JP2017142193A - Route search device and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a route search device and a computer program, which allow users to search a route having better fuel consumption as compared to before.SOLUTION: When an inclined link, which is a link equal to or more than a threshold in the height difference of the elevation in the link, is included in a route, additional cost correction for lowering the link cost is performed using a connection link directly or indirectly connected to the inclined link in a straight-forward travelling direction as a subject, out of the connection link connected to the end in the direction in which the elevation of the inclined link becomes low, and the route is searched using a cost value of the additionally corrected link cost.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a route search apparatus and a computer program for searching for a route using a cost value.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, the navigation device has a route search function for searching for an optimum route from the vehicle position to the destination when a desired destination is input, and sets the searched optimum route as a guide route, and displays it. A guide route is displayed on the screen, and when the user approaches an intersection, the user is surely guided to a desired destination by voice guidance. In recent years, some mobile phones, smartphones, tablet terminals, personal computers, and the like have functions similar to those of the navigation device.

  Further, in the above navigation device, etc., in addition to shortening the distance to the destination and shortening the required time to the destination, a technique for performing a route search in consideration of the fuel consumption of the vehicle has been proposed. Yes. For example, Japanese Patent Application Laid-Open No. 10-38594 proposes a technique for acquiring road gradient data and searching for a route with good fuel cost using the acquired road gradient data.

JP 10-38594 A (page 3-4)

  However, in the technique of Patent Document 1 described above, a route search is performed in consideration of the gradient of the road on which the vehicle travels, but what route is appropriate to travel after passing through a gradient road. Was not considered. However, in order to appropriately improve fuel efficiency, it is desirable to consider the route after passing through a road with a slope in addition to the slope of the road.

  For example, when the vehicle travels on a downhill road, the kinetic energy of the vehicle can be increased by traveling on the downhill road. Therefore, it is possible to continue running with the drive of the drive source minimized even after the down slope is completed in addition to during the down slope running. However, if a route that turns right or left immediately after traveling on a downhill road is set, it is necessary to decelerate by braking at the end point of the downhill road, and the kinetic energy increased by the downhill is wasted. Therefore, the fuel consumption cannot be improved sufficiently.

  The present invention has been made in order to solve the problems in the prior art, and by taking into consideration what route the vehicle travels after passing through a sloped road, the fuel consumption can be further improved as compared with the prior art. It is an object of the present invention to provide a route search apparatus and a computer program that can search for a good route.

In order to achieve the above object, a route search device according to the present invention is a route search device that performs a route search using each cost value of a link that constitutes a route, and obtains information that identifies an elevation difference in elevation in the link. When the path includes an elevation link information acquisition means and an inclined link whose height difference is equal to or greater than a threshold value, among the connection links connected to the end of the direction in which the elevation of the inclined link is lowered, A straight link specifying means for specifying a connection link connected in a straight direction to the inclined link as a straight link; and a cost correcting means for reducing the cost of the straight link or increasing the cost of a connection link other than the straight link; Route search means for searching for a route using the cost value corrected by the cost correction means.
The “threshold value” may be a fixed value (for example, 5 m) or a value that varies according to the link length (for example, a value at which the road gradient is 5%).

  In addition, the computer program according to the present invention is a computer program that makes a route search using each cost value of a link constituting the route. Specifically, when the route includes an elevation difference information acquisition means for acquiring information for identifying an elevation difference in elevation in the link and an inclination link whose elevation difference is a threshold value or more, the inclination link A straight link specifying means for specifying, as a straight link, a link that is connected to the end of the direction in which the altitude of the link is low, and a link that is connected to the inclined link in the straight direction; Cost correction means for lowering the cost or increasing the cost of the connection link other than the straight link and route search means for searching for a route using the cost value corrected by the cost correction means are made to function.

  According to the route search device and the computer program according to the present invention having the above-described configuration, when an inclined link that is a link having a height difference equal to or greater than a threshold is included in the route, with respect to an end portion in a direction in which the elevation of the inclined link is lowered. The cost is corrected so that the connecting link connected in a straight line direction to the inclined link is easily included in the path among the connected links connected to the inclined link, so that the kinetic energy generated by traveling on the inclined link is wasted. It is possible to preferentially select a route for effective use without consuming it. As a result, it becomes possible to search for a route with better fuel efficiency.

It is the block diagram which showed the structure of the navigation apparatus which concerns on this embodiment. It is a flowchart of the route search processing program concerning this embodiment. It is a flowchart of the sub process program of the additional link cost correction process which concerns on this embodiment. It is a figure explaining the straight link. It is a figure explaining the case where the link cost of a straight link is correct | amended. It is a figure explaining the case where the link cost of connection links other than a straight link is correct | amended. It is a figure explaining the additional correction content of the link cost in case there exists a downward gradient link. It is a figure explaining the case where the additional correction of a link cost is not performed when there is a downward gradient link. It is a flowchart of the re-search processing program concerning this embodiment.

