JP2715597B2 - Route guidance device for vehicles - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an apparatus for guiding a vehicle along a preset route, and in particular, a traveling lane instruction at a guidance point such as an intersection existing on the route. The present invention relates to an improved route guidance device for a vehicle.

<< Prior Art >> Conventionally, as this type of apparatus, for example, Japanese Patent Application Laid-Open No. 62-9361
No. 7 is known.

This will now be described with reference to FIG. 31. When the vehicle enters a predetermined distance from an intersection on the way to the destination on the route, the display content of the display 1 mounted in the vehicle is changed to the lane. The display is switched to the designation marks M ₁ , M ₂ , M ₃ (see FIG. 3A) and the destination designation mark M ₄ (see FIG. 3B), and these lane designation marks M ₁ , M ₂ , M ₃ are displayed. And destination designation mark
And it is configured to allow the lane selection at the intersection by an instruction M _4.

<< Problems to be Solved by the Invention >> However, in the above-described conventional device, when approaching the intersection, only the lane designation mark and the destination designation mark are displayed, and the intersection requiring special attention is required. There is a problem that the driver is burdened when passing the road.

The present invention has been made in view of the above-described problems, and an object of the present invention is to display a direction to travel, a lane to travel, and the like at a guidance point of an intersection in a manner that is easy for the driver to understand. An object of the present invention is to provide a vehicle route guidance device that can reduce a burden.

<< Means for Solving the Problems >> The present invention provides a first method for solving the above problems.
It is configured as shown in the figure.

In the drawing, a guidance route setting means a sets a guidance route of a vehicle.

In addition, in the guidance point information storage means b, guidance point information about a guidance point in the middle of the intersection in the set guidance route is stored in association with the guidance point in the middle.

Further, the current traveling position calculating means c determines the current traveling position of the vehicle.

Then, in the next guide point specifying means d, the midway guide point to which the vehicle should arrive next along the guide route is specified by monitoring the current traveling position.

In the traveling lane determining means e, the lane in which the vehicle should travel at the next guidance point is determined based on the guidance point information specified in the setting contents of the guidance route.

Then, in the traveling lane display means f, before the current traveling position reaches the position of the next guidance point given by the corresponding guidance point information,
The lane to which the vehicle should travel is distinguished from the lane to which the vehicle should not travel, together with the next guidance point which is an abstract figure.

<< Operation >> In the present invention, when the vehicle approaches a guidance point such as an intersection, the lane to which the vehicle should travel is displayed together with the next guidance point, which is an abstract figure, separately from the lane which should not travel.

<< Description of Embodiments >> Preferred embodiments of an apparatus according to the present invention will be described below with reference to the drawings.

In the traveling distance sensor 10 shown in FIG. 2, a distance pulse is obtained every time the vehicle travels a predetermined distance, and the traveling direction of the vehicle is detected by the direction sensor 12.

The distance pulse and the azimuth detection signal of the traveling distance sensor 10 and the azimuth sensor 12 are supplied to the processing device 14.

The processing device 14 is provided with a processing device 16 and a processing data storage device 18 mainly composed of a microprocessor.
The current traveling position of the vehicle is obtained using the distance pulse of the above and the azimuth detection signal of the azimuth sensor 12.

The arithmetic unit 16 is provided with signals from the keyboard 20 and the start switch 22, and map data is provided from the map data storage unit 24.

Further, the image display command obtained by the arithmetic unit 16 is given to a display control device 26, which controls the display of a display device 28 (constituted by a CRT or the like).

Here, when the vehicle reaches a guidance point such as an intersection on the way or a lane change point, the display device 28 displays the traveling direction of the vehicle at the guidance point, the lane to travel, and the like. Such a display device may be provided near the driver's seat, but is preferably displayed directly on the windshield using a HUD (head-up display) or the like.

The map data stored in the map data storage device 24 is used for the display. In particular, the map data used for displaying the intersection traveling direction and the like are stored as shown in FIG.

The storage area 30 in the figure actually corresponds to a large vehicle traveling area such as the Kanto Koshinetsu region, and here, the nine blocks 30-1, 30-2, 30-3, 30-4, 30-5, 30−6, 30−7, 30−
It is divided into 8,30-9.

