JP2011247716A - In-vehicle navigation device and route guidance method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide "an in-vehicle navigation device and a route guidance method" for, when a road whose regulation information is set has been passed by a self-vehicle, performing route guidance suitable for actual traffic situations.SOLUTION: The in-vehicle navigation device is provided with: storage means for storing map data in which roads are shown by the group of nodes and road links; self-vehicle location detection means; traffic information acquisition means for acquiring the passage regulation information of a road; and control means for, when determining that the road whose passage is regulated has been passed by a self-vehicle based on the location of the self-vehicle, releasing the regulation information set to the road link corresponding to the road, and for researching the route. When determining that the road whose entrance closure is regulated has been passed by the self-vehicle, the control means releases the regulation information set to the road link corresponding to the road, and extracts the road link to a prescribed spot, and when the regulation information is set to the road link to the prescribed spot, releases the regulation information, and researches the route.

Description

  The present invention relates to an on-vehicle navigation device and a route guidance method, and more particularly to an on-vehicle navigation device and a route guidance method having a function of performing route guidance suitable for actual traffic conditions.

  Conventional typical vehicle-mounted navigation devices include a control device such as a CPU that controls all processes related to navigation, a storage device such as a DVD (Digital Versatile Disk) -ROM or an IC memory card that stores map data in advance, It has a display device, a GPS (Global Positioning System) receiver, a detection device for detecting the current position and current direction of the vehicle, such as a gyroscope and a vehicle speed sensor. Then, the control device reads out map data including the current position of the vehicle from the storage device, displays a map image around the vehicle position on the display device screen based on the map data, and indicates the current position of the host vehicle. The vehicle position mark to be displayed is superimposed on the map image, the map image is scrolled according to the movement of the vehicle, the map image is fixed on the screen and the vehicle position mark is moved, and where the vehicle is currently located. You can see at a glance whether you are driving.

  In-vehicle navigation devices are usually equipped with a function (route guidance function) that guides a user so that the user can easily travel on the road without making a mistake. According to this route guidance function, the optimal route (typically the route with the lowest cost) that connects from the departure point (typically the current position of the vehicle) to the destination using the map data by the control device. Is automatically searched by performing simulation calculation such as horizontal search method or Dijkstra method, and the searched route is stored as a guide route, and the guide route can be distinguished from other roads on the map image while driving (For example, change the color or increase the line width), or when the vehicle approaches a predetermined distance to the intersection where the course should be changed on the guidance route, the intersection on the map image By displaying a guide map (enlarged view of the intersection, an arrow indicating the direction of travel at the intersection, the distance to the intersection, the name of the intersection, etc.) In which direction to go The user is to be able to grasp.

  In-vehicle navigation devices use VICS (registered trademark) (Vehicle Information and Communication System) to acquire traffic information such as traffic jams and accidents in real time. VICS transmits road traffic information collected and edited by the Road Traffic Information Communication System Center through FM multiplex broadcasting, and provides information such as traffic jams, accident information, required time, speed regulation, etc. Yes.

  For example, when it is received from VICS that an expressway is congested and the entrance is closed, the entrance is avoided to guide another route. As a technology related to this, Patent Document 1 estimates that the entrance interchange is closed from the degree of congestion near the entrance interchange on the guide route entering the expressway, and it is determined that the entrance interchange cannot be reached by the estimated closing time. It is described that a route that does not use the entrance interchange is searched in the case of an accident.

Japanese Patent Laid-Open No. 11-353588

  As described above, in the navigation apparatus, a location where traffic congestion has occurred can be acquired by a system that notifies traffic conditions such as VICS, and the location can be avoided.

  Such traffic regulation information relating to traffic congestion and the like is transmitted every predetermined time so that the vehicle side can reliably acquire the information.

  However, in VICS, although traffic information and the like are notified of restriction information such as entrance closure, information that the restriction has been released is not notified. Therefore, the in-vehicle navigation side releases the restriction information when a predetermined time has elapsed since the restriction information is not transmitted.