  Hereinafter, a route search device according to the present invention will be described in detail with reference to the drawings based on an embodiment in which the navigation device is embodied. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, Based on the input information, the navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, and the route related to the route searched by the map around the vehicle and the route search process described later for the user A liquid crystal display 15 for displaying information and the like, a speaker 16 for outputting voice guidance regarding route guidance, a DVD drive 17 for reading a DVD as a storage medium, a probe center, a VICS (registered trademark: Vehicle Information and Communication System) center, and the like And a communication module 18 for communicating with the information center. That.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). The data recording unit 12 may be constituted by a flash memory, a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Further, the map information DB 31 may be stored in an external server, and the navigation device 1 may be configured to acquire by communication.

  Here, the map information DB 31 includes, for example, link data 33 related to roads (links), node data 34 related to node points, intersection data 35 related to each intersection, search data 36 used for processing related to route search, points such as facilities, etc. Storage means for storing location data, map display data for displaying a map, search data for searching for a location, and the like.

  The link data 33 includes, for each link constituting the road, the width of the road to which the link belongs, the slope (height difference), the direction, the cant, the bank, the road surface state, the number of road lanes, the lane The data indicating the number of places where the number decreases, the part where the width is narrowed, the level crossing, etc., the data regarding the corner, the radius of curvature, the intersection, the T-junction, the entrance and the exit of the corner, etc. Data representing roads, etc. are recorded for road types, including roads such as national roads, prefectural roads, and narrow streets, as well as toll roads such as national highways, urban highways, general toll roads, and toll bridges. .

  The node data 34 includes actual road branch points (including intersections, T-junctions, etc.) and the coordinates (positions) of node points set for each road according to the radius of curvature, etc. Node attribute indicating whether a node is a node corresponding to an intersection, etc., a connection link number list that is a list of link numbers of links connected to the node, and an adjacency that is a list of node numbers of nodes adjacent to the node via the link Data relating to the node number list, the height (altitude) of each node point, and the like are recorded.

  Further, as the intersection data 35, relevant node information for identifying nodes forming the intersection, connection link information for identifying a link connected to the intersection (hereinafter referred to as a connection link), a connection angle of the link at the intersection, The traffic light at the intersection, the installation status of the regulation of suspension (presence / absence of installation, and installation location if installed), etc. are stored. Further, regarding the traffic light, information for specifying the blue and red lighting patterns may be stored.

  Further, as the search data 36, various data used for route search processing for searching for a route from a departure place (for example, the current position of the vehicle) to a set destination as described later are recorded. Specifically, the cost of quantifying the appropriate degree as a route to an intersection (hereinafter referred to as an intersection cost), the cost of quantifying the appropriate degree as a route to a link constituting a road (hereinafter referred to as a link cost), etc. Cost calculation data used for calculating the search cost is stored.

Here, the intersection cost is set for each node corresponding to the intersection included in the route for which the search cost is to be calculated. The presence or absence of a traffic light, the travel route of the vehicle when passing through the intersection (that is, straight, right and left turns) The value is calculated according to the type of
The link cost is set for each link included in the route for which the search cost is calculated. Based on the link length, the road attribute, road type, road width, number of lanes, slope, traffic conditions, etc. of the link Is calculated in consideration of In particular, in this embodiment, the link cost is adjusted for a link connected to a road with a slope as described later.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. In addition to the RAM 42 for storing route data when a route is searched, a control program, a route search processing program (see FIG. 2) and a re-search processing program (see FIG. 9) described later. And an internal storage device such as a flash memory 44 for storing a program read from the ROM 43. The navigation ECU 13 constitutes various means as processing algorithms. For example, the height difference information acquisition unit acquires information for specifying the height difference of the elevation in the link. The straight link specifying means, when the link includes an inclined link whose height difference is equal to or greater than a threshold value, of the connecting links connected to the end in the direction in which the elevation of the inclined link is lowered, On the other hand, the connection link connected in the straight direction is specified as the straight link. The cost correction means reduces the cost of the straight link or increases the cost of the connection link other than the straight link. The route search means searches for a route using the cost value corrected by the cost correction means.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. In place of the liquid crystal display 15, HUD or HMD may be used.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like. A card slot for reading / writing a memory card may be provided instead of the DVD drive 17.

  The communication module 18 is a communication device for receiving traffic information, probe information, weather information, and the like transmitted from a traffic information center, for example, a VICS center or a probe center. .

  Next, a route search processing program executed by the CPU 41 in the navigation device 1 according to this embodiment having the above-described configuration will be described with reference to FIG. FIG. 2 is a flowchart of the route search processing program according to this embodiment. Here, the route search processing program is a program that is executed when a predetermined operation for performing a route search is received in the navigation device 1 and searches for a recommended route from the departure point to the destination. The programs shown in the flowcharts of FIGS. 2, 3, and 9 below are stored in the RAM 42 and ROM 43 provided in the navigation device 1 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the route search processing program, the CPU 41 sets a starting point and a destination. Note that the departure point may be the current position of the vehicle or an arbitrary point (for example, a home) designated by the user. Further, the destination is set based on a user operation (for example, a registration point reading operation, facility search or selection operation) received in the operation unit 14.

