JP2013096713A - Navigation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation device enabling setting of a route to a destination that is easily understandable to a user and allowing the user to reach the destination without deviating from the guided route.SOLUTION: When a destination setup part 22c sets a destination, a second route search part 22db of a route search part 22d checks, from node information, whether it is an intersection for which a mark-guide is to be provided by using a landmark when a route is searched. If it is a node to be provided such mark-guide, the route search is continued with all links other than an entry link connecting to the node as targets, or if it is a node to be not provided such mark-guide, the route search is continued with only a link existing in a straight travel direction relative to the entry link as a target, of the links other than the entry link connecting to the aforementioned node, and thereby routes to be left-turning and right-turning at an intersection where a landmark exists are searched in priority.

Description

  The present invention relates to a navigation device that searches for a route that minimizes the accumulated cost from a vehicle position to a destination based on road map data.

  The navigation device is equipped with a route guidance function that allows the user to easily travel on the road to a desired destination without making a mistake. In this route guidance function, the lowest cost route connecting from the starting point to the destination is searched using map data by performing a simulation calculation such as a horizontal search method or a Dijkstra method. Then, the searched route is used as a guidance route, and the guidance route is displayed on the map with a different color from that of other roads, and is provided to the user (FIG. 10).

  Cost refers to road width, road type (highways, ordinary roads, national roads, prefectural roads, city roads, narrow streets, etc. for ordinary roads), right and left turns at intersections, etc. based on distance A value obtained by multiplying a corresponding constant, a predicted traveling time of the vehicle, and the like, which are numerical values representing the appropriate degree as a guidance route. Even if there are two routes having the same distance, the cost differs depending on whether the user uses a toll road, prioritizes distance, prioritizes time, or the like.

Furthermore, in the navigation device, in addition to the above-described highlight display of the guidance route, guidance by voice is also performed. This type of navigation device guides the type and name of landmarks that serve as landmarks at the intersection before entering the intersection for turning left and right at the intersection required to advance the vehicle along the route. This makes it easier for the user to understand the intersection at which the vehicle turns right or left.
For example, as a result of the route search, there is a gas station near the intersection where you should turn left and right on the guidance route. When the vehicle approaches the intersection, “Further turn right at the XX intersection. The gas station is a landmark.” Is output by voice. (Patent Document 1)

JP 2003-207358 A

In the navigation device described in Patent Literature 1, ambiguity when determining an intersection that turns right and left is reduced by performing voice guidance using landmarks at an intersection that turns right and left. However, if there is no landmark at an intersection that needs to turn left or right on the guidance route, landmark guidance using landmark information cannot be made, so it is possible to determine at which intersection to turn right or left It is difficult, and the user may overlook an intersection to turn right and left, and may go straight ahead by mistake even though he needs to make a right or left turn.
Normally, a navigation device searches a route such as a time-priority route that reaches the destination in the shortest time or a distance-priority route that has the shortest travel distance, and provides it to the user. If you miss an intersection that makes a right or left turn and you deviate from the guidance route, you want to go to the destination on an easy-to-understand route without deviating from the guidance route even if you make a detour.

  From the above, the object of the present invention is to set an easy-to-understand route as a guidance route by searching for a route to a destination by preferentially setting an intersection where a landmark exists as a right / left turn point, It is an object of the present invention to provide a navigation device that can arrive at a destination without departing from the guidance route.

  In order to solve the above-described problem, a navigation device according to the present invention includes a node data storing a cost for passing through an intersection and a link data storing a cost for passing a road between the intersections. A navigation device comprising: a storage unit that stores data; and a first route search unit that searches for a route that minimizes the accumulated cost of a route to a destination based on the node data and link data, Route guidance unit that voice-guides right and left turns at intersections on the route, and the route guidance unit includes the name of the facility that exists at the intersection, and the right and left turns of the intersection that give voice guidance to intersections are preferentially routed And a selection screen for selecting either the route search by the first route search unit or the route search by the second route search unit That a display unit, and a, an operation unit for selecting operation of the search path from the selection screen displayed on the display unit.

Preferably, the selection screen is a screen on which a user can compare a route searched by the first route search unit and a route searched by the second route search unit.
Alternatively, the selection screen is a screen for selecting whether the route search is performed by the first route search unit or the route search by the second route search unit before the route search.