  Therefore, even if the road is actually restricted and can be passed, it is still restricted in the route guidance, and a guidance route that avoids it will be searched and guided. is doing.

  In addition, when traveling on a road that is actually accessible, there is a situation in which the route calculation fails and the route guidance cannot be continued because the regulation information is still retained in the in-vehicle navigation device. .

  The present invention has been made in view of the problems of the prior art, and is capable of providing route guidance that is suitable for actual traffic conditions when passing a road that is not route-guided by traffic regulation information. An object is to provide a navigation device and a route guidance method.

  In order to solve the above-described problems of the prior art, according to the basic form of the present invention, storage means storing map data in which a road is represented by a set of nodes and road links, and the own vehicle for detecting the current position of the own vehicle Based on the position detection means, traffic information acquisition means for acquiring road traffic regulation information, and the position of the host vehicle, when it is determined that the host vehicle has traveled on the road that is traffic restricted, There is provided a vehicle-mounted navigation device characterized by having control means for canceling restriction information set in a corresponding road link and re-searching a route.

  In the vehicle-mounted navigation device according to this aspect, the control means is set to a road link corresponding to the road when the vehicle has traveled on a road on which a toll road entrance is restricted. Cancel the restriction information, extract the road link to the predetermined point, and when the restriction information is set for the road link to the predetermined point, cancel the restriction information and re-search the route Alternatively, when the control unit determines that the vehicle has traveled on the road that is restricted to traffic while traveling on the main road of a toll road, the control means sets a restriction on a road link corresponding to the road. Release the information, extract the road link to the predetermined point, and when the restriction information is set for the road link to the predetermined point, cancel the restriction information and re-search the route Unishi may be.

  In the in-vehicle navigation device according to this aspect, the predetermined point may be an exit of a toll road, the predetermined point may be a junction of a toll road, and the control means In addition, route guidance may be performed based on a result of the route re-search including the route to the exit, and the control unit temporarily stores a result of the route re-search including the route to the junction. The route guidance may be stopped.

  According to another aspect of the present invention, there is provided a route guidance method in an in-vehicle navigation device for performing a route search based on map data in which a road is represented by a set of nodes and road links. Determining whether or not the host vehicle has traveled on the traffic-restricted road based on the acquired road traffic restriction information and the position of the host vehicle detected by the host vehicle position detecting means; and A step of canceling restriction information set in a road link corresponding to the road when it is determined that the host vehicle has traveled, and a step of re-searching a route using the road link from which the restriction information is released And a route guidance method characterized by comprising:

  In the route guidance method according to this aspect, the step of releasing the restriction information includes a step of determining whether or not the host vehicle has traveled on a road on which a toll road entrance is restricted, and the entrance closure restriction is When it is determined that the host vehicle has traveled on the road that has been set, the step of releasing the restriction information set in the road link corresponding to the road, the step of extracting the road link to a predetermined point, A step of releasing the restriction information when restriction information is set on a road link to a predetermined point, and the step of releasing the restriction information includes the vehicle traveling on a main road of a toll road. Determining whether or not the vehicle has traveled on a road on which the traffic is restricted, and determining that the host vehicle has traveled on the road on which the traffic is restricted. The step of releasing the restriction information set for the road link corresponding to the road, the step of extracting the road link to the predetermined point, and the restriction information is set for the road link to the predetermined point. And the step of releasing the restriction information.

  In the route guidance method according to this aspect, the predetermined point may be an exit of a toll road, the predetermined point may be a junction of a toll road, and further to the exit The route may be guided based on the result of the route re-search including the route, and the route re-search result including the route to the junction may be temporarily stored to provide route guidance. You may make it have the step to stop.

  According to the vehicle-mounted navigation device and the route guidance method of the present invention, when the vehicle travels on the road in a state where the traffic regulation is being guided in spite of the fact that the road is capable of traffic, The restriction information set in the road link corresponding to the road is canceled. In addition, when the traffic regulation is toll entrance closure or traffic closure, the regulation information set for the road link to the exit is canceled.

  As a result, there is no failure in route search due to traveling on the road for which the restriction information is set, it becomes possible to re-search for a route including at least the route to the exit, and it is possible to continue route guidance.