Then, for example, the block 30-1 includes the guidance point numbers 1, 2, 3, 4,
Each guide point area is divided into a number of guide point areas marked with 5 ... 15, 16 ... each guide point area, an area 31 unique to the guide point indicated by the guide point number, an adjacent guide point area 32, and a guide sign. Information area 33 and shape / traveling direction / traveling lane information area 34
And free travel information area 35 and simple traveling direction information area
It is divided into 36 and.

The specific area 31 stores guide point type information indicating the type of the guide point, the XY coordinate position of the guide point, and the guide point name.

The guidance point type information stored in the unique area 31 is:
Whether the guidance point is a guidance point on a general road, or whether it is a guidance point where a highway and its approach / exit road intersect, or guidance of an interchange where a highway approach / exit road and a general road intersect Whether it is a point or not, and furthermore whether or not it is a guidance point instructing lane change, it is set to "0" when it is a guidance point on a general road,
It is set to "1" when it is an intersection where an expressway and its approach road intersect, and it is set to "2" when it is an intersection where the expressway and its exit road intersect, and the entrance and exit road of the expressway intersects with the general road. The value is set to "3" when the vehicle is at an intersection of an interchange, and is set to "4" when the vehicle is at a lane change point.

In addition, adjacent guidance point areas 32-, 32-, 32-, 32-
.., The numbers of the guide points adjacent to the guide points in the unique area 31, the numbers of the outward routes connecting the two guide points, the azimuth of the road, and the travel distance between the two guide points are stored.

Further, the guide sign information area 33 includes a general intersection where the guide point is an intersection on a general road or an intersection on an expressway adjacent to the intersection of an interchange or an intersection on a general road on which a guidance signboard is arranged. , And guide sign information of a kanji code having the same content as that of any of the guide signs indicating the direction of the crossroads or the destination, is stored.

For example, if the adjacent guide point number is 32- and the content of the guide sign in that direction is "Ueno, Ginza", the guide sign information area
33- stores the kanji code of "Ueno, Ginza".

In addition, in the shape / traveling direction / traveling lane information area 34,
Corresponding to the guidance point stored in the adjacent guidance point area 32, the traveling direction when traveling in the direction of the corresponding adjacent guidance point, the lane to be signaled, and an abstract graphic indicating the shape of the guidance point are stored together. ing.

FIG. 4 shows an example of an interchange on an expressway. The guide point name 50 is displayed on the upper right side of the display device 28, the guide sign information 52 is displayed on the lower right side, and the shape, traveling direction, and traveling are displayed on the left side. Lane information 54 is displayed. To explain the left part, this guidance point has a Y-shape,
It is sufficient to proceed to the left as shown by the diagonal lines, and it can be read at a stretch that the vehicle can proceed to the left regardless of which of the two lanes the vehicle is traveling on.

FIG. 5 shows a case where the guidance point is a lane change point, and the shape / traveling direction / traveling lane information 54 is displayed on the left side of the display device 28. That is, when reaching the next guidance point, it indicates that the vehicle must be traveling in the left lane (indicated by oblique lines) of the two lanes. Further, the lane change has been shown that must be up to the line indicated by Z _L.

Although only the lane change point is displayed in FIG. 5,
It is also effective to display an abstract figure in which the next guide point as shown in FIG. 4 and the lane change point in FIG. 5 are put together.

In the free running information area 35, when the distance to the adjacent guide point is long, lanes and road shapes that can travel freely when traveling in the direction of the corresponding adjacent guide point are stored as graphic data of the abstract figure. ing.

FIG. 6 shows an example of this case, and the display device 28
The free running information 56 is displayed in the left part of the.

Further, in the simplified traveling direction information area 36, graphic data of an abstract graphic obtained by further simplifying the graphic data stored in the shape / traveling direction / traveling lane information area 34 is stored. FIG. 6 shows a display example in this case, which is displayed as simple traveling direction information 58 at an upper position on the screen on which the free running information 56 is displayed.

This embodiment has the above configuration, and its operation will be described below with reference to a flowchart.