  Next, in S <b> 2, the CPU 41 performs a process of correcting the link cost of each link to an appropriate value for each link that can form a recommended route between the departure point and the destination.

  Specifically, in S2, the CPU 41 first obtains information (road width, gradient, number of lanes, congestion degree, road type, etc.) that affects the link cost of each link from the map information DB 31 or an external server. Then, based on the acquired information, the cost reference value (corresponding to the link length) serving as the base of the link cost of each link is corrected. For example, the link cost of a congested link is corrected so that the cost value is high, and the link cost of a link with a large number of lanes is corrected so that the cost value is low. As a result, it is possible to reflect the appropriate degree as a route in the link cost. Note that the link cost correction processing based on the number of lanes and the degree of traffic congestion is already known, and details thereof are omitted.

  In S2, the link cost may be corrected based on the gradient (altitude difference) so that a route with good fuel efficiency is preferentially selected. For example, for a link with a slope, the link cost of a link whose direction of elevation is the direction of travel is corrected so that the cost value is low, and the link cost of a link whose direction of elevation is the direction of travel is the cost. Correct the value to be higher. For links that are not classified in the traveling direction (uplink, downlink) (links defined by one link including the uplink and downlink directions), the link cost value for each link with respect to one link It is desirable to set.

  Next, in S3, the CPU 41 executes an additional link cost correction process (FIG. 3) described later. The additional link cost correction process is a process that is performed by adding a correction of the link cost particularly for a link connected to a link having a gradient (altitude difference).

  The value corrected by S2 and S3 is determined as the final link cost. As a result, a link with a large finally calculated link cost value is less likely to be included in the recommended route. On the other hand, a link with a small link cost value finally calculated is likely to be included in the recommended route.

  In S4, which is executed after the correction of the link cost for each link that can constitute the recommended route, the CPU 41 quantifies the appropriate degree as a search cost other than the link cost, for example, a route to the intersection (node). It also specifies the intersection cost and the toll cost that quantifies the degree of expense required for traveling. Then, the recommended route is searched using each specified search cost. Specifically, a known Dijkstra method is used, and a route having a minimum cost value is set as a recommended route. In addition to the recommended route, other candidate routes whose search conditions are changed (for example, a route searched with distance priority, general road priority, and toll road priority) may be searched.

  Thereafter, in S5, the CPU 41 guides the user about the recommended route searched in S4 via the liquid crystal display 15 or the like. The route to be guided does not necessarily have to be one, and other than the recommended route, a plurality of route candidates searched by changing search conditions (for example, distance priority, general road priority, toll road priority) are also guided. It is good also as a structure. Subsequently, the CPU 41 sets the recommended route guided based on the final user determination operation as the guidance route of the navigation device 1. Thereafter, the navigation apparatus 1 performs travel guidance based on the set guidance route.

  Next, sub processing of the additional link cost correction processing executed in S3 will be described with reference to FIG. FIG. 3 is a flowchart of a sub-processing program for additional link cost correction processing.

  In addition, after the process of S11-S22 is performed for every link which can comprise the recommended path | route from a departure place to the destination, and the process of S11-S22 below is performed for all applicable links as the process of S11-S22 below. To S4. For links not defined by the traveling direction (uplink, downlink) (links defined by one link including the uplink and downlink directions), S11 to S22 for each link with respect to one link. It is desirable to perform the process.

  First, in S <b> 11, the CPU 41 acquires information regarding the installation position of the suspension restriction, in particular, from the map information DB 31, and determines whether there is a suspension restriction at the end point in the traveling direction of the processing target link.

  If it is determined that there is a suspension restriction at the end point in the traveling direction of the processing target link (S11: YES), the correction of the additional link cost is not particularly performed in relation to the processing target link, After switching the link to be processed to another link, the process returns to S11.

  On the other hand, when it is determined that there is no restriction on suspension at the end point in the traveling direction of the link to be processed (S11: NO), the process proceeds to S12.

  In S <b> 12, the CPU 41 acquires information (for example, the elevation of the link end point) that specifically identifies the elevation difference in the processing target link from the map information DB 31, the elevation difference of the processing target link is greater than or equal to the threshold, and the traveling direction. Whether or not the altitude is low, that is, whether or not the link to be processed has a downward slope. The threshold value may be a fixed value (for example, 5 m) or a value that varies according to the link length (for example, a value at which the road gradient is 5%). Further, when the map information includes information for specifying the road gradient, it may be determined whether the road gradient is equal to or higher than a threshold value (for example, 5%) instead of the height difference.

  Then, when it is determined that the height difference of the processing target link is equal to or greater than the threshold and the altitude is low with respect to the traveling direction (S12: YES), that is, when the processing target link has a downward slope. Shifts to S13. On the other hand, when it is determined that the height difference of the processing target link is less than the threshold value or the altitude is higher in the traveling direction (S12: NO), the process proceeds to S14.

  In S <b> 13, the CPU 41 sets a “downhill processing point” for the end point in the traveling direction of the processing target link. Information (node number, coordinates, etc.) specifying “downhill processing point” is stored in the flash memory 44 or the like. If the “downhill processing point” is already stored, it is basically overwritten. Note that the “downhill processing point” is used as a reference point for specifying the range of the link to be corrected for the link cost by the additional link cost correction process as described later (S15). Thereafter, the process proceeds to S16.