It is a block diagram which shows the structure of the vehicle-mounted navigation apparatus which concerns on one Embodiment of this invention. It is a figure which shows an example of the road to which the regulation information was set. It is an example of the regulation information of VICS. FIG. 4A is a correspondence table of VICS links and road links, and FIG. 4B is a diagram showing a regulation status table of road links. It is a flowchart which shows an example of the route guidance process which considered the actual traffic condition. It is a figure explaining the process which cancels | releases the regulation information set to the road link, and performs route re-search. It is an example of the route guidance map of the result of canceling | regulating the restriction information set to the road link and performing route re-search.

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

(Configuration of in-vehicle navigation system)
FIG. 1 is a block diagram showing a configuration of an in-vehicle navigation device 100 according to an embodiment of the present invention.

  In the figure, 1 is a DVD drive, and 1a is a storage medium in which map data and other guidance data are stored. In the present embodiment, the DVD-ROM 1a is used as a storage medium for storing such data, but a hard disk or other storage medium may be used. The map stored here is divided into longitude and latitude widths of appropriate sizes according to each scale level such as 1/1500, 1/25000, 1 / 50,000, 1/10000, etc. Roads, buildings, facilities, and other various properties included in are stored as a coordinate set of points (nodes) expressed in longitude and latitude. Map data includes (1) a road layer composed of road link data, intersection data, node data, etc., (2) a background layer for displaying roads, buildings, parks, rivers, etc. on a map image, and (3) a municipality. Corresponding from the character / symbol layer for displaying administrative division names such as names, road names, intersection names, and map symbols, and (4) traffic information sent from the VICS Center It consists of a VICS conversion layer necessary for specifying a road.

  In the road layer, the road link data supplies attribute information of each road. For each link constituting the road, the type of road (national road, highway, prefectural road, other road), hierarchization of the road network It consists of data such as the level, the number of nodes constituting the link, the road number (road name), and the width of the link connecting each node. The intersection data is a set of nodes closest to the intersection among the nodes on the link coupled to the intersection. The node data is a list of all nodes constituting the road, and includes position information for each node, information for identifying whether the node is an intersection or not, and the like.

  An operation unit 2 is provided with operation buttons and the like for operating the navigation apparatus body 10. In the present embodiment, the operation unit 2 includes a remote control transmitter, and the user can also operate the navigation apparatus body 10 with the remote control transmitter at hand.

  Also, 3 receives GPS signals sent from a plurality of GPS satellites and generates and outputs GPS data such as longitude, latitude, PDOP (Position DOP) value and HDOP (Horizontal DOP) value of the current position of the vehicle. A GPS receiver is shown. Reference numeral 4 denotes a self-contained navigation sensor. The self-contained navigation sensor 4 is composed of an angle sensor such as a gyro that detects a vehicle rotation angle, and a travel distance sensor that generates a pulse at every constant travel distance.

  In addition, 5 is a communication device such as an in-vehicle phone for communicating with various service centers, 6 is a radio wave beacon or an optical beacon, and VICS (Traffic Information Communication System) information transmitted by FM multiplex broadcasting. Fig. 4 shows a VICS receiver to receive. These beacons are installed on the roadside and connected to police stations, road managers and integration centers to provide information on traffic jams in the vicinity.

  Reference numeral 7 denotes a display unit such as a liquid crystal panel. The navigation device body 10 displays a map around the current position of the vehicle on the display unit 7, a guidance route from the departure point to the destination, a vehicle mark, Other guidance information is displayed. The display unit 7 is provided with a touch panel on the screen, and is configured with various buttons paired with the display content of the display screen. The touch panel serves as an input device for selecting a menu or the like indicated by these various buttons. Reference numeral 8 denotes a speaker for providing guidance information to the user by voice.

  The navigation device body 10 is composed of the following. Reference numeral 11 denotes a buffer memory that temporarily stores map data read from the DVD-ROM 1a via the DVD drive 1.