When the power supply of the present embodiment is turned on, data input relating to the departure position and arrival target position of the vehicle is performed by operating the keyboard 20, and the data input is used to teach the exact coordinate position of the departure position and target position of the vehicle. Or the rough position teaching by designating the unit area to which the starting position and the arrival target position belong.

When the rough position teaching is performed, the start position and the arrival target position belong to are selected by operating the keyboard 20 from the list of unit areas displayed on the display device 28 as shown in FIG.

When the data input regarding the departure position and the arrival target position described above is confirmed, the initial guidance point, which is a temporary target position,
The final guide point, which is the temporary target position, is automatically determined (steps 100 and 102 in FIG. 8).

FIG. 9 explains the setting operation of the initial guide point. When the accurate starting position is taught, the position Zs (Xs, Ys) is determined to be different, and rough position teaching is performed by the unit area. In this case, it is determined as the center position of the unit area, and the closest memory guidance point Za among the memory guidance points Za, Zb, Zc, Zd present around the unit area is set as the initial guidance point.

If the position Zs is given by designating the unit area, when the vehicle is guided to the initial guidance point in the direction display as described later, the guidance is incorrect or incorrect. There is a possibility that the position Zs
It is preferable to set an object at a certain distance from the initial guidance point.

In this case, one of the memory guidance points Za, Zb, Zc, Zd that satisfies the following equations (1) and (2), and the closest one is set as the initial guidance point.

Here, the unit area is 1 km square, and the value is 3000
(M) is adjusted and set according to the size of the unit area.

_{Y (Y D -Ys) <X} (X D -Xs) ... (1) (X-Xs) 2 (Y-Ys) 2 ≦ 3000 2 ... (2) However position _{Z D (X D, Y D} ) is are the coordinates of the position to be reached Z _D, the initial induction point is determined from those in the position to be reached side indicated by the shaded area of FIG. 9.

Figure 10 is intended to explain the determination action of the final guidance point, the final guidance point position to be reached of the vehicle _{Z D (X D, Y D} ) stored induction point Zl existing around, Zm, Zn, Zo Is the closest memory guidance point Zm.

In the present embodiment, the storage guidance point at which the value D of the following equation (3) becomes minimum is determined as the final guidance point.

D ² = (X−X _D ) ² + (Y−Y _D ) ² (3) The above is the method of setting the initial guidance point and the final guidance point. Here, the initial guidance point is the expressway and its exit road. Are selected from the intersections where the intersection with the road, the interchanges on the highway, and the guidance points excluding the diagonal line change points, and the selection is made by the type code.

In addition, the final guide point is similarly selected from the intersection where the expressway and the approach road intersect, the interchange on the expressway, and the guide point excluding the oblique line change point.

When the initial guide point and the final guide point are determined in this way (steps 100 and 102 in FIG. 8), the shortest route from the initial guide point to the final guide point is set (step 104 in FIG. 8). ).

FIG. 11 illustrates the procedure for setting the shortest path.
The guide point order K previously set to 0 is incremented to 1
(Step 106). Note that the order K is “1”,
It is preferable to configure the device to repeat “0”.

Then, all the guide points adjacent to the processing guide point are searched as primary guide points from the FIG. 3 data in the map data storage device 24 (step 108), and the numbers of these primary guide points (third guide point) are retrieved.
In the figure, 32-, 32-, 32-, 32 -...) are read (step 110). Note that after this processing, lane change points are also included in intermediate guidance points such as primary guidance points.

Further, when the travel distance to each primary guidance point is read (step 112), the travel distance and the guidance point number of each primary guidance point are stored in correspondence (step 114).

Then, when it is confirmed that the final guidance point is not included in the primary guidance points (negative determination in step 116), the guidance point order K is incremented, and then all secondary guidance points are similarly processed. A search (step 108) and reading of those guide point numbers are performed (step 110), and a travel distance from the initial guide point to these secondary guide points is calculated (step 112).

When the guidance point numbers of all the secondary guidance points and the travel distances from the initial guidance points to the respective secondary guidance points are obtained in this way, whether or not the same secondary guidance point that matches the primary guidance point exists Is determined by the guidance point number (step 11
8).

