process the navigation function.

  2 is a diagram showing a configuration example of road guidance data, etc., FIG. 3 is a diagram showing a configuration example of road attribute data, etc., FIG. 4 is a diagram showing a configuration example of attention point data, etc., and FIG. It is a figure which shows the structural example of data. 2 to 5 show an example of the configuration of main data files stored in the information storage device. The guide road data file has a road number for each of the number of roads n as shown in FIG. , Length, road attribute data, shape data address, size and guidance data address, and size data, which are obtained by route search and stored as necessary data for route guidance.

  The road number is set for each direction (outbound path, return path) for each road between the branch points. The road attribute data is road guidance auxiliary information data, and as shown in FIG. 3 (A), the information on the elevated / underpass and the lanes of the road that is elevated, next to the elevated, underpass, or next to the underpass It is data indicating information on numbers. As shown in FIG. 2B, the shape data has coordinate data including east longitude and north latitude for each of the number m of nodes when divided by a plurality of nodes (nodes) on each road. As shown in FIG. 2C, the guidance data includes intersection (or branch point) name, attention point data, road name data, road name voice data address, size and destination data address, and size data. .

  Of the guidance data, the caution point data is data indicating information such as level crossings, tunnel entrances, tunnel exits, width phenomenon points, or none as shown in FIG. This is data to call the driver's attention at railway crossings, tunnels, etc. As shown in FIG. 3 (B), road name data includes information on road types such as expressways, city expressways, toll roads, and general roads (national roads, prefectural roads, etc.), and expressways, city expressways, and toll roads. It is data of information indicating whether it is a main line or an attachment road, and is composed of road type data and an intra-type number that is individual number data for each road type. As shown in FIG. 2D, the destination data includes a destination road number, a destination name, an address of destination name voice data, a size and destination direction data, and travel guidance data.

  Among the destination data, as shown in FIG. 2E, the destination direction data is invalid (not using the destination direction data), unnecessary (not guided), straight ahead, right direction, diagonal right direction, direction returning to the right, It is data indicating information on the left direction, the diagonally left direction, and the direction returning to the left. As shown in FIG. 4 (B), the travel guidance data stores data for guiding which lane to travel when there are a plurality of lanes. This is data indicating measles information.

For example, as shown in FIG. 5A, the data of the building shape map includes the data of each of N buildings after the number N of buildings, such as buildings, bridges, towers, parks, playgrounds, and roads. Remembered. The data of each building includes information on the name, address (address), type, shape, height, and details of the building. The name is the name of the building if it is a building, the resident name if it is a private house, the name of the facility if it is a facility, the name of the facility such as “Chuo-dori” or “National Highway 1” if it is a road. It is a street name, and the address (address) is the address of the building. The shape of the building is the coordinate number n representing the shape and its coordinate values (x ₀ , y ₀ ), (x ₁ , y ₁ ), ..., (x _n-1 , y _n-1 ), The type is information on general houses, apartments, office buildings, public facilities, roads, parks, and the like. The height is information on the floor number and the height (m). For example, in the case of a tenant building, the details are information about each resident, and for the number of names and each tenant, the name, telephone number, room number, classification (restaurant, convenience store, etc., business type, business description). Information. Therefore, as shown in FIG. 5B, coordinate values are sequentially read out as information related to the shape of the building, and are connected and drawn with lines to display, for example, the planar shape of a building or a house or the topography of a park. it can.

  Next, the operation will be described. 6 is a diagram for explaining the overall system flow of the vehicle navigation apparatus according to the present invention, FIG. 7 is a diagram for explaining the destination / passing point setting process, and FIG. 8 is a guide point learning process. FIG.

  When the CPU 40 of the central processing unit 4 first reads the navigation program from the CD-ROM by initialization processing, and stores it in the flash memory 41 and starts it, the current position detection device 2 first detects the current position and determines the current position. The surrounding map is displayed as the center, and the name of the current position is displayed. First, as shown in FIG. 6, a destination, a passing point, and the like are set using a telephone number, an address, a facility name, a registration point, a memory point, and the like (step S1). At this time, the input method is stored together with the destination as necessary. Further, the destination may be set by instructing with a cursor on the map. Next, a route search from the current position to the destination is performed (step S2). When the searched route is determined, the current position is tracked by the current position detection device 2 (step S3), and route guidance / display is performed ( Step S4), the current position tracking and route guidance are repeated until the destination arrives (step S5). When arriving at the destination, the guide point (final guide point) is learned (step S6). In this way, once the destination is set as the destination and the guidance point such as the facility of the passing point is learned, the same input method (of course, a different input method) If it has been learned, the location is set as the final guidance point based on the learning result. Route search is performed.