  Reference numeral 12 denotes a control unit constituted by a microcomputer. The control unit 12 has a built-in navigation program, and calculates the current position of the vehicle based on a signal output from the GPS receiver 3 or a signal output from the self-contained navigation sensor 4 according to the program. Or the map data to be displayed is read from the DVD-ROM 1a to the buffer memory 11 via the DVD drive 1 or from the destination to the destination under the search conditions set using the map data read to the buffer memory 11. Various processes are executed, such as searching for a guide route up to. As will be described later, when the host vehicle travels on a road for which traffic regulation information is set, the regulation information is canceled and the route is re-searched.

  13 is a map drawing unit for generating a map image using the map data read out to the buffer memory 11, and 14 is for generating various menu screens (operation screens) and various marks such as vehicle position marks and cursors according to the operation status. This is the operation screen / mark generator.

  Reference numeral 15 denotes a guide route storage unit that stores the guide route searched by the control unit 12, and 16 denotes a guide route drawing unit that draws the guide route. The guidance route storage unit 15 stores all the nodes of the guidance route searched by the control unit 12 from the departure point to the destination. When displaying the map, the guide route drawing unit 16 reads the guide route information from the guide route storage unit 15 and draws the guide route with a color and line width different from those of other roads.

  Reference numeral 17 denotes a storage unit including a memory such as an EEPROM connected to the control unit 12, and temporarily stores a restriction status table indicating a road link for which traffic is restricted and a guidance route.

  An audio output unit 18 supplies an audio signal to the speaker 8 based on a signal from the control unit 12. Reference numeral 19 denotes an image composition unit, on which a map image drawn by the map drawing unit 13 is overlaid with various marks and operation screens generated by the operation screen / mark generation unit 14, a guidance route drawn by the guidance route drawing unit 16, and the like. And output to the display unit 7.

  In the in-vehicle navigation device 100 configured as described above, as a basic operation, the control unit 12 is based on the GPS signal received by the GPS receiver 3 and the signal input from the autonomous navigation sensor 4. Detect current position. Then, map data around the vehicle is read from the DVD-ROM 1 a via the DVD drive 1 and stored in the buffer memory 11. The map drawing unit 13 generates a map image based on the map data read to the buffer memory 11 and displays a map image around the host vehicle on the screen of the display unit 7 via the image composition unit 19.

  Moreover, the control part 12 detects the present position of the own vehicle based on each signal input from the GPS receiver 3 and the self-contained navigation sensor 4 with the movement of the own vehicle, and according to the detection result, the display part 7 The vehicle position mark is superimposed on the map image displayed on the screen, and the vehicle position mark is moved as the host vehicle moves, or the map image is scrolled.

  Further, when the user operates the operation unit 2 to set a destination and other necessary information (information about a waypoint on the way to the destination, etc.), the control unit 12 reads from the GPS receiver 3 and the autonomous navigation sensor 4. The current position of the vehicle detected based on each of the signals is used as a starting point, and a route with the lowest traffic cost from the starting point to the destination is searched using the map data of the DVD-ROM 1a. Then, the route obtained by the search is stored in the guidance route storage unit 15 as a guidance route, and the guidance route is superimposed on the map image on the screen on the display unit 7 via the guidance route drawing unit 16 and the image composition unit 19. Display together.

  Below, the route guidance process according to the actual traffic restriction status in the vehicle-mounted navigation device 100 will be described with reference to FIGS.

  FIG. 2 shows an example in which a restriction mark corresponding to the type of restriction is displayed on the road map based on the traffic restriction information. FIG. 2A shows a main line 21 of the expressway, a road 22 from the entrance gate EN to the main line 21, and a road 23 from the main line 21 to the exit gate EX. A mark 24 indicating entrance closing restriction is displayed on the road 22, and a road closing restriction mark 25 is displayed on the main line 21 and the road 23.

  FIG. 2B shows an example in which the road in FIG. 2A is represented by links and nodes connecting the links. The entrance gate EN corresponds to the node N1, the road 22 from the entrance gate EN to the main line 21 corresponds to the link L1, and the main line 21 corresponds to the road link (L5, L2, L3, L4). The road 23 from the main line 21 to the exit gate EX corresponds to the road link L6.

