JP2008003101A - Navigation apparatus, program for the same, and recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To search a by-pass route for evading a road difficult to travel, to exhibit the route as a recommended route, when the road difficult to travel exists in the road allowing traveling. <P>SOLUTION: In a navigation apparatus for storing map data in a storage means, and for searching the route to a destination based on the map data stored in the storage means to conduct a route guide up to the destination, the first route to the destination is searched as the recommended route by calculation based on a searching cost (step S11), the road having a prescribed value or more of height variation is detected from the first route (steps S12 and S13), the searching costs for the detected road is changed (step S14) to search the second route to the destination (step S15), and the searched second route is compared with the first route to be recommended as the recommended route in stead of the first route which is difficult to travel (steps S17-S19). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a navigation device that stores map data in a storage means, searches for a route to a destination based on the map data stored in the storage means, and performs route guidance to the destination, a program for the device, and a recording It relates to the medium.

  In a navigation device that provides route guidance to a destination, when searching for a route to the destination for guidance, the route is searched so that the search cost set for the road link is minimized.

However, with the above route search alone, there are various types of vehicles with different lengths, widths, heights, weights, and the like, and depending on the type of vehicle, an unsuitable route may be searched. Therefore, in Patent Document 1, by acquiring vehicle information necessary to extract a road that can be traveled, a road that can be traveled is extracted based on the road information, and a destination is obtained using the extracted travelable road. We have proposed a navigation device that searches for a route.
JP-A-8-278157

  However, even in the above-described conventional navigation device, the search cost when performing a route search to the destination is mainly determined by the distance, so even if there is a bypass road or a new paved road with significantly different travelability, If it is a road that can travel, it cannot be avoided that a road that is difficult to actually travel, such as a mountain road, is searched and recommended as a guide route. In order to avoid roads that are difficult to travel, it is conceivable to have data on roads that are difficult to travel in advance as a data, and to search for routes so as to avoid it, but store that much in the storage means. The amount of data that should be increased.

  The present invention solves the above-mentioned problem, and when there is a road that is difficult to travel even if it is a travelable road, it is possible to search for a route that bypasses the road and present it as a recommended route. It is to make.

  To this end, the invention according to claim 1 is a navigation device that stores map data in a storage means, searches for a route to a destination based on the map data stored in the storage means, and provides route guidance to the destination. The first route search means for searching the first route to the destination as a recommended route by calculation based on the search cost, and the amount of change in altitude from the route searched by the first route search means is a predetermined value or more Road detecting means for detecting the road, search cost changing means for changing the search cost of the road detected by the road detecting means, and second search to the destination by the search cost changed by the search cost changing means. A second route searching means for searching for a route, and a recommended route change for changing the second route searched for by the second route searching means to the first route as a recommended route It is characterized in that a stage.

  According to a second aspect of the present invention, in the navigation device according to the first aspect, the road detection means detects the amount of change in altitude by obtaining a difference between the maximum and minimum altitudes based on the node coordinates of the road. It is characterized by.

  According to a third aspect of the present invention, in the navigation device according to the first aspect, the road detecting means detects the amount of change in altitude based on the integrated value of the amount of change in altitude per unit distance based on the node coordinates of the road. It is characterized by.

  According to a fourth aspect of the present invention, in the navigation device according to the first aspect, the recommended route changing means is configured such that the second route is shorter than a length obtained by multiplying the length of the first route by a certain value. The second route is determined as a recommended route.

  The invention according to claim 5 is a program for a navigation device that stores map data in a storage means, searches for a route to a destination based on the map data stored in the storage means, and provides route guidance to the destination. A first route search processing step for searching the first route to the destination as a recommended route by calculation based on the search cost, and a change amount of altitude from the route searched by the first route search processing step. A road detection processing step for detecting a road having a predetermined value or more, a search cost change processing step for changing the search cost of the road detected by the road detection processing step, and a search cost changed by the search cost change processing step By a second route search processing step for searching for a second route to the destination by the second route search processing step The is characterized in that it has a recommended route change processing steps to vary the recommended route to a second said path of the first path.

  The invention according to claim 6 is a recording medium for a navigation device that searches for a route to a destination based on map data and performs route guidance to the destination, and includes map data for performing route search and route guidance, and search A first route search processing step for searching the first route to the destination as a recommended route by calculation based on the cost, and an amount of change in altitude from the route searched by the first route search processing step is a predetermined value or more A road detection processing step for detecting the road, a search cost change processing step for changing the search cost of the road detected by the road detection processing step, and a search cost changed by the search cost change processing step to the destination A second route search processing step for searching the second route, and a second route searched by the second route search processing step. It is characterized in that it has recorded with the program navigation apparatus and a recommended route change processing steps to vary the recommended route to the first path.