  According to the present invention, the guide route is set so as to preferentially make a right / left turn at an intersection where landmark information using landmark information exists, so that the user can understand without departing from the guide route. It is possible to provide an easy route.

1 is a configuration diagram of a navigation device according to an embodiment of the present invention. It is a figure which shows the structure of the map data based on the Example of this invention. It is a figure which shows the example of a storage of the node record and node cost record in a node (intersection). It is a flowchart of the guidance route search process which concerns on the Example of this invention. It is a figure which shows the example of a display of the own vehicle periphery map screen. It is a figure which shows the example of a display of a route search result screen. It is a figure which shows the example of a display of a guidance path | route. It is a figure which shows the example of a display of a route search condition selection screen. It is a figure which shows the example of a memory | storage of the node cost correction coefficient which concerns on the modification of this invention. It is a figure which shows the example of a display of the conventional guidance route (time priority conditions).

FIG. 1 is a configuration diagram of a navigation apparatus 10 according to the present invention.
The map data storage unit 11 is constituted by a DVD, a hard disk, etc., and map data is recorded. Then, the map read control unit 22b reads the map data into the map buffer 21 as necessary.
Here, the map data is managed in rectangular units called leaflets for each predetermined geographical area, and each leaf is composed of a plurality of levels according to the degree of detail of the map. Each level map of each leaf consists of one or a plurality of units, and each unit corresponds to the geographic area of the leaf to which it belongs or a divided area, and maps the corresponding area to itself. It is expressed at the level to which the belongs.

As shown in FIG. 2, the map data is represented by management data describing the relationship between each unit and a leaf, corresponding area, and level, basic map data representing a map, each road and each road and basic map data. And route data for managing the correspondence with the map.
The basic map data includes unit data for each unit described above, and unit management data that describes the relationship between each unit data and the leaf, corresponding area, and level. Each unit data includes a road unit representing a road network, , A drawing unit representing a background map image, which is a map image including display of topographical figure, facility figure, area name, facility name, etc., intersection unit storing information used for intersection driving guidance, and information on various facilities And a landmark unit that stores.

  Next, the road unit has a node list, a link table, and connection data describing connections and correspondences of nodes and links with other units. Here, in the road unit, the road is expressed as a set of links that are straight lines, and the end point of each link is a node. Such a node is always provided at a connection point of a road such as an intersection, and is always provided at a boundary between adjacent units.

  The node list includes a node record of each node, and each node record includes a node attribute, a node attribute, a node coordinate, a traffic attribute, a node attribute representing the node corresponding to an intersection, and the like as flag information, a node When an intersection attribute is given to the attribute, the intersection number of the intersection data record indicating the intersection information, the connection link number indicating the link number of the link connected to the node, and the landmark that is the target of the landmark guidance in the vicinity of the node A mark guidance presence / absence flag indicating whether or not there is present, and a node cost table for route search are described. The node cost table includes a node cost record for each node. Each node cost record includes a link from the link connected to the node (the node indicated by the node record) to another link connected to the node. Such a node cost is described for each combination of links connected to the node, where the link number of the certain link is the incoming link number and the link number of the other link connected to the node is the outgoing link number.

The link table includes a link record for each link, and each link record includes a link attribute indicating the link number, the number of lanes, the start node number of the node that is the start of the link, and the end of the node that is the end of the link. A node number, a link distance, lane width information indicating a lane width of a road section corresponding to the link, a route number of a road route to which the link belongs, a link cost table for route search, and the like are described. In the link cost table, the link cost from the node number 1 as the link end to the node number 2 as the link end and the link cost from the node number 2 as the link end to the node number 1 as the link end Is described.
The node cost and the link cost are set to values corresponding to main times predicted at the intersection or road.

  Next, the intersection unit has an intersection data record provided for each intersection. Each intersection data record includes an intersection number which is an identification number of the intersection, a node number of a node corresponding to the intersection, and a link connected to the intersection. Number, intersection name, landmark landmark list. The landmark landmark list has a landmark landmark list provided for each link connected to the intersection. Each landmark landmark list includes a landmark landmark record for each landmark landmark, and each landmark landmark record includes The landmark number of the landmark landmark of the facility that becomes the landmark when entering from the corresponding link and exiting to the other link connected to the intersection, the link number of the corresponding link is connected to the entrance link number, the intersection This is described for each combination of links corresponding to other links connected to the intersection. Here, when the landmark landmark does not exist for the exit link to the exit link, the landmark number is not stored (or data indicating that it does not exist is stored).