  The restriction information displayed corresponding to the road link is acquired from the VICS information received via the VICS receiver 6. FIG. 3 shows an example of VICS regulation information. The restriction information has a length corresponding to the number of link columns, and indicates basic information 31 when the number of link columns is 1, basic information 32 when the number of link columns is 2, and basic information 33 when the number of link columns is 3. Yes. The basic information 31 when the number of link strings is 1 is basic information of the starting link, and (1) an extension flag (a flag indicating whether or not an extended configuration (not shown) is included), (2) the number of link strings related to regulation, (3) Cause event, (4) Restriction content, (5) Distance unit, (6) Length of restriction, (7) Different mesh flag (map coordinates of start point link and end point link, via link are different (8) place name flag (flag indicating whether or not a place name related to a link number is included), and (9) link type / link number, number of bytes of start place name -The name of the starting point of the number of bytes is included.

  The basic information 32 when the number of link strings is 2 is represented by the basic information of the start point link and the basic information of the end point link. The basic information 33 when the number of link strings is 3 is represented by basic information of the start point link, basic information of the end point link, and basic information of the via link. Basic information of these end point links and via links includes map coordinates X and Y instead of (1) to (6).

  Since such a VICS link does not correspond one-to-one with a road link when displaying a map or performing a route search, a correspondence table of a VICS link and a road link as shown in FIG. Based on this, the road link corresponding to the VICS link is detected. FIG. 4A shows that VL1 of the VICS link corresponds to L1 of the road link, and VL2 of the VICS link corresponds to L2 and L3 of the road link.

  FIG. 4B shows a restriction status table showing whether or not restriction information is set for each road link based on the correspondence table of FIG. As the flags set in the restriction status table, a search restriction flag for route search and a display restriction flag for map display are prepared. The search restriction flag is an index indicating whether or not restriction information is set for the road link in the search for the guidance route, and determines setting such as increasing the cost for the road link for which restriction information is set. Used when. The display restriction flag is an indicator of whether or not to display a restriction mark corresponding to the restriction information on the road that is restricted on the map.

  For example, in the road link diagram of FIG. 2 (b), when the road link L1 corresponds to the VICS link VL1, and the restriction information for entrance closure is added to the VICS link VL1, as shown in FIG. 2 (a). On the road 22, a mark corresponding to the restriction information on the entrance closing is displayed. Further, when road links L2 and L3 correspond to VICS link VL2 and traffic restriction information is added to VICS link VL2, road traffic 21 corresponds to road traffic restriction information as shown in FIG. The mark to be displayed is displayed.

  When such traffic regulation information is set, the navigation apparatus searches for another route while avoiding roads where such traffic is impossible. For example, since the entrance is closed, the route calculation is performed so that a U-turn is indicated on the road (road link L0) before entering the entrance.

  In this state, when the host vehicle CM passes through the entrance gate EN and is positioned on the road 22 corresponding to the road link L1, the navigation device sets the restriction information for the road link L1 and recalculates the route. It cannot be performed, and route guidance cannot be performed.

  On the other hand, in this embodiment, when the host vehicle travels on a road for which restriction information is set, it is considered that the restriction for the road has already been released, and the restriction information set for the road link is released. I have to.

  Hereinafter, the route guidance processing according to the actual traffic restriction situation will be described with reference to FIGS.

  FIG. 5 is a flowchart illustrating an example of route guidance processing that is adapted by the control unit 12 of the in-vehicle navigation device 100 and adapted to actual traffic conditions when traveling on a road for which restriction information is set.

  First, in step S11, it is determined whether or not the vehicle has passed (traveled) on a regulated road. This determination is made by detecting the position of the vehicle based on a signal from the GPS receiver 3 or a signal from the self-contained navigation sensor 4 and performing map matching with a road on the map. It waits until it passes the regulated road, and when it determines with having passed the regulated road, it transfers to step S12. If it is determined that the vehicle has passed a restricted road, the route re-search process is not performed.