If there is no such secondary guide point at that time, the guide point number and the travel distance of those secondary guide points are stored in correspondence (step 114), and then they do not include the final guide point. The same processing is repeated on condition that this is confirmed (No at Step 116).

Also, when it is detected from the guide point number that the search for the guide point that matches the already searched guide point is performed, as in the case where the existence of the secondary guide point identical to the primary guide point is confirmed (step (Affirmative determination at 118), comparing the distance traveled to the already searched guidance point corresponding to the guidance point number with the distance traveled from the initial guidance point to the searched intersection via another route. (Step 120).

At this time, if the travel distance (stored value) to the searched guide point is smaller than the travel distance (calculated value) to the searched guide point, the calculated value is invalidated (step 122), and the stored value is left as it is.

If the calculated value is smaller than the stored value, it is stored in correspondence with the guidance point number as it is (step 114), whereby the stored value up to that point is deleted.

When the above process is repeated, all the guide points leading to the initial guide point are searched, and the guide point numbers and the travel distances from the initial guide point are stored correspondingly.

If the same guidance point is found during the guidance point search, the smaller of the distance calculated at the time of the search and the distance stored so far is stored. Each of the distances stored corresponding to the guidance point number of the search guidance point is the shortest of the distances from the initial intersection.

Thereafter, when the last guidance point is searched (Yes in step 116), the guidance point number of the final guidance point and the travel distance from the initial guidance point are set correspondingly (step 116).
124). When all the guidance points are retrieved (Yes at Step 125), all the guidance points adjacent to the final guidance point are retrieved (Step 126), and the guidance points stored corresponding to the minimum travel distance are stored. Is set in correspondence with the guide point number and the travel distance (step 128).

Next, when it is confirmed that the guide point having the minimum travel distance is not the initial guide point (negative determination in step 130), the search for the adjacent guide point (step 126) further sets the corresponding set of the guide point number and the minimum storage value (step 126). Step 128) is repeated.

As a result, the guidance point number of the guidance point having a small travel distance from the initial guidance point and the travel distance are sequentially set from the last guidance point side, and the setting is continuously performed until the initial guidance point is searched.

Thereafter, when the initial guidance point is searched (step 130)
In the affirmative determination, the processing in FIG. 11 is terminated.

FIG. 12 shows the operation of the above processing, in which data input relating to the starting position ST and the reaching target position OP in FIG.
When performed by the operation of 20, the induction point numbers and journey distance countless induction point along a path drawn from the initial induction point CP ₀ are sequentially stored and then final guidance point CP _K is searched, the initial induction The guidance point having a small travel distance from the point CP ₀ is the guidance point CP _K-1 … CP ₄ , CP ₃ , CP ₂ , CP from the final guidance point CP _K side.
Determined in the order of ₁ .

As described above, in the present embodiment, a guidance point such as an intersection or a lane change point existing in the middle of a route to which the vehicle should be guided is automatically designated, and thereby the shortest guidance route is set (eighth guidance route). Figure 104).

When the shortest guidance route is set, if the departure position is taught, the initial guidance point direction information 60 is displayed as shown in FIG. 13, whereby the vehicle is guided to the initial guidance point. Note that this display is also performed when heading from the final guidance point to the destination.

Then, when the vehicle reaches the initial guide point Za by the above-mentioned initial guide point guidance display and this is confirmed, the start switch 22 in FIG. 2 is operated.

By operating the start switch 22, guidance processing for instructing the traveling direction and the traveling lane at the guidance point and the lane change instruction at the lane change point is started.

This guidance process is performed based on the current running position of the vehicle obtained by the measurement, and the measurement is performed as follows.

When a distance pulse is input from the mileage sensor 10 (the
14, the positive determination is made in step 138), and the above-described processing for guiding the vehicle is temporarily interrupted (step 140).
The measurement calculation shown in FIG. 5 is started (step 142).

In the process, first, the traveling direction θ of the vehicle detected by the direction sensor 12 is read (step 144), and then the traveling distance ΔX in the X direction and the traveling distance ΔY in the Y direction are obtained (step 146).