  Next, the landmark unit has a landmark data record provided for each facility, and each landmark data record includes a landmark number that is an identification number of the facility, coordinates of the landmark, a gas station of the facility, It has a landmark type indicating the type of post office, convenience store, etc., a landmark name indicating the name of the facility, and presence / absence of a landmark. In the presence / absence of a landmark, whether or not the facility is registered as a landmark landmark number in the landmark landmark record of any intersection data record of the intersection unit, that is, the landmark passes through any intersection. Register the identification of whether it is used as a landmark.

Returning to FIG. 1, the operation unit 12 operates the navigation device 10 and includes a remote controller, hard keys, a touch panel, and the like. When a predetermined operation is input, a predetermined command for the operation is displayed in the navigation device. Are output to ten control units 22.
The VICS (registered trademark) receiver 13 receives traffic information transmitted from a traffic information transmission source (provider) and outputs the traffic information to the control unit 22.
This traffic information is information such as the current congestion level (congestion level), traffic prohibition information due to construction, traffic accident information, etc., and is associated with the link record of the road unit and used when displaying traffic information and searching for routes. Is done.
The GPS receiver 14 receives GPS information (information on time and orbit) distributed from a GPS (Global Positioning System) satellite, and outputs the received GPS information to the control unit 22.

The autonomous navigation sensor 15 is composed of an angle sensor such as a gyro for detecting a vehicle rotation angle, a distance sensor for generating a pulse at a certain travel distance, and the like, and detects the vehicle speed, acceleration (angular velocity), and direction of the vehicle. The detection result is output to the control unit 22.
The display unit 16 displays an image and a screen output from the display control unit 31 in accordance with an instruction from the navigation device 10. For example, the vehicle surrounding map screen, route guidance screen, intersection guidance screen, destination selection screen, various menu screens, route search result screen, etc. are displayed.
When the vehicle arrives at a predetermined distance (for example, 300 m) from the guidance intersection, the speaker 17 outputs a voice message from the guidance route guide unit 30 and guides the message by voice.

The map buffer 21 stores the map data read from the map data storage unit 11 by the map read control unit 22b.
The control unit 22 controls the entire navigation device 10, and includes a vehicle position detection unit 22a, a map readout control unit 22b, a destination setting unit 22c, and a route search unit 22d, and is based on various information and commands that are input. (1) Detection control of the current position of the vehicle, (2) Map readout control for reading out map data around the vehicle to the map buffer 21, (3) Map matching control, (4) Destination setting control, (5) Route search Execute control etc.

The vehicle position detection unit 22 a detects the position of the host vehicle based on information input from the GPS receiver 14 and the autonomous navigation sensor 15. The detected vehicle position is output to various mark generators 29. Further, it is used as information on timing at which the route guidance unit 30 performs route guidance as a departure point in the route search unit 22d.
The map read control unit 22b reads map data around the vehicle position detected by the vehicle position detection unit 22a into the map buffer 21.
The destination setting unit 22c uses functions such as address search, facility name search, genre search, and telephone number search for the facility or point to be set as the destination from the destination selection screen generated by the operation screen generation unit 28. When a search is made and selected, the selected facility is set as the destination.
The set destination is output to the route search unit 22d.

The route search unit 22d searches for a route from the vehicle position detected by the vehicle position detection unit 22a to the destination set by the destination setting unit 22c according to various route search conditions using the Dijkstra method. Here, in the route search condition, a recommended condition (time priority condition) that requires the shortest time to the destination and a guidance priority condition according to the present invention are set in advance. Then, the route search unit 22d receives the search result of the route according to the search condition, and when a desired search condition is selected by the user, the route searched by the search condition is set as the guide route, and the guide route memory 26 Remember me.
In this Dijkstra method, the costs of all links connected to a certain node (for example, a departure place) are calculated, and when the development for one stage (for one node) is completed, the costs are rearranged in the order of cost. Then, the unfinished route is divided into those to be developed and those to be developed are further developed in order. This is an algorithm that repeats this and obtains a route that minimizes the integrated cost until it finally reaches a predetermined node (destination). As the link cost and node cost at this time, values stored in advance in the map data are used.