  In the next step S12, the restriction information set for the road link of the road is canceled. When the restriction information is received, a road link search restriction flag is set to indicate that there is a restriction. The search restriction flag is not reset immediately when the restriction information is received, but is reset when a predetermined time has elapsed. In this step, when it is determined that the host vehicle has traveled on this road, the search restriction flag to be calculated for the route search is reset (the flag is set to 0), and the restriction information is released.

  However, the setting of the display restriction flag for displaying the map is maintained, and is reset after a predetermined time has elapsed after the restriction information is not received as usual. That is, the restriction mark corresponding to the restriction information acquired via the VICS receiver is determined to have been released after a predetermined time even when the vehicle travels on a restricted road. Until it is displayed on the screen.

  In the next step S13, road links adjacent in the traveling direction are extracted. For example, if the host vehicle enters a toll road from an entrance gate where entrance closure is restricted, the restriction flag of the road link is reset in step S12. However, the restriction information is also applied to the road link connected to the road link. If is set, the route cannot be searched again. Therefore, the road link to the exit is extracted by repeatedly performing the processing from step S13 to step S17 so that the route can be re-searched.

  In the next step S14, it is determined whether or not the extracted road link is connected to the junction. When it is connected to the junction, the process proceeds to step S11. When it is not connected to the junction, the process proceeds to step S15.

  When connected to a junction, it cannot be determined whether the road ahead is accessible. For example, when traveling on the main road of an expressway, it cannot be determined whether the main line after passing the junction can be traveled or whether a road other than the main road can be traveled. Therefore, in this case, although the restriction information set for the road link to the junction is canceled, route guidance is not performed until the vehicle travels on one of the roads.

  In this case, the route to the junction may be re-searched, and the result may be temporarily stored in the storage unit 17.

  In the next step S15, it is determined whether or not the road link extracted in step S13 is connected to the exit of the toll road. When it is connected to the exit, the process proceeds to step S18, and when it is not connected to the exit, the process proceeds to step S16.

  In the next step S16, it is determined whether or not restriction information is set for the road link. When the restriction information is set, the process proceeds to step S17. When the restriction information is not set, the process proceeds to step S13, and this process is continued.

  In the next step S17, the search restriction flag for route search set in the road link is reset to release the restriction information, and the process proceeds to step S13.

  On the other hand, if it is determined in step S15 that it is connected to the exit, the process proceeds to step S18 to perform a route search again, and in step S19, the route guidance is continued. In route re-searching, for example, when entering a toll road from a toll gate where entrance closure is restricted, the road to the next exit is subject to route search, so that route calculation can be performed.

  The above processing will be further described using the specific examples shown in FIGS.

  6A to 6D are diagrams showing an example of traffic restrictions on the highway. In FIGS. 6A to 6D, roads are represented by road links and nodes, and a restriction mark corresponding to the type of traffic restriction is displayed on the road link where the traffic restriction is performed. Hereinafter, “the road corresponding to the road link X” is also referred to as “road X”.

  FIG. 6 (a) shows a situation where entrance closure is restricted at the entrance N11 of the expressway, traffic restriction 52 is performed on the main line, and exit N15 is restricted. It is determined whether or not the host vehicle CM has passed an entrance with a restriction 51 for closing the entrance (step S11, hereinafter, the corresponding steps are described in the flowchart of FIG. 5), and the restriction information set for the road link L11 is released. (Step S12). Subsequently, since the restriction information set for the road links L12 to L14 is canceled (step S13) and it is determined that the road is connected to the exit N15 (step S15), the road from the entrance N11 to the exit N15 The link restriction information is canceled and the route is searched again (step S18).

  As a result, route guidance as shown in FIG. 7A is displayed (step S19). In FIG. 7A, a guidance route 61 is displayed from the entrance HR1 to the main line HR2, the main line HR2, and the road HR3 from the main line HR2 to the exit.

  In this case, the restriction information set for the road link L15 is not released. If the vehicle travels on the road L15 without traveling on the road connected to the exit N15, the process of FIG. 5 is performed again from step S11 so that route guidance to the next exit can be performed.