  In the destination / passing point setting process in step S1, the destination / passing point is input as shown in FIG. 7 (step S11), and the input destination / passing point registration information is searched (step S12). ). Then, it is checked whether or not there is registration information for the point (step S13). If there is registration information, the registration information is set as a search condition (step S14). If there is no registration information, the input destination or The position coordinates of the passing point are searched (step S15), and the point on the guide road closest to the coordinates is set as the final guide point (step S16).

  In the guidance point learning process in step S6, as shown in FIG. 8, first, it is checked whether or not it is within a predetermined distance of the final guidance point (step S21), and if it is within the predetermined distance, the travel locus is traced (step S22). ). Thereafter, it is checked whether or not the travel locus has deviated from the guidance target road (step S23). If the ignition is turned off without the travel locus being deviated from the guidance target road (step S24), the point where the ignition is turned off is registered. (Step S25). However, when the travel locus deviates from the guidance target road, the point of departure is temporarily stored (step S26), the travel locus is traced (step S27), and it is checked whether a predetermined time has elapsed (step S28). If it is before the predetermined time elapses, it is checked whether or not the road has returned to the guidance target road (step S29). If the road has returned to the guidance target road, the process returns to step S21 and the same processing is repeatedly performed. If it does not return, the process returns to step S27 to continue tracking the travel locus. When the travel locus deviates from the guidance target road and the tracking of the travel locus is continued for a predetermined time, the deviated point is registered (step S30). The registered point may be a node data unit in the road shape data, or may be the absolute coordinates of the node closest to the point deviated from the guidance target road at the time of ignition off, for example.

  9 and 10 are diagrams for explaining another example of the guidance point learning process, and FIGS. 11 and 12 are diagrams for explaining a specific learning example by the guidance learning process. In the guide point learning process described above, points where the driving locus deviates from the guidance target road or points where the ignition is turned off on the guidance target road are registered. Further, as shown in FIG. The intersection that has passed through is searched from the travel locus, the previous intersection is registered, and may be set as the passing point when the registered point (facility) is selected next time (steps S31 and S32). As shown in FIG. 5, road data for a predetermined distance from these points may be searched and registered from the travel locus (steps S33 and S34).

  When the final guide point is on the road facing the north side as in the example described above with reference to FIG. 13 and the actual entrance faces the road on the east side, the entrance is as shown in FIG. Since the travel locus deviates from the guidance target road at 62, the approach direction to the point is learned together with the point 63, and further, the point 64 where the travel locus deviates from the guidance target road as shown in FIG. -1 and the point 64-2 that has returned to the guidance target road, that is, the facility 61 is entered at the same point, learning that it has exited from the facility 61, the approach direction to the facility 61, the facility 61 By learning the traveling direction after exiting, the entrance / exit 62 of the facility 61 can be registered as the final guide point 63. Further, as shown in FIG. 12, when the vehicle travels on the non-guide target road 69 after deviating from the guide target road 68, the travel locus 67 of the non-guide target road 67 is also learned and displayed together with the entrance 66 of the facility 65. You may make it do.

  As a method of storing learning result information, for example, coordinates are registered in association with each facility (facility No.) in an IC card or the like as correction information of facility information (coordinate information) stored in advance in an information storage device. However, if the information storage device can be rewritten, the facility information stored in the information storage device may be directly rewritten based on the learning result information.

  In addition, this invention is not limited to the said embodiment, A various deformation | transformation is possible. For example, in the above-described embodiment, the navigation device for a vehicle is described as a device that displays a map and outputs route guidance by voice or display. However, when a route such as an automatic vehicle guidance device is set, the vehicle automatically Similarly, the present invention can be applied to a system for traveling the vehicle, and the vehicle can be guided to the optimum position with respect to the destination. In addition, although a point deviated from the guidance target road has been learned, a travel locus from the final guidance point set by the route search to a point where the ignition is turned off may be learned. It may be determined that the vehicle has deviated from the guidance target road on the condition that a turn greater than or equal to a predetermined value is detected by a sensor such as the left and right wheels and the steering at a place other than the intersection. Furthermore, after the guidance for the facility at the destination is completed, the entrance to the parking lot may be learned even when traveling to a parking lot outside the facility.