  The route search unit 22d includes a first route search unit 22da and a second route search unit 22db for each route search condition.

The first route search unit 22da performs route search according to the recommended conditions, and uses the values stored in the map data for the node cost and the link cost. However, when traffic jam information is received from the VICS receiver 13, a value obtained by multiplying (or adding) a predetermined value to the link cost of the link associated with the received traffic jam information is used.
In the route search according to the recommended conditions by the first route search unit 22da, when a search branch is extended from a node to a link, the route search is performed for all links other than the incoming link connected to the node.

Next, processing when the first route search unit 22da extends a search branch from a node to a link will be described.
When the search branch reaches a node during the route search, the link that has entered the node is set as an incoming link, and the link that passes through the node and exits is set as an outgoing link. At this time, the entry link number and the exit link number are confirmed, and the value of the node cost associated with the combination of the entry link number and the exit link number is confirmed from the node cost record. Then, the cost calculation for the route search by the Dijkstra method is continued in the same manner until the destination is reached.

Specifically, at the intersection (node 1) shown in FIG. 3A, when entering the node 1 from the link 1 and considering the next search branch, the first route search unit 22da first determines the link. 1 is set as the entrance link, and link 2 is set as the exit link. Thereafter, the node cost table stored in the node record of node 1 is confirmed, and the value of the node cost associated with the combination of the entry link number (link 1) and the exit link number (link 2) stored in the node cost record ( Parameter 12) is acquired and the cost is calculated.
Similarly, the route is specified by performing the cost calculation for the link 3 and the link 4 as the exit links and performing the cost calculation for the link connected to the node 1.

Further, at the intersection (node 5) shown in FIG. 3B, when entering the node 5 from the link 5 and considering the next search branch, the first route search unit 22da first enters the link 5. Link and link 6 are set as exit links. Thereafter, the node cost table stored in the node record of the node 5 is confirmed, and the value of the node cost associated with the combination of the incoming link number (link 5) and the outgoing link number (link 6) stored in the node cost record ( Parameter 56) is obtained and the cost is calculated.
Similarly, the route is specified by performing the cost calculation for the link 7 and the link 8 as the exit links and performing the cost calculation for the link connected to the node 5.

The second route search unit 22db performs a route search according to the guidance priority condition according to the present invention, and the node cost and the link cost use values stored in the map data.
In the route search according to the guidance priority condition by the second route search unit 22db, when extending the search branch from the node to the link, it is confirmed whether or not the marker guidance is performed when turning right or left at the intersection indicated by the node. When performing guide guidance, a route search is performed for all links other than the entry link connected to the node. When guide guidance is not provided, the links other than the entry link connected to the node are searched. The route search is performed for only the link existing in the straight direction with respect to the approaching link. Here, the straight direction refers to a link existing within a predetermined angle (for example, 150 ° to 210 °) with respect to the connecting link with respect to the incoming link, the incoming link and the road name, road type, This can be determined by the fact that the road attribute is the same link.

Next, processing when the second route search unit 22db extends a search branch from a node to a link will be described.
When the search branch reaches a node during route search, the link that has entered the node is set as an ingress link, and the landmark guidance presence / absence flag of the node record of the node is confirmed. Here, when “0” is stored in the landmark guidance presence / absence flag, it is determined that there is no landmark near the intersection and the landmark guidance is not performed, and a right / left turn is not performed at the node. In this way, only links existing in the straight direction with respect to the incoming link are set as candidates for the outgoing link. On the other hand, if “1” is stored in the landmark guidance presence / absence flag, it is determined that there is a landmark in the vicinity of the intersection and the landmark guidance guidance is performed, and all links connected to the node other than the incoming link are connected. On the other hand, it becomes a candidate of an escape link.
Then, for each candidate exit link, the node cost is confirmed from the node cost record based on the entrance link and the exit link, and the cost calculation for the route search by the Dijkstra method is continued until the destination is reached.