  FIG. 6B shows a situation in which the traffic restriction 52 is performed on the main line and on the road from the main line to the exit N22. It is determined that the host vehicle CM has passed the road L22 that is restricted from being closed (step S11), and the restriction information set in the road link L22 is released (step S12). Subsequently, the restriction information set for the road links L23 and L24 is canceled (step S13), and it is determined that the road link is connected to the exit N22 (step S15). It is canceled and the route is searched again (step S18).

  As a result, route guidance as shown in FIG. 7B is displayed (step S19). In FIG. 7B, the guide route 62 is displayed from the main line HR4 to the road HR5 from the main line HR4 to the exit.

  FIG. 6C shows a case where the junction N13 exists in the middle of the main line in the situation of FIG. It is determined that the host vehicle CM1 has passed through the entrance N11 where entrance closing is restricted (step S11), and the restriction information set for the road link L11 is released (step S12). Subsequently, since the restriction information set on the road link L12 is released (step S13) and it is determined that the vehicle is connected to the junction N13 (step S14), whether or not the vehicle has traveled on the road having the restriction information. This determination is awaited (step S11). At this stage, the route guidance is stopped. It is determined that the host vehicle CM2 has passed the road L13 that is restricted (step S11), and the restriction information set for the road link L13 is released (step S12).

  Subsequently, since the restriction information set on the road link L14 is released (step S13) and it is determined that the road link L14 is connected to the exit N15 (step S15), the restriction information on the road link up to the exit N15 is released. The route is re-searched (step S18).

  As a result, route guidance as shown in FIG. 7C is performed (step S19). In FIG.7 (c), the guidance route 63 is displayed over the road HR6 from the entrance to the main line HR7, the main line HR7, and the road HR9 from the main line HR7 to the exit.

  FIG. 6D shows a case where the junction N20 exists in the middle of the main line in the situation of FIG. 6B. It is determined that the host vehicle CM3 has passed the road L22 with the traffic restriction 52 (step S11), and the regulation information set for the road link L22 is released (step S12). Since it is determined that this road is connected to the junction N20 (step S14), it is awaited whether or not the vehicle has traveled on a road with regulatory information (step S11). At this stage, the route guidance is stopped. It is determined that the host vehicle CM4 has passed through the road L23 with the traffic restriction 52 (step S11), and the restriction information set for the road link L23 is released (step S12).

  Subsequently, the restriction information set on the road link L24 is released (step S13), and it is determined that the road link L24 is connected to the exit N22 (step S15), so the road link restriction information up to the exit N22 is released. The route is re-searched (step S18).

  As a result, route guidance as shown in FIG. 7D is performed (step S19). In FIG. 7D, a guide route 64 is displayed from the main line HR10 to the road HR12 from the main line HR10 to the exit.

  As described above, according to the in-vehicle navigation device and the route guidance method of the present embodiment, the vehicle is in a state where traffic regulation is being guided even though the road is actually accessible. When traveling on a road, the restriction information set in the road link corresponding to the road is canceled. In addition, when the traffic regulation is toll entrance closure or traffic closure, the regulation information set for the road link to the exit is canceled.

  As a result, there is no failure in route search due to traveling on the road for which the restriction information is set, it becomes possible to re-search for a route including at least the route to the exit, and it is possible to continue route guidance.

  In this embodiment, as the restriction information, the entrance to the expressway and the closing of the road are used as examples. However, the present invention is not limited to this, and the same applies to restriction information that cannot travel on the road, for example, entry prohibition restriction information. It is applicable to.

100: In-vehicle navigation device,
1a ... DVD-ROM,
2 ... operation part,
3 ... GPS receiver,
4 ... Self-contained navigation sensor,
7 ... display part,
10 ... navigation device body,
11: Buffer memory,
12 ... control unit,
15 ... guide route storage unit,
16 ... guide route drawing unit,
24, 25, 51, 52 ... restriction marks,
61-64 ... guidance route.