  As is clear from the above description, according to the present invention, when there is a road that is difficult to travel on the first route, the second route is used as the recommended route instead of the first route, so the route is short. However, it is possible to travel on a road that is easy to travel while avoiding a road that is difficult to travel.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an embodiment of a navigation device according to the present invention. An input device 1 for inputting information on route guidance, a current position detecting device 2 for detecting information on the current position of the host vehicle, and a route calculation. Information storage device 3 in which necessary navigation data and display guidance data necessary for guidance, navigation programs, and the like are stored, a center that performs display guidance processing necessary for route search processing and route guidance, and controls the entire system The processing device 4 stores data necessary for navigation and is an information center provided via a communication line at the request of the driver, or an electronic in which driver-specific data such as map data and destination data is stored in advance. An information transmitting / receiving device 5 for exchanging data with an information source such as a notebook, and an output device 6 for outputting information on route guidance It is obtained by al configuration. First, each configuration will be described.

  The input device 1 has a function of instructing the central processing device 4 to perform navigation processing according to the driver's intention so that the destination can be input or guidance information can be output by voice and / or a screen when the driver needs it. As a means for realizing the function, a touch switch and an operation switch for inputting a destination by a telephone number or coordinates on a map or requesting route guidance are provided. Of course, an input device such as a remote controller may be used. Here, a voice recognition device for enabling voice input and a recording card reading device for reading data recorded on an IC card or a magnetic card may be added.

  The information transmission / reception device 5 includes a VICS (Vehicle Information & Communication System) reception device and a data transmission / reception device which are traffic information acquisition means. VICS transmits road traffic information to vehicles by FM multiplexing (text broadcasting), radio beacons, and optical beacons in real time. FM multiplexing transmits rough information over a wide area. Detailed information on a narrow area within a radius of about 10 km centered on the beacon, and 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 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 output device 6 has a function of outputting guidance information by voice and / or a screen when the driver needs it, or printing out data processed by the central processing unit 4 and the like. As a means for displaying input data on the screen, a display that automatically displays route guidance on the screen in response to a driver's request, data processed by the central processing unit 4 and data stored in the information storage device 3 A printer for printing out and a speaker for outputting route guidance by voice are provided.

  The display is composed of a color CRT and a color liquid crystal display, and displays all the screens necessary for navigation, such as route setting screens, section diagram screens, and intersection diagram screens based on map data and guide data processed by the central processing unit 4. In addition to color display output, buttons for setting route guidance, guidance during route guidance, and switching operation of the screen 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. This display is provided, for example, in an instrument panel in the vicinity of the driver's seat, and the driver can check the current position of the host vehicle by looking at the section diagram, and can obtain information on the future route.

  The current position detection device 2 is a device that detects information related to the current position of the vehicle. For example, an absolute direction sensor composed of a geomagnetic sensor, a relative direction sensor composed of a steering sensor, a gyro, etc. A distance sensor for detecting a travel distance and a GPS receiver using a satellite navigation system (GPS) are provided.

  The information storage device 3 is an external storage device that stores a navigation program and data, and is a recording medium such as a CD-ROM. The program is composed of a map drawing unit, a route searching unit, a route guiding unit, a current position calculating unit, a destination setting operation control unit, and the like, and includes an application unit and an OS unit that perform navigation signal output processing. Program for processing such as search, display output control necessary for route guidance, program for performing voice output control necessary for voice guidance and data necessary for it, and display information necessary for route guidance and map display Data is stored. The data includes map data necessary for route guidance (road map, house map, building shape map, etc.), intersection data, node data, road data, photo data, registration point data, destination point data, guide road data, It consists of files of shape data, guidance data, destination data, destination direction data, detailed destination data, destination reading data, telephone number data, address data, landmark data, and other data. It is remembered.

  The central processing unit 4 stores a CPU that executes various arithmetic processes, and important information (for example, a program for executing route search and route guidance, data for setting conditions, and data for various parameters) in a nonvolatile manner. Flash memory (for example, electrically erasable and programmable EEPROM) which is a rewritable ROM (rewritable non-volatile storage means), a program (program read) for performing flash memory program check and update processing ROM, which is a non-volatile storage means storing the means), a memory point where information on an arbitrary point is registered by a driver's operation, frequency information accumulated by a learning function, error correction information of various detection means, etc. Read / write volatilization that stores information temporarily (volatile) A storage means RAM (e.g., electrically holding it SRAM temporarily stored information: Static RAM) and a. Furthermore, an image memory in which image data used for screen display on the display is stored, an image processor that extracts image data from the image memory based on a display output control signal from the CPU, performs image processing, and outputs the image data to the display, A voice processor that synthesizes voice, a phrase, a single sentence, a sound, and the like read from the information storage device 3 based on a voice output control signal from the CPU, converts them into analog signals, and outputs them to a speaker is provided. Yes.