  On the other hand, in S <b> 14, the CPU 41 determines whether or not the “downhill flag” is set to ON at the intersection at the start point in the traveling direction of the processing target link. Here, the “downhill flag” is a link in which the link cost of the connection link connected in the straight direction is corrected by the additional link cost correction process as described later (directly in the straight direction of the inclined link or the inclined link). Alternatively, it is set to ON for the intersection at the end point in the traveling direction of the indirectly connected link (S22).

  If it is determined that the “downhill flag” is set to ON for the intersection at the start point in the traveling direction of the processing target link (S14: YES), the process proceeds to S15. On the other hand, if it is determined that the “downhill flag” is not set to ON for the intersection at the start point in the traveling direction of the processing target link (S14: NO), the link is related to the processing target link. Then, the correction of the additional link cost is not performed, and the process returns to S11 after switching the processing target link to another link.

  In S15, the CPU 41 reads out the “downhill processing point” set in S13 from the flash memory 44 or the like, and determines whether or not the processing target link is within a predetermined distance from the “downhill processing point”, that is, there is a difference in height. It is determined whether or not it is within a predetermined distance from a link (hereinafter referred to as an inclined link) that is equal to or higher than the threshold and has an elevation that is lower than the traveling direction. Note that although S15 may be determined by a linear distance, it is basically determined by a distance along the link.

  Here, the “predetermined distance” serving as the determination criterion in S15 is determined based on the kinetic energy of the vehicle (hereinafter referred to as “passing kinetic energy”) when passing through the end portion in the direction in which the elevation of the inclined link decreases. . The passing kinetic energy is predicted by the CPU 41 based on the speed limit of the inclined link and the elevation difference (road gradient) of the inclined link. Basically, it is predicted that the passing kinetic energy increases as the limiting speed of the inclined link increases and the elevation difference between the inclined links increases.

  Then, the greater the predicted passing kinetic energy, the longer the “predetermined distance” that is the criterion of S15 is set so as not to waste the increased kinetic energy. In other words, the greater the predicted passing kinetic energy, the easier it is to select a longer straight path after passing through the inclined link.

  If it is determined in the determination process of S15 that the processing target link is within a predetermined distance from the inclined link (S15: YES), the process proceeds to S16. On the other hand, when it is determined that the processing target link is not within the predetermined distance from the inclined link (S15: NO), the link cost is not particularly corrected in connection with the processing target link, and the processing is performed. After switching the target link to another link, the process returns to S11.

  In S16, the CPU 41 acquires traffic jam information from an external center such as a VICS center or a probe center.

  Next, in S17, based on the traffic information acquired in S16, the CPU 41 travels straight in particular among the links to be processed and the links connected to the end points in the traveling direction of the links to be processed (hereinafter referred to as connection links). It is determined whether or not any of the connection links connected in the direction (hereinafter referred to as a straight link) is congested. Here, it is assumed that the straight link is a link that is connected at an azimuth difference of a processing target link with a predetermined angle θ (eg, 10 degrees) or less. For example, as shown in FIG. 4, when the connection links B to D are connected to the end point in the traveling direction of the link A to be processed, the connection link D having a azimuth difference with the link A of a predetermined angle θ or less. Becomes a straight link.

  If it is determined that neither the processing target link nor the straight link is congested (S17: YES), the process proceeds to S18. On the other hand, when it is determined that either the processing target link or the straight link is congested (S17: NO), no additional link cost correction is particularly performed in relation to the processing target link. After switching the processing target link to another link, the process returns to S11.

  In S <b> 18, the CPU 41 acquires information related to the installation position of the traffic signal in particular from the map information DB 31, and determines whether or not a traffic signal is installed at the intersection of the end points in the traveling direction of the processing target link.

  And when it determines with the traffic signal having been installed in the intersection of the end point of the advancing direction of the process target link (S18: YES), it transfers to S20. On the other hand, when it is determined that a traffic signal is not installed at the end point in the traveling direction of the processing target link (S18: NO), the process proceeds to S19.

  In S19, the CPU 41 corrects the link cost of the straight link. Specifically, in order to make it easier to select a route that travels straight from the processing target link, the link cost of the straight link is reduced (for example, multiplied by 0.5). As a result, as shown in FIG. 5, when the connection links B to D are connected to the end point in the traveling direction of the link A to be processed, the connection link whose azimuth difference from the link A is equal to or less than the predetermined angle θ. Since the link cost of D is relatively smaller than that of the connection link B or the connection link C, the route from the link A to the link D is easily selected as the recommended route.

  In S19, the link cost of the straight link may not be corrected, and the link cost of the connection link other than the straight link may be increased (for example, multiplied by 1.5). Even in this case, it is easy to select a route that travels straight from the processing target link. For example, as shown in FIG. 6, the link cost of the connection link D is not corrected, and the link costs of the connection link B and the connection link C are increased. Even in such a case, the link cost of the connection link D whose azimuth difference from the link A is equal to or smaller than the predetermined angle θ is relatively smaller than that of the other connection links B and C. The route going to the link D is easily selected as the recommended route.