Specifically, at the intersection (node 1) shown in FIG. 3A, when entering the node 1 from the link 1 and considering the next search branch, the second route search unit 22da first determines the link 1 is set as the approach link. Then, the landmark guidance presence / absence flag of the node record of node 1 is confirmed, and “0” is stored in the landmark guidance presence / absence flag, so that there is a landmark to be landmark guidance near the intersection indicated by node 1. Therefore, it is determined that it is an intersection that does not perform landmark guidance, and a link that exists in the straight direction with respect to the link 1 is determined as a candidate for an exit link.
As a result, link 3 is set as the exit link, the node cost table stored in the node record of node 1 is confirmed, and the ingress link number (link 1) and the exit link number (link 3) stored in the node cost record The node cost value (parameter 13) associated with the combination is acquired, the cost is calculated, and the route is specified.

When entering the node 5 from the link 5 and considering the next search branch at the intersection (node 5) shown in FIG. 3B, the second route search unit 22db first links the link 5 to the incoming link. Set to. Then, the landmark guidance presence / absence flag of the node record of the node 5 is confirmed, and “1” is stored in the landmark guidance presence / absence flag, so that there is a landmark to be landmark guidance near the intersection indicated by the node 5. Then, it is determined that the intersection is to perform landmark guidance, and all links connected to the nodes 5 other than the link 5 are set as candidates for the escape link.
Since the cost is calculated for each outgoing link, link 6 is first set as the outgoing link, the node cost table stored in the node record of node 1 is confirmed, and the incoming link number (link) stored in the node cost record is checked. 5) The node cost value (parameter 56) associated with the combination of the exit link number (link 6) is acquired, and the cost is calculated.
Similarly, the route is specified by performing the cost calculation for the link 7 and the link 8 as the exit links and performing the cost calculation for the link connected to the node 5.

Returning to FIG. 1 again, the map drawing unit 23 uses the map data read to the map buffer 21 to generate a map image around the vehicle position and writes it to the VRAM 24, and the image reading unit 25 controls the control unit 22. A map image obtained by cutting out a predetermined image portion is read from the VRAM 24 in accordance with an instruction from, and output to the display control unit 31.
The guidance route memory 26 records the position data of all nodes constituting the guidance route set and searched by the route search unit 22d of the control unit 22 in the order of travel from the departure point to the destination. Then, the guidance route is output to the guidance route drawing unit 27 and the guidance route guide unit 30.
The guidance route drawing unit 27 uses the guidance route information stored in the guidance route memory 26 to generate a guidance route image in which the guidance route is highlighted and outputs the guidance route image to the display control unit 31.
The operation screen generation unit 28 generates a destination selection screen, various setting screens, and the like and outputs them to the display control unit 31. The various mark generation unit 29 generates and displays various marks such as a vehicle position mark and a cursor. Output to the control unit 31.

  The guidance route guidance unit 30 refers to the current vehicle position and guidance route information to check whether or not the vehicle has reached a predetermined distance from the guidance intersection, and if it reaches, the guidance guidance at the guidance intersection is displayed on the display control unit 31. In addition to outputting, a voice guidance message is output from the speaker 17. Specifically, when the vehicle arrives at a predetermined distance (for example, 300 m) from the guidance intersection at the time of actual route guidance, the guidance route guidance unit 30 displays the intersection guidance map (intersection enlarged view, travel direction arrow, The remaining distance or the like is output to the display control unit 31, and the display control unit 31 displays it on the display unit 16. At the same time, normal intersection guidance that guides the distance to the guidance intersection and the direction of travel (left turn / right turn), or voice guidance messages that use information on landmarks in the vicinity of the intersection for normal intersection guidance (marking guidance) Is generated and guided through the speaker 17. For example, as an example of a voice guidance message, the normal intersection guidance will guide the distance to the guidance intersection and the direction of travel, so it will be a guidance "Turn left for 300m ahead." In order to add the landmark information that is already there, it will be "Turn left for 300m ahead. The gas station is a landmark."

The process of intersection guidance by voice will be described.
When the guide route guide unit 30 reaches a point at a predetermined distance from the guidance intersection with reference to the current vehicle position and guidance route information, the guidance route guide unit 30 specifies an entry link and an exit link for the guidance intersection. And it is confirmed whether the landmark number is stored with respect to the combination of the approach link and the exit link in the landmark landmark record from the specified entrance link and exit link. At this time, if the landmark number is stored, the landmark number is referred to, and information on the landmark is obtained from the landmark data record, so that the landmark guidance with the landmark information added is performed. On the other hand, when the landmark number is not stored, the intersection does not perform landmark guidance using the landmark, and therefore performs normal intersection guidance.