  The navigation program and data may be read from the outside via the information transmitting / receiving device 5. As described above, the necessary navigation program and data are read from the outside via the information transmitting / receiving device 5, so that a necessary program is used by using a recording medium such as a DVD instead of the CD-ROM for the information storage device 3. It is also possible to update and store the latest data as needed, or to store the data directly in the flash memory or RAM of the central processing unit 4 without the information storage device 3.

  Next, the operation will be described. FIG. 2 is a diagram for explaining the flow of the entire system of the navigation device according to the present embodiment. In the navigation of the above configuration, when the route guidance system program is started by the CPU of the central processing unit 4, the current position is first detected by the current position detecting unit 2 as shown in FIG. Is displayed (step S1), and then the destination is set using the telephone number, address, facility name, memory point, etc. (step S2). Then, a route search from the current position to the destination is performed (step S3). When the route is determined, the route guidance / display is repeated until the destination is reached while tracking the current position by the current position detection device 2 (step S4).

  FIG. 3 is a diagram showing a configuration example of road guidance data and the like. As shown in FIG. 3A, the guide road data file includes a road number, a length, road attribute data, a shape data address, a size, and a number for each of the number n of roads searched by the route search. It consists of address data and size data of guidance data, and is stored as data required for route guidance obtained by route search.

  As shown in FIG. 3B, the shape data has coordinate data including east longitude and north latitude for each of the number of nodes m when divided by a plurality of nodes (nodes) on each road. As shown in FIG. 3C, 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. .

  As shown in FIG. 3D, 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. 3E, the destination direction data is invalid (does not use the destination direction data), unnecessary (does not guide), straight ahead, right direction, diagonal right direction, direction to return to the right, It is data indicating information on the left direction, the diagonally left direction, and the direction returning to the left.

  In the navigation device according to the present embodiment, when route guidance is performed in step S4, a route that avoids a mountain road or a road that is difficult to travel in actuality is searched. FIG. 4 shows the navigation according to the present embodiment. FIG. 5 is a diagram for explaining an example of a route search process by the apparatus, FIG. 5 is a diagram for explaining an example of a curve determination process for performing curve determination from a coordinate sequence, and FIG. 6 is a curve determination process for performing curve determination from the number of coordinates. FIG. 7 is a diagram illustrating an example, and FIG. 7 is a diagram illustrating an example of a first route and a second route searched as a result of curve determination.

  In the route search processing by the navigation device according to the present embodiment, for example, as shown in FIG. 4, first, the first route D1 is searched according to the conventional route search method (step S11), and the searched route D1 is changed. A road that is difficult to travel is determined (step S12), and it is determined whether there is a corresponding road (step S13).

  As a result, when there is no road that is difficult to travel (in the case of NO), the searched route D1 is recommended (step S18), and when there is a road that is difficult to travel (in the case of YES), the search cost of the road (Step S14), and the second route D2 is searched at the search cost (step S15).

  It is determined whether or not the second route D1 searched in step S15 is different from the second route D2 (step S16). If the route is not different (in the case of NO), that is, the first route D1 is consequently obtained. If only the same route is searched, the searched route D1 (D2) is recommended (step S18), and even when the route is different (YES), the distances of those routes are further compared, It is determined whether or not the distance of the second route D2 is longer than K times the distance of the first route D1 (step S17), and if it is long (in the case of YES), the searched route D1 (D2) Is recommended (step S18), but if the distance of the second route D2 is shorter than K times the distance of the first route D1, the second search route D2 is recommended (step S19).

  When determining the road that is difficult to travel by the presence or absence of a curve, for example, as shown in FIG. 5, first, node coordinates of three points are acquired in order from the shape data (step S21), and the radius of curvature r is set. It is determined (step S22), and it is determined whether or not the absolute value | r | is larger than the curvature radius R as a criterion (step S23).

  If the radius of curvature r is larger than the reference value (YES in step S23), it is further determined whether or not the determination is the same as the determination based on the previous three node coordinates (step S24). In this case, the number of curves n is counted up as a new curve is detected (step S25), and if the curvature radius r is not larger than the reference value (NO in step S24), it may be larger. If it is determined in step S24 that it is the same as the previous determination (in the case of YES), it is immediately determined whether or not all nodes have been completed (step S26).

  When the curve determination for all the nodes is completed (YES in step S26), it is determined whether or not the number of curves n is larger than a criterion value (step S27). That is, the road is difficult to travel (step S28), and if it is not large (in the case of NO), there is no curve (step S29).

  Further, when the determination of a road that is difficult to travel is based on the presence or absence of a curve based on the number of road nodes instead of the radius of curvature as described above, first, for example, as shown in FIG. The road length d is acquired (steps S31 and S32). Then, it is determined whether or not the number of nodes (m / d) of the unit length is larger than the reference value K for determination (step S33). (Step S34), if not large (NO), no curve is set (step S35). This curve determination process is based on the premise that the number of nodes per unit length increases if there is a curve.