Further, the distances ΔX and ΔY are added to the integrated distance X in the X direction and the integrated distance Y in the Y direction, thereby obtaining coordinates Z (X, Y) indicating the current running position of the vehicle (step 148).

The travel distance corresponding from each journey distance D _CP to the induction point on the way the vehicle then reaches the distance pulse generation interval Δ
D is subtracted (step 150) As described above, in the measurement and calculation of the current traveling position of the vehicle, its coordinate position is obtained based on the traveling azimuth and the distance of the vehicle. the distance D _CP to the next middle induction point has been determined by the travel distance corresponding to a generation interval is sequentially subtracted.

As understood from FIG. 14, this travel position measurement calculation is performed by interruption to the above-mentioned guidance processing, and when this processing is completed, the guidance processing is restarted (step 15).
2).

In this guidance processing, as will be described later in detail, the display of the free running information 59 is displayed between the guidance points on the way (see FIG. 6).
In the vicinity of each guidance point, information on the shape, traveling direction, and traveling lane
The display of 54, etc. (see FIGS. 4 and 5) is performed (FIG. 16, steps 154, 156, 158).

For the route guidance of the vehicle based on these displays, the processing of FIG. 17 is performed when the vehicle passes through the guidance point on the way.

When the vehicle reaches the midway guide point, the guide point number of the midway guide point, the guide point number of the next midway guide point, and the guide point number of the next midway guide point are set (step 160 in FIG. 17). .

Next, when the position Z ₀ of the intermediate guide point, the position Z ₁ of the next intermediate guide point, and the position Z ₂ of the next intermediate guide point are set (step 162), the position of the intermediate guide point (Z ₀ ) is set. following the course induction point (Z ₁₎ journey distance to L ₁ and journey distance L ₂ in the following way derived from point (Z ₁₎ further to the next induction point (Z ₂₎ is set (step 164).

And the position Z ₀ of the guidance point on the way where the vehicle arrived is the 15th
The current traveling position Z (X,
Y) is set instead of the next guidance point (Z
₂ → Z ₁₎ is journey distance L ₁ to be set in place of the journey distance D _CP to the next induction point which has been determined so far (Z ₁ → Z _0).

Each time the vehicle passes through a halfway guide point existing on the shortest guide route, the position Z ₀ of the guide point is set as the current travel position Z (X, Y) of the vehicle measured by the processing in FIG. Thus, the correction is performed.

When the above process (step 166) is performed in FIG. 17, the vehicle to the course induction point Z ₁ next arriving on the basis of the azimuth data retrieved using an induction point number 3 induction points these successive An approach direction and an exit direction are calculated (step 168).

Next, an approach determination area, an error determination area, and a reset bearing are set as follows (step 17).
0).

Figure 18 is intended to explain these settings action, the vehicle passes straight through the middle induction point position Z ₁ from the middle induction point position Z ₀ in the figure, turn left passing through the middle induction point position Z ₂ I do.

Vehicle middle induction point (Z ₀₎ the approach determination region 300 for the next course induction point (Z ₁₎ is set when the incoming passes toward the next course induction point (Z _1), also the vehicle is induced point ( When passing through Z ₁ ), the approach judgment area 30 for the next guidance point (Z ₂ )
2 is set.

Of these regions 300 around the position Z ₁ 0.015 L ₁ (position Z ₀
It is a circular area having a radius of journey distance) to the position Z ₁ from also the area 302 around the position Z ₂ 0.1 L ₂ (position
There is a circular area having a radius of journey distance), from Z ₁ to the position Z _2. However, the lower limit is set so that the radius does not fall below a radius of 500 m, for example.

An error determination area 304 is set when the vehicle passes through the guidance point (Z ₀ ), and an error determination area 306 is set when the vehicle passes through the guidance point (Z ₁ ).

These error determination areas 304, 306 is substantially rectangular, each their longitudinal direction direction Z ₀ Z _1, there is a direction Z ₁ Z _2.

Further the short sides of which are the positions Z _0, Z circle of radius 1.1 L ₁ each centering _1, position Z _1, partial arc of a circle of radius 1.1 L ₂ to each around the Z _2. The calculation of the error determination area is not performed when the guidance point is a lane change point.