  On the other hand, in S <b> 20, the CPU 41 acquires a lighting pattern of a traffic light that corresponds to the straight traveling direction among the traffic lights that are installed at the intersection at the end point in the traveling direction of the processing target link. The lighting pattern is information for specifying the distribution of the time when the traffic light turns blue and the time when the traffic light turns red (for example, blue: red = 7: 3). In addition, about the lighting pattern of a traffic light, it is good also as a structure acquired from map information DB31, and good also as a structure acquired by communication from an external server.

  Subsequently, in S21, the CPU 41 corrects the link cost of the straight link in the same manner as in S19. However, in S21, the link cost is corrected according to the lighting pattern of the traffic light acquired in S20. Specifically, the link cost is corrected only when the lighting pattern of the traffic light installed at the intersection of the end points in the direction of travel of the link to be processed is a lighting pattern in which the rate of blue is higher than the rate of red. I do. Further, the higher the ratio of the lighting pattern of the traffic light that becomes blue, the larger the cost correction value. For example, when the lighting pattern is blue: red = 5: 5-7: 3, the link cost of the straight link is multiplied by 0.5, and blue: red = 7: 3-10: 0 (push button type traffic light Etc.), the link cost of the straight link is increased by 0.2.

  In the present embodiment, basically, when the lighting pattern of the traffic light installed at the intersection of the end points in the traveling direction of the link to be processed is a lighting pattern in which the ratio of red is higher than the ratio of blue. The link cost is not corrected, but the correction may be performed. In that case, it is desirable to make the cost correction value smaller than the lighting pattern having a high ratio of blue.

  Subsequently, in S22, the CPU 41 sets the “downhill flag” to ON at the intersection at the end point in the traveling direction of the link to be processed. And after switching the link of a process target to another link, it returns to S11. And after the process of S11-S22 is performed about all the links which can comprise the recommended path | route between a departure place and the destination, it transfers to S4. As a result, as shown in FIG. 7, when there is a down-gradient link A, it is directly in the straight direction or indirectly through another link with respect to the end of the link A in which the altitude is lowered. Among the connected links, the link costs of the link D and the link G, which are links within a predetermined distance from the link A, are reduced.

  In S4 executed thereafter, a route search process is performed using the link cost corrected in S11 to S22 as described above. As a result, as shown in FIG. 7, when there is a down-gradient link A, the link D and the link G are selected as routes preferentially over other links, and proceed after traveling on the link A. It is easy to select a route that can travel without changing the direction, that is, performing deceleration control of the vehicle as much as possible. Therefore, it is possible to effectively use the kinetic energy generated by traveling on the link A without wasting it.

  However, the link cost additionally corrected in S11 to S22 is employed only when the inclined link is included in the route. That is, as shown in FIG. 8, even when there is a down-gradient link A, if it is a route that travels on link B without traveling on link A, within a predetermined distance in the straight direction of link A About the link cost of the connected link D and link G, route search is performed using the cost value which does not perform additional correction of S11-S22.

  Next, a re-search process program executed by the CPU 41 in the navigation device 1 will be described with reference to FIG. FIG. 9 is a flowchart of the re-search process program according to this embodiment. Here, the re-search processing program is a program that is executed in a state in which a guidance route is set in the navigation device 1, re-searches a recommended route from the departure point to the destination, and changes the guidance route. Note that the guide route set in the navigation device 1 does not necessarily have to be a guide route set by the route search processing program shown in FIG. 2, and may be a guide route set by a conventional route search process. good.

  First, in S31 in the re-search processing program, the CPU 41 acquires information related to the link on which the vehicle is currently traveling from the map information DB 31 or an external server. Specifically, information (for example, the elevation of the link end point) that specifies the elevation difference of the link where the vehicle is currently traveling, the presence / absence of the traffic light, and the like are acquired.

  Next, in S32, based on the information acquired in S31, the CPU 41 determines whether or not the height difference of the link on which the vehicle currently travels is greater than or equal to a threshold value and the altitude is low with respect to the traveling direction of the vehicle. That is, it is determined whether or not the vehicle is traveling on a downwardly inclined link. The threshold value may be a fixed value (for example, 5 m) or a value that varies according to the link length (for example, a value at which the road gradient is 5%). Further, when the map information includes information for specifying the road gradient, it may be determined whether the road gradient is equal to or higher than a threshold value (for example, 5%) instead of the height difference. Further, the determination process of S32 may be determined using a detection result of a sensor installed in the vehicle.

  If it is determined that the height difference of the link on which the vehicle is currently traveling is greater than or equal to the threshold value and the altitude is low with respect to the traveling direction of the vehicle (S32: YES), that is, the vehicle has a downwardly inclined link. If the vehicle is traveling, the process proceeds to S33. On the other hand, when it is determined that the height difference of the link on which the vehicle is currently traveling is less than the threshold value or the altitude is higher than the traveling direction of the vehicle (S32: NO), the route is re-searched. The re-search processing program is terminated without any processing.