  According to the above route search processing, for example, as shown in FIG. 7, the first route D1 searched first is determined to be a road that is difficult to travel by the curve determination processing. When the second route D2 is searched, if the second route D2 is longer than the first route D1 and is within a certain range, the second route D2 is recommended. However, if the second route D2 is too long than the first route D1, the first route is recommended as it is. In this case, it goes without saying that the determination of the length of the route can be omitted depending on the degree of increasing the search cost.

  In addition, this invention is not limited to the said embodiment, A various deformation | transformation is possible. For example, in the above embodiment, the curve information is determined by the coordinate value of the road information held as the point coordinates, or the curve information is determined by the number of coordinates, but the curve information is held in the road information. You may make it determine by the presence or absence. Further, as a road that is difficult to travel, a case corresponding to a case where there are many curves, a case where the change in altitude of the road is large, and the like can be considered. In this case, for the first route D1, the amount of change in road altitude (difference between the maximum and minimum values of altitude, the amount of change per unit distance) from the node coordinates (x, y, z) having altitude information A route of a road that is easy to travel by searching for the second route D2 with the search cost when the amount of change in altitude is greater than a predetermined value and calculating the second route D2 as the recommended route. can do. In addition, when a curve is detected from the map data or the output of the gyro sensor on the road that is running, the position of the detected curve is stored in the storage means, and the search cost of that position is stored in the next route search It may be changed.

It is a figure which shows embodiment of the navigation apparatus which concerns on this invention. It is a figure for demonstrating the flow of the whole system of the navigation apparatus which concerns on this embodiment. It is a figure which shows the structural example, such as road guidance data. It is a figure for demonstrating the example of the route search process by the navigation apparatus which concerns on this embodiment. It is a figure for demonstrating the example of the curve determination process which performs curve determination from a coordinate sequence. It is a figure for demonstrating the example of the curve determination process which performs curve determination from the number of coordinates. It is a figure which shows the example of the 2nd path | route searched as a result of the 1st path | route and curve determination.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Input device, 2 ... Current position detection device, 3 ... Information storage device, 4 ... Central processing unit, 5 ... Information transmission / reception device, 6 ... Output device

Claims (6)

In a navigation device that stores map data in a storage means, searches for a route to a destination based on the map data stored in the storage means, and performs route guidance to the destination.
First route search means for searching the first route to the destination as a recommended route by calculation based on the search cost;
Road detecting means for detecting a road whose altitude change amount is a predetermined value or more from the route searched by the first route searching means;
Search cost changing means for changing the search cost of the road detected by the road detecting means;
Second route search means for searching for a second route to the destination by the search cost changed by the search cost change means;
A navigation apparatus, comprising: a recommended route changing unit configured to change the second route searched by the second route searching unit to the first route to be a recommended route. 2. The navigation apparatus according to claim 1, wherein the road detecting means detects the amount of change in altitude by obtaining a difference between a maximum value and a minimum value of altitude based on node coordinates of the road. 2. The navigation apparatus according to claim 1, wherein the road detecting means detects an altitude change amount based on an integrated value of an altitude change amount per unit distance based on a node coordinate of the road. The recommended route changing means determines the second route as a recommended route when the second route is shorter than a length obtained by multiplying a length of the first route by a certain value. Item 4. The navigation device according to any one of Items 1 to 3. A program for a navigation device that stores map data in a storage means, searches for a route to a destination based on the map data stored in the storage means, and performs route guidance to the destination,
A first route search processing step of searching for a first route to a destination as a recommended route by calculation based on a search cost;
A road detection processing step for detecting a road whose altitude change amount is a predetermined value or more from the route searched in the first route search processing step;
Search cost change processing step for changing the search cost of the road detected by the road detection processing step;
A second route search processing step for searching for a second route to the destination by the search cost changed by the search cost change processing step;
A program for a navigation device, comprising: a recommended route change processing step in which the second route searched in the second route search processing step is changed to the first route to be a recommended route. A navigation device recording medium that searches for a route to a destination based on map data and provides route guidance to the destination,
Map data for route search and route guidance,
A first route search processing step for searching the first route to the destination as a recommended route by calculation based on the search cost, and a change amount of altitude from the route searched by the first route search processing step is a predetermined value The road detection processing step for detecting the above road, the search cost change processing step for changing the search cost of the road detected by the road detection processing step, and the search cost changed by the search cost change processing step A second route search processing step for searching for the second route up to and a recommended route change in which the second route searched by the second route search processing step is changed to the first route to be a recommended route A navigation device recording medium having recorded thereon a navigation device program having processing steps.

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