It is a figure which shows embodiment of the navigation apparatus for vehicles which concerns on this invention. It is a figure which shows the structural example, such as road guidance data. It is a figure which shows the structural example, such as road attribute data. It is a figure which shows the structural example of attention point data. It is a figure which shows the structural example of the data of a building shape map. It is a figure for demonstrating the flow of the whole system of the navigation apparatus for vehicles which concerns on this invention. It is a figure for demonstrating the destination / passing point setting process. It is a figure for demonstrating a guidance point learning process. It is a figure for demonstrating the example of another guidance point learning process. It is a figure for demonstrating the example of another guidance point learning process. It is a figure for demonstrating the specific learning example by guidance learning processing. It is a figure for demonstrating the specific learning example by guidance learning processing. It is a figure for demonstrating the example from which the last guidance point by the conventional point setting and the entrance of a facility are separated. It is a figure for demonstrating the example which the last guidance point and the actual destination are separated.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Input / output device, 2 ... Current position detection device, 3 ... Information storage device, 4 ... Central processing unit, 11 ... Touch switch, 12 ... Display, 13 ... Printer, 15 ... Video camera, 16 ... Speaker, 21 ... GPS Receiving device, 22 ... VICS information receiving device, 23 ... data transmitting / receiving device, 24 ... absolute azimuth sensor, 25 ... relative azimuth sensor, 25: distance sensor, 40 ... CPU, 41 ... flash memory, 42 ... RAM, 43a ... first ROM 43b ... second ROM 44 ... image memory 45 ... image processor 46 ... audio processor 47 ... communication interface 48 ... input interface

Claims (7)

Information storage means for storing information necessary for navigation;
An input means for inputting a destination point;
Output means for outputting information for route guidance to the point input by the input means;
Current position detecting means for detecting the current position of the vehicle;
Control means for processing information necessary for navigation and information for route guidance output from the output means based on the current position of the vehicle;
Learning storage means for learning and storing the vehicle position when the vehicle is off the road in the vicinity of the destination as the position of the guide point corresponding to the point input by the input means;
The control means, when a point where the position of the corresponding guide point has already been learned and stored is input, processes information for performing route guidance to the position of the guide point. . 2. The vehicle navigation according to claim 1, wherein the learning storage means learns and displays a travel locus of the non-guide target road when traveling on the non-guide target road after deviating from the guide target road. apparatus. The learning storage means learns and stores road data for a predetermined distance from a point where the ignition switch is turned off based on a travel locus when the ignition switch of the vehicle is turned off. The vehicle navigation apparatus described. 4. The vehicular navigation apparatus according to claim 1, wherein the learning storage unit registers, in an IC card, a point input by the input unit and a position of a final guide point corresponding to the point. Information storage means for storing information necessary for navigation;
An input means for inputting a destination point;
Output means for outputting information for route guidance to the point input by the input means;
Current position detecting means for detecting the current position of the vehicle;
Control means for processing information necessary for navigation and information for route guidance output from the output means based on the current position of the vehicle;
Learning storage means for learning and storing the entrance of the parking lot as the entrance of the parking lot corresponding to the facility at the destination when traveling to a parking lot outside the facility at the destination,
The control means processes the information for route guidance to the entrance of the parking lot when the facility where the corresponding parking lot entrance has already been learned and stored is inputted as the destination. Navigation device. Information storage means for storing information necessary for navigation;
An input means for inputting a destination point;
Output means for outputting information for route guidance to the point input by the input means;
Current position detecting means for detecting the current position of the vehicle;
Control means for processing information necessary for navigation and information for route guidance output from the output means based on the current position of the vehicle;
A route guidance method for a vehicle navigation device comprising learning storage means for learning and storing the position of a guide point,
The vehicle position at the time of departure from the road in the vicinity of the destination is learned and stored in the learning storage means as the position of the guidance point corresponding to the point input by the input means, and the position of the corresponding guidance point is already learned and stored. A route guidance method for a vehicular navigation device, characterized in that when a point is inputted, information for route guidance to the position of the guidance point is processed by the control means. Information storage means for storing information necessary for navigation;
An input means for inputting a destination point;
Output means for outputting information for route guidance to the point input by the input means;
Current position detecting means for detecting the current position of the vehicle;
Control means for processing information necessary for navigation and information for route guidance output from the output means based on the current position of the vehicle;
A route guidance method for a vehicle navigation device comprising learning storage means for learning and storing an entrance of a parking lot,
When traveling to a parking lot outside the facility at the destination, the entrance of the parking lot is learned and stored in the learning storage means as an entrance of the parking lot corresponding to the facility at the destination, and the entrance of the corresponding parking lot is A route guidance method for a vehicular navigation device, characterized in that when a facility already learned and stored is input as a destination, the control means processes information for route guidance to the entrance of the parking lot. .

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