The display control unit 31 includes various marks generated by the various mark generation units 29, a guidance route image generated by the guidance route drawing unit 27, and a guidance route guidance unit 30 on the map image read and cut by the image reading unit 25 from the VRAM 24. The intersection enlarged view generated by is appropriately combined and displayed on the display unit 16. Further, various menu screens generated by the operation screen generating unit 28 are displayed on the display unit 16. For example, the vehicle surrounding map screen that combines the vehicle position mark and the map image around the vehicle position, the route guidance screen that overlays the guidance route image on the vehicle surrounding map screen, and the route guidance screen and the intersection enlarged view An intersection guide screen for displaying images simultaneously is generated.
Further, a destination selection screen generated by the operation screen generation unit 28, various menu screens, a route search result screen output from the route search unit 22d, and the like are displayed on the display unit 16 according to user operations.

Next, the guidance route search process of the navigation device 10 according to the present invention will be described with reference to FIG.
When the user performs a destination selection screen display operation from the operation unit 12, the control unit 22 outputs a destination selection screen display instruction to the operation screen generation unit 28. Thereafter, the operation screen generation unit 28 displays a destination selection screen on the display unit 16 via the display control unit 31. Then, when the user performs a predetermined operation based on this screen and selects a destination, the destination setting unit 22a sets the facility selected by the user as the destination, and searches for the location information of the destination. It outputs to the part 22d (S11).
When the user sets the destination, the vehicle position detection unit 22c identifies the vehicle position of the own vehicle based on the information output from the GPS receiver 14 and the autonomous navigation sensor 15, and sends it to the route search unit 22d. Output (S12).

The route search unit 22d uses the destination position information output from the destination setting unit 22c and the vehicle position output from the vehicle position detection unit 22c. The route search to is started.
At this time, each of the first route search unit 22da and the second route search unit 22db of the route search unit 22d searches for a route from the vehicle position to the destination (S13).

Specifically, in the situation before starting the route search shown in FIG. 5, when the destination is selected by the user operation and the destination setting unit 22c sets the point GL as the destination, the vehicle position detecting unit 22a automatically The vehicle position ST is specified. These pieces of information are output to the route search unit 22d to search for a route from the vehicle position ST to the destination GL.
At this time, as a result of cost calculation, the first route search unit 22da of the route search unit 22d makes a left turn at the intersection ND1 from the own vehicle position ST, and searches for a route that reaches the destination GL.

On the other hand, the second route search unit 22db of the route search unit 22d searches for a route that does not turn left at the intersection ND1 that makes a left turn based on the search result of the first route search unit 22da, and turns left at the intersections ND2 and ND3. This is because the intersection ND1 is not an intersection that performs landmark guidance using landmarks, and the intersections ND2 and ND3 are intersections that perform landmark guidance using landmarks. As a result, a route passing through the intersections ND2 and ND3 is searched by cost calculation rather than turning left at the intersection ND1. Then, as a result of the cost calculation, turn left at the intersection ND2 from the own vehicle position ST, then turn left at the intersection ND3, and search for a route that reaches the destination GL.
When the first route search unit 22da and the second route search unit 22db of the route search unit 22d finish the route search, the search result is output from the route search unit 22d to the display control unit 31, and the display control unit 31 performs FIG. Is displayed (S14).

Then, the user selects a desired route from the operation unit 12 from the route search result screen. At this time, when the recommended condition selection key RE1 is pressed and the recommended condition (recommended route) is selected (recommended condition in S15), the route search unit 22d uses the route searched by the first route search unit 22da as the guidance route. It sets and outputs to the guide route memory 26 (S16).
On the other hand, when the guidance priority condition selection key GU1 is pressed and the guidance priority condition (guidance priority route) is selected (guidance priority condition of S15), the route search unit 22d searches the route searched by the second route search unit 22db. The guidance route is set and output to the guidance route memory 26 (S17).