And when the vehicle has reached the position Z ₁ in FIG. 18 (Z ₀
→ Z to ₁ as updated) to when the next induction point Z ₂ (Z ₂ → been updated Z ₁₎ is not a straight-induced point, reset the orientation obtained.

The reset azimuth is an intermediate azimuth between the approach direction and the exit direction of the next guidance point (Z ₂ → Z ₁ ), and is selected within the turning angle range of the vehicle at the guidance point. Since all the lane change points are straight guidance points, the reset azimuth is calculated only when the guidance point is an intersection.

As can be understood from the above description, each time the vehicle passes the intermediate guidance point (Z ₀ ) on the shortest guidance route, the approach determination area 300 or 302, the error determination area 304 or 306, and the reset direction pass next. A guidance point on the way should be set (step 170 in FIG. 17).

If the next guidance point (Z ₁ ) that the vehicle should pass next is the final guidance point, a comment to that effect is displayed (steps 184 and 186).

Next, a description will be given of a process for preventing a deviation from the guidance route performed using the approach determination area and the error determination area.

It is confirmed that the vehicle has left the approach determination area (the area 300 or 302 in FIG. 18) of the guidance point (Z ₀ ) (FIG. 19, step 187), and the approach determination area of the next guidance point (Z ₁ ). When the vehicle speed has not reached (No in step 188), the free running information 56 as shown in FIG. 6 is displayed (step 156 in FIG. 16), and the vehicle is in an error determination area (the area 304 or 306 in FIG. 18). (Step 190).

In the meantime, when it is determined that the vehicle has exited the error determination area by monitoring the position Z (X, Y) obtained in the processing of FIG. 15, a message to that effect is displayed (step 192). You are warned that you will deviate from the shortest guidance route.

Then, when the vehicle reaches the approach determination area of the next halfway guide point (Z ₁ ) without making an error in the shortest guide route (step
A positive determination at 187), the vehicle is whether passed through the induction point (Z ₁₎ is monitored (step 194).

In the present embodiment, when the next guidance point (Z ₁ ) is a straight guidance point, when the distance _DCP becomes 0, when the next guidance point (Z ₁ ) is a right / left guidance point, the vehicle turns to the reset direction. When it is determined that the vehicle has passed the guidance point (Z ₁ ), the processing in FIG. 17 is started again.

If the vehicle has not passed through the guide point (Z ₁ ), it is determined whether or not the vehicle is traveling in the error determination area (step 196). (Step 192)
The vehicle is determined whether the vehicle is in approach determination region at the time of traveling the error determination area (step 188), the vehicle is whether passed through the induction point (Z ₁₎ determining (Step 19
4) is repeated.

Thereafter, when it is confirmed that the vehicle has passed the guidance point (Z ₁ ), or when an error message is displayed, the process is terminated.

As described above, in the present embodiment, whether the vehicle has deviated from the shortest guidance route is constantly monitored using the error determination area and the approach determination area, and when the vehicle deviates, the fact is displayed. .

When the vehicle approaching the next guidance point (Z ₁ ) is detected using the approach determination area (No in step 154 in FIG. 16), the processing for displaying the traveling direction and the traveling lane instruction at the guidance point (FIG. 16) Step 158) is started instead of the free running information display processing (step 156 in FIG. 16).

FIG. 20, whether or not intended to explain the instruction display processing in the traveling direction and the traveling lane in the induction point, first remaining distance D _CP obtained by the processing in step 198 in FIG. 15 is a predetermined distance or less If it is determined that the vehicle is not less than the predetermined distance and the vehicle travels to the left at the junction of the highway, for example, at the next guidance point (Z ₁ ), as shown in FIG. its induction point part (Z ₁₎ is displayed in the abstract graphic (step 200).

At the same time, the traveling direction of the guidance point (Z ₁ ) and the lane to be traveled are displayed in a hatched display 62 as shown in the figure, and the remaining distance to the guidance point (Z ₁ ) is displayed in segments.
Displayed at 64 (step 202).