Claims (18)

Storage means for storing map data in which roads are represented by a set of nodes and road links;
Own vehicle position detecting means for detecting the current position of the own vehicle;
Traffic information acquisition means for acquiring road traffic regulation information;
Based on the position of the host vehicle, when it is determined that the host vehicle has traveled on the traffic-restricted road, the restriction information set in the road link corresponding to the road is canceled and the route is re-searched. Control means for performing
A vehicle-mounted navigation device comprising:   When the control means determines that the host vehicle has traveled on a road on which a toll road entrance is restricted, the control means cancels the restriction information set on the road link corresponding to the road, up to a predetermined point. The road link is extracted, and when the restriction information is set for the road link to the predetermined point, the restriction information is canceled and the route is re-searched. Car navigation system.   When the control means determines that the vehicle has traveled on the road that is restricted to traffic while traveling on the main road of a toll road, the control means cancels the restriction information set in the road link corresponding to the road, The road link to a predetermined point is extracted, and when the restriction information is set for the road link to the predetermined point, the restriction information is canceled and the route is re-searched. The in-vehicle navigation device according to 2.   The in-vehicle navigation device according to claim 2 or 3, wherein the predetermined point is an exit of a toll road.   The in-vehicle navigation device according to claim 2 or 3, wherein the predetermined point is a junction of a toll road.   The in-vehicle navigation device according to claim 4, wherein the control means performs route guidance based on a result of re-search for a route including a route to the exit.   The in-vehicle navigation device according to claim 5, wherein the control means temporarily stores a result of re-search for a route including a route to the junction and stops route guidance. Furthermore, a display means is provided,
The control means associates a restriction mark according to the restriction with the restricted road based on the restriction information acquired by the traffic information acquisition means until the restriction information is canceled. The vehicle-mounted navigation device according to claim 1, wherein the navigation device is displayed on the vehicle.   The in-vehicle navigation device according to claim 1, wherein the restriction information is any one of closing a toll road, closing a road, and prohibiting entry. A route guidance method in an in-vehicle navigation device for performing a route search based on map data in which a road is represented by a set of nodes and road links,
Determining whether or not the host vehicle has traveled on the traffic-restricted road based on the road traffic regulation information acquired by the traffic information acquisition unit and the position of the host vehicle detected by the host vehicle position detection unit; ,
When it is determined that the host vehicle has traveled on the road, the step of releasing the restriction information set in the road link corresponding to the road;
Re-searching the route using the road link for which the restriction information is released;
A route guidance method characterized by comprising: The step of releasing the restriction information includes
Determining whether or not the host vehicle has traveled on a road that is subject to entrance closure of a toll road; and
When it is determined that the host vehicle has traveled on the road where the entrance is restricted, the restriction information set on the road link corresponding to the road is released; and
Extracting a road link to a predetermined point;
When restriction information is set on the road link to the predetermined point, releasing the restriction information;
The route guidance method according to claim 10, further comprising: The step of releasing the restriction information includes
Determining whether or not the vehicle has traveled on a road on which traffic is restricted while traveling on a main road of a toll road;
When it is determined that the host vehicle has traveled on the road on which the traffic is restricted, the step of releasing the restriction information set on the road link corresponding to the road;
Extracting a road link to a predetermined point;
When restriction information is set on the road link to the predetermined point, releasing the restriction information;
The route guidance method according to claim 10, further comprising:   The route guidance method according to claim 11 or 12, wherein the predetermined point is an exit of a toll road.   The route guidance method according to claim 11 or 12, wherein the predetermined point is a junction of a toll road.   14. The route guidance method according to claim 13, further comprising a step of performing route guidance based on a result of re-searching for a route including the route to the exit.   The route guidance method according to claim 14, further comprising temporarily storing a result of re-searching for a route including the route to the junction and stopping the route guidance.   Further, based on the restriction information acquired by the traffic information acquisition means, the restriction mark corresponding to the restriction is displayed on the screen of the display means in association with the restricted road until the restriction information is canceled. The route guidance method according to claim 10, further comprising:   The route guidance method according to claim 10, wherein the restriction information is any one of closing a toll road, closing a road, and prohibiting entry.

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