  In S33, the CPU 41 determines whether or not a traffic light is installed at the intersection of the end points in the traveling direction of the link on which the vehicle currently travels.

  And when it determines with the traffic signal having been installed in the intersection of the end point of the advancing direction of the link where a vehicle drive | works now (S33: YES), it transfers to S34. On the other hand, when it is determined that no traffic signal is installed at the intersection at the end point in the traveling direction of the link on which the vehicle currently travels (S33: NO), the process proceeds to S36.

  In S <b> 34, the CPU 41 obtains the lighting state (blue, red) of the traffic light particularly corresponding to the straight traveling direction among the traffic lights installed at the end point of the traveling direction of the link on which the vehicle currently travels. In addition, as the acquisition method of the lighting state of a traffic light, you may acquire based on the image imaged with the camera installed in the vehicle, and it is good also as a structure acquired by communication with an external server.

  Subsequently, in S35, the CPU 41 determines whether or not the lighting state of the traffic light installed at the end of the end point in the traveling direction of the link on which the vehicle currently travels is particularly blue. .

  And when it is determined that the lighting state of the traffic light installed at the intersection at the end point in the traveling direction of the link where the vehicle is currently traveling is particularly blue (S35: YES). , S36 is entered. On the other hand, when it is determined that the lighting state of the traffic light installed in the intersection at the end point in the traveling direction of the link where the vehicle is currently traveling is particularly other than blue (S35: NO) ) Terminates the re-search processing program without re-searching the route.

  In S36, the CPU 41 performs a process of correcting the link cost of each link to an appropriate value for each link that can form a recommended route between the current position of the vehicle and the destination. Note that the processing in S36 is the same as that in S2, and the details are omitted.

  Next, in S37, the CPU 41 executes additional link cost correction processing. In the additional link cost correction process, basically the same process as S11 to S22 of FIG. 3 described above is performed. However, when correcting the link cost of the link connected to the inclined link where the vehicle is currently traveling, the determination process of S18 is not performed, and if the determination process of S17 is YES, the process proceeds to S19. To do. Further, as described above, the “predetermined distance” that is the determination criterion of S15 is determined based on the kinetic energy of the vehicle (passing kinetic energy) when passing through the end portion in the direction in which the altitude of the inclined link decreases. However, the passing kinetic energy can be predicted based on the current vehicle speed of the vehicle.

  Thereafter, in S38, the CPU 41 re-searches the recommended route using the link cost corrected in S36 and S37. Specifically, a known Dijkstra method is used, and a route having a minimum cost value is set as a new recommended route. Thereafter, the re-searched recommended route is replaced with the existing guide route and set as a new guide route. Thereafter, the navigation apparatus 1 performs travel guidance based on the newly set guidance route.

  As described in detail above, in the navigation device 1 and the computer program executed by the navigation device 1 according to the present embodiment, when an inclined link that is a link having an elevation difference in elevation in a link equal to or higher than a threshold is included in the route, An additional link that lowers the link cost for connection links that are directly or indirectly connected to the inclined links in the straight direction, out of the connection links that are connected to the ends of the inclined links where the elevation is low. Since the cost is corrected (S3) and the route is searched using the cost value of the additionally corrected link cost (S4), the connection link connected in the straight direction with respect to the inclined link is easily included in the route. Is possible. That is, it is possible to preferentially select a route for effectively using the kinetic energy generated by traveling on the inclined link without wasting it. As a result, it becomes possible to search for a route with better fuel efficiency.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in this embodiment, the link cost is additionally corrected for links connected within a predetermined distance in the straight direction with respect to the inclined links, but the range to be corrected is not the distance but the number of links. It may be defined. For example, additional correction of the link cost may be performed for links that are connected within 3 straight links with respect to the inclined link. Moreover, it is desirable to change the number of links based on the kinetic energy of the vehicle when passing through the end in the direction in which the elevation of the inclined link is lowered.

  In the present embodiment, the re-search processing program of FIG. 9 is executed in a state where the guidance route is already set in the navigation device 1, but is also executed in a state where the guidance route is not set in the navigation device 1. Is possible. In that case, the recommended route searched in S38 is newly set as the guidance route of the navigation device 1.

  In addition to the navigation device, the present invention can be applied to a device having a route search function. For example, the present invention can be applied to a mobile phone, a smartphone, a tablet terminal, a personal computer, and the like (hereinafter referred to as a mobile terminal). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described route search processing program (FIG. 2) and re-search processing program (FIG. 9) may be configured to be performed by either a server or a mobile terminal. In addition, when the present invention is applied to a mobile terminal or the like, the present invention can also be applied to a search for a route for a moving body other than a vehicle, for example, a user such as a mobile terminal or a two-wheeled vehicle.