When the remaining distance _DCP confirms that the vehicle has reached the position just before the next guidance point (Z ₁ ) (positive determination in step 198), the hatching display 62a of the guidance point portion (Z ₁ ) flashes. The driver is warned (step 204).

Further, when the passage of the next guidance point (Z ₁ ) is confirmed (step 206), the display of the traveling direction and the traveling lane instruction display at this guidance point is terminated (step 208), and then the free running display processing shown in FIG. Is resumed.

In the above description, the case where the guidance point is an intersection has been described. However, as shown in FIG. 5, the same processing is performed when the guidance point is a lane change point.

In this way, the free-running display is provided between the guidance points on the way,
In front of each guide point, the traveling direction of the guide point and the lane to be driven are displayed, whereby the vehicle is guided to the final guide point along the shortest guide path.

Here, the details of the display processing as shown in FIG. 4 will be described with reference to FIG.

In this process, first, the data of the next guidance point (Z ₁ ) and the guidance point number of the next guidance point (Z ₂ ) are read out (steps 210 and 212).

Next, an adjacent guide point number corresponding to each of the guide point numbers (Z ₂ ) is selected from the adjacent guide point areas 32 of the next guide point (Z ₁ ) (step 214).

Then, the shape, traveling direction,
Reads the driving lane information 54 and the guidance sign information 52 and displays them
28 is displayed (steps 216, 218).

Further, the guidance point name 50 is read from the unique area 31 and displayed on the display device 28 (step 22).

For example, the guide point numbers one after another in the adjacent guide point area 32
Assuming that the information is stored in 32-, the adjacent guidance point corresponding number becomes, and the information stored in each of the shape / traveling direction / traveling lane information area 34 and the guide sign information area 33 is displayed.

On the other hand, as shown in FIG. 5, when the guidance point (Z ₁ ) is a lane change point, display processing as shown in FIG. 22 is performed.

That is, first, the data of the next guidance point (Z ₁ ) and the guidance point number of the next guidance point (Z ₂ ) are read (steps 222 and 224).

Next, an adjacent guide point number corresponding to the number of the next guide point (Z ₂ ) is selected from the adjacent guide point area 32 of the next guide point (Z ₁ ) (step 226).

Next, examined whether or not the current vehicle speed V is greater than V ₀ (step 228), if the vehicle speed V is greater than V _0, the next induction point (downward in FIG. 5) the front side of the screen (lane change point)
(Z ₁₎ is displayed (step 232).

Further, when the vehicle speed V is V ₀ or less, even the current traffic C
There atmospheric whether is examined from C ₀ (step 230), the traffic volume C is if larger than C _0, the next induction points to the front side of the screen similarly (lane change point) (Z ₁₎ is displayed ( Step 232).

On the other hand, when the vehicle speed V is equal to or lower than V ₀ and the traffic volume C is equal to or lower than C ₀ (both negative determinations are made in steps 228 and 230), as shown in FIG. 5, the next guidance point (the lane change point (Z ₁ ) is displayed (step 234).

This corresponds to the hatched area 70 in the right lane in FIG.
Of the tip Z _L represents the limit of lane change, a hatched portion 70
Indicates the margin zone for changing lanes, so that if the vehicle speed V or the traffic volume C is larger than a predetermined value, the margin zone, that is, the hatched portion 70 is shortened, so that the lane change is terminated earlier. The distance to the limit Z _L of the lane change is displayed in the segment display 64.

In FIG. 22, the following steps 236 and 238
Is performed in step 21 of FIG. 21 when the guidance point is an intersection.
Since the processing is exactly the same as that of 8,220, its description is omitted.

On the other hand, the display processing of the free running information 56 shown in FIG. 6, the vehicle is halfway induction point (induction point of the current passing) are finished passing through the (Z _0), the distance to the next induction point Z ₁ given When the value is equal to or more than the value (for example, 500 m or more) (step 156 in FIG. 16), the display process in this case will be described in detail below with reference to FIG.

In this process, first, the guide point currently passing (Z ₀ )
And the guidance point number of the next guidance point (Z ₁ ) are read out (steps 240 and 242).

Next, the guide point area adjacent to the guide point (Z ₀ ) that is currently passing
An adjacent guide point number corresponding to the