The guide route memory 26 stores information on the guide route input from the route search unit 22d, and the guide route drawing unit 27 uses the guide route information stored in the guide route memory 26 to guide the guide route. A guided route image in which the route is highlighted is generated. And the display control part 31 produces | generates the guidance guidance screen (FIG. 7) synthesize | combined with the own vehicle periphery map screen, and displays it on the display part 16. FIG.
Furthermore, the guidance route guide unit 30 generates an intersection enlarged view from the guidance route information stored in the guidance route memory 26, and displays the intersection guidance screen on the display unit 16 via the display control unit 31, The guidance route guidance unit 30 outputs landmark guidance using landmarks from the guidance route information stored in the guidance route memory 26 to the speaker 17, and performs route guidance in accordance with the traveling of the host vehicle such as voice guidance. Is started (S18).

  With the above configuration and processing, the user can compare the route search result based on the recommended condition searched by the first route search unit 22da and the route search result based on the guidance priority condition searched by the second route search unit 22db (see FIG. 6) is displayed, the user can confirm the route search result based on the above two route search conditions, and can select the route search condition to be set as the guidance route.

In this embodiment, after selecting a destination, a route search based on both the recommended condition and the guidance priority condition is performed, and after the result is displayed, the user is allowed to select a route condition as a guide route. However, not limited to this, according to the product specifications, for example, after the destination selection, before the route search unit 22d performs the route search, a route search condition selection screen as shown in FIG. The route search condition may be selected first. In this case, after the destination is selected, the operation screen generating unit 28 generates a route search condition selection screen (FIG. 8) and displays it on the display unit 16, and the user selects a route search condition based on it. Thereafter, the first route search unit 22da or the second route search unit 22db performs a route search according to the selected route search condition, and displays the result on the display unit 16. Then, when the user performs a setting operation for guiding the route based on the displayed route search result, route guidance is started.
By doing so, only the route search based on the selected one route search condition is performed, so that it is not necessary to perform an extra route search, and the load of the route search process is reduced.

In addition, the second route search unit 22db of the present embodiment checks whether there is a landmark that is the target of landmark guidance in the vicinity of the intersection. If there is no landmark, only the link that exists in the straight direction with respect to the incoming link is displayed. The search is made as a candidate for the exit link. However, the present invention is not limited to this, and the node cost correction coefficient (FIG. 9) is stored in the second route search unit 22db, and the target of the landmark guidance is near the intersection at the time of the route search. It is also possible to check whether or not a certain landmark exists and use a value obtained by multiplying the node cost correction coefficient according to the presence or absence as the node cost.
This also makes it possible to preferentially set the right / left turn at the intersection where the guide is provided as a route.

DESCRIPTION OF SYMBOLS 10 Navigation apparatus 11 Map data storage part 12 Operation part 13 VICS receiver 14 GPS receiver 15 Autonomous navigation sensor 16 Display part 17 Speaker 21 Map buffer 22 Control part 22a Vehicle position detection part 22b Map read-out control part 22c Destination setting part 22d Route search unit 22da first route search unit 22db second route search unit 23 map drawing unit 24 VRAM
25 Image reading unit 26 Guide route memory 27 Guide route drawing unit 28 Operation screen generating unit 29 Various mark generating unit 30 Guide route guiding unit 31 Display control unit ST Own vehicle position marks ND1, ND2, ND3 Intersection (node)
GL Destination RE1, RE2 Recommended condition selection key GU1, GU2 Guidance priority condition selection key

Claims (3)

A storage unit for storing map data including node data storing a cost when passing through an intersection and link data storing a cost when passing through a road between the intersections;
A first route search unit that searches for a route that minimizes the integrated cost of the route to the destination based on the node data and the link data;
In a navigation device comprising:
A route guidance unit that provides voice guidance of right and left turns at intersections on the route;
A second route search unit that preferentially searches for an intersection that voice-guides a right turn and a left turn of the intersection including a facility name at which the route guide unit exists at the intersection;
A display unit for displaying a selection screen for selecting either a route search by the first route search unit or a route search by the second route search unit;
An operation unit for selecting a search route from the selection screen displayed on the display unit;
A navigation device comprising: The selection screen is a screen on which the user can compare the route searched by the first route search unit and the route searched by the second route search unit.
The navigation device according to claim 1. The selection screen is a screen for selecting whether a route search is performed by the first route search unit or a route search by the second route search unit before the route search.
The navigation device according to claim 1.

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