  Moreover, although the embodiment which actualized the route search apparatus according to the present invention has been described above, the route search apparatus can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
A route search device (1) for performing a route search using each cost value of a link constituting a route, and an elevation difference information acquisition means (41) for acquiring information for specifying an elevation difference in the link; When the link includes an inclined link whose difference is equal to or greater than the threshold, among the connection links connected to the end in the direction in which the elevation of the inclined link is lowered, the straight link direction is set with respect to the inclined link. A straight link specifying means (41) for specifying the connected link as a straight link, a cost correcting means (41) for reducing the cost of the straight link or increasing the cost of a connection link other than the straight link, and the cost correction Route search means (41) for searching for a route using the cost value corrected by the means.
According to the route search device having the above configuration, when the route includes an inclined link whose height difference is equal to or greater than the threshold value, the connection link connected to the end portion in the direction in which the elevation of the inclined link is lowered. Among them, the cost is corrected so that the connection link connected in the straight direction with respect to the inclined link is easily included in the route, so that it is effective without wastefully consuming the kinetic energy generated by traveling on the inclined link. It is possible to preferentially select a route for use. As a result, it becomes possible to search for a route with better fuel efficiency.

The second configuration is as follows.
The straight link is a connection link that is connected to the inclined link with a difference in orientation from the inclined link equal to or less than a predetermined angle.
According to the route search device having the above configuration, when the route includes an inclined link whose height difference is equal to or greater than the threshold value, the connection link connected to the end portion in the direction in which the elevation of the inclined link is lowered. Among them, the cost is corrected so that the connection links that can continue traveling without changing the traveling direction, that is, the vehicle deceleration control as much as possible, are easily included in the route. It is possible to preferentially select a route for effectively using energy without wasting energy.

The third configuration is as follows.
The connecting link is a link that is directly or indirectly connected to an end of the inclined link in a direction in which the altitude is lowered, and is within a predetermined distance from the inclined link. is there.
According to the route search device having the above-described configuration, in addition to the link directly connected to the inclined link, the link connected in the straight direction even if the link is indirectly connected is subject to cost correction. Therefore, in a case where a plurality of links are continuously connected in a straight line direction with respect to the inclined link, the continuous links can be preferentially included in the route. Therefore, it is possible to select a route that consumes less kinetic energy generated by traveling on the inclined link.

The fourth configuration is as follows.
The predetermined distance is determined based on the kinetic energy of the vehicle when passing through the end portion in the direction in which the elevation of the inclined link is lowered.
According to the route search device having the above configuration, the range in which the traveling in the straight traveling direction is prioritized after the traveling on the inclined link is changed according to the amount of kinetic energy generated by traveling on the inclined link. It is possible to select a more appropriate route without selecting the route to go to.

The fifth configuration is as follows.
When there is a restriction information acquisition means (41) for acquiring a setting position of the restriction of the temporary stop, and the cost correction means (41) has no restriction of the temporary stop at the end portion in the direction in which the elevation of the inclined link is lowered In addition, the cost of the straight link is reduced or the cost of a connection link other than the straight link is increased.
According to the route search device having the above-described configuration, there is no restriction on temporary stop, and in a situation where kinetic energy generated by traveling on the inclined link can be utilized, the straight direction is connected to the inclined link. The cost can be corrected so that the connection link is easily included in the route.

The sixth configuration is as follows.
It has a traffic signal information acquisition means (41) for acquiring a traffic signal installation position and a lighting pattern, and the cost correction means (41) has no traffic signal installed at an end portion in a direction in which the elevation of the inclined link is lowered. Or when the traffic light is installed at the end in the direction in which the elevation of the inclined link is low and the lighting pattern of the traffic light is a lighting pattern with a higher percentage of blue than the percentage of red In addition, the cost of the straight link is reduced or the cost of a connection link other than the straight link is increased.
According to the route search device having the above-described configuration, in a situation where it is unlikely that the vehicle is stopped by a traffic light and kinetic energy generated by traveling on the inclined link can be utilized, it is connected in a straight direction to the inclined link. The cost can be corrected so that the connected link is easily included in the route.

The seventh configuration is as follows.
The cost correction means (41) increases the cost correction value as the ratio of the lighting pattern of the traffic light becoming blue is higher.
According to the route search device having the above configuration, the cost is corrected so that the connection link connected in the straight direction with respect to the inclined link is more easily included in the route as the possibility of being stopped by the traffic light is lower. It becomes possible.

The eighth configuration is as follows.
Congestion information acquisition means (41) for acquiring congestion information, wherein the cost correction means (41) reduces the cost of the straight link or the straight line when the inclined link and the straight link are not congested Increase the cost of connecting links other than links.
According to the route search device having the above configuration, in a situation where there is no need to decelerate due to traffic congestion and kinetic energy generated by traveling on the inclined link can be utilized, the straight direction is connected to the inclined link. The cost can be corrected so that the connection link is easily included in the route.

The ninth configuration is as follows.
The vehicle has traveling detection means (41) for detecting that the vehicle is traveling on the inclined link in a direction in which the elevation is lowered, and the route search means is configured such that the vehicle detects the inclined link by the traveling detection means. When it is detected that the vehicle is traveling in a lowering direction, the route is searched using the cost value corrected by the cost correcting unit.
According to the route search device having the above-described configuration, when the vehicle is traveling on the inclined link, the inclined link among the connection links connected to the end portion in the direction in which the altitude of the inclined link decreases. Since the cost is corrected so that the connection link connected in the straight direction is easily included in the route, the route for effectively using the kinetic energy generated by the vehicle traveling on the inclined link without wasting it. Can be preferentially selected. As a result, it becomes possible to search for a route with better fuel efficiency.

The tenth configuration is as follows.
When the vehicle detection means (41) detects that the vehicle is traveling on the inclined link in a direction in which the altitude is lowered, a traffic light is connected to a link end which is an end portion in the direction in which the altitude of the inclined link is lowered. A traffic light determination means (41) for determining whether or not a traffic light is installed, and a lighting state for acquiring a lighting state of the traffic light when the traffic light determination means determines that a traffic light is installed at the end of the link Acquisition means (41), and the route search means (41) is provided when a traffic light is not installed at the end of the link or when a traffic light installed at the end of the link is lit in blue. The route is searched using the cost value corrected by the cost correcting means.
According to the route search device having the above-described configuration, in a situation where a vehicle traveling on the inclined link is less likely to be stopped by a traffic light and the kinetic energy generated by traveling on the inclined link can be utilized. In contrast, the cost can be corrected so that the connection link connected in the straight direction is easily included in the route.

1 Navigation device 13 Navigation ECU
41 CPU
42 RAM
43 ROM

Claims (11)

A route search device that performs a route search using each cost value of a link constituting a route,
Altitude difference information acquisition means for acquiring information for identifying the elevation difference in the link,
When an inclined link whose height difference is equal to or greater than a threshold is included in the route, a straight link direction with respect to the inclined link among connection links connected to an end portion in a direction in which the elevation of the inclined link is lowered A straight link identifying means for identifying the connection link connected to the as a straight link;
Cost correcting means for reducing the cost of the straight link or increasing the cost of a connection link other than the straight link;
A route search device comprising: route search means for searching for a route using the cost value corrected by the cost correction means.   2. The route search device according to claim 1, wherein the straight link is a connection link connected to the inclined link with a difference in direction from the inclined link equal to or less than a predetermined angle.   The connecting link is a link that is directly or indirectly connected to an end of the inclined link in a direction in which the altitude is lowered, and is within a predetermined distance from the inclined link. The route search device according to claim 1 or claim 2.   The route search device according to claim 3, wherein the predetermined distance is determined based on the kinetic energy of the vehicle when passing through an end portion in a direction in which the altitude of the inclined link is lowered. It has regulation information acquisition means to acquire the installation position of regulation of suspension,
The cost correction means reduces the cost of the straight link or increases the cost of a connection link other than the straight link when there is no temporary stop restriction at an end in the direction in which the elevation of the inclined link is lowered. The route search apparatus in any one of Claims 4 thru | or 4. Having traffic signal information acquisition means for acquiring the installation position and lighting pattern of the traffic signal;
The cost correcting means may be a case where no traffic signal is installed at the end of the inclined link where the elevation is lowered, or a traffic signal is installed at the end of the inclined link where the elevation is lowered. In addition, when the lighting pattern of the traffic light is a lighting pattern in which the ratio of blue is higher than the ratio of red, the cost of the straight link is reduced or the cost of a connection link other than the straight link is increased. The route search device according to claim 4.   The route search device according to claim 6, wherein the cost correction unit increases the correction value of the cost as the ratio of the lighting pattern of the traffic light becoming blue is higher. It has traffic information acquisition means to acquire traffic information,
8. The cost correction unit according to claim 1, wherein when the inclined link and the straight link are not congested, the cost correction unit lowers the cost of the straight link or increases the cost of a connection link other than the straight link. The route search device described in 1. Travel detection means for detecting that the vehicle travels on the inclined link in a direction in which the altitude decreases;
The route search means uses the cost value corrected by the cost correction means when the vehicle detection means detects that the vehicle is traveling on the inclined link in a direction in which the altitude is lowered. The route search device according to any one of claims 1 to 8, wherein a route is searched. When the vehicle detection means detects that the vehicle is traveling on the inclined link in a direction in which the altitude is lowered, a traffic signal is installed at the end of the link, which is an end portion in the direction in which the altitude of the inclined link is lowered. A traffic light judging means for judging whether or not
A lighting state acquisition means for acquiring a lighting state of the traffic signal when the traffic signal determination means determines that a traffic signal is installed at the end of the link;
The route search means uses the cost value corrected by the cost correction means when no traffic signal is installed at the end of the link or when the traffic signal installed at the end of the link is lit blue. The route search device according to claim 9, wherein the route is searched. A computer program for performing a route search using each cost value of a link constituting a route,
Computer
Altitude difference information acquisition means for acquiring information for identifying the elevation difference in the link,
When an inclined link whose height difference is equal to or greater than a threshold is included in the route, a straight link direction with respect to the inclined link among connection links connected to an end portion in a direction in which the elevation of the inclined link is lowered A straight link identifying means for identifying the connection link connected to the as a straight link;
Cost correcting means for reducing the cost of the straight link or increasing the cost of a connection link other than the straight link;
Route search means for searching for a route using the cost value corrected by the cost correction means;
Computer program to make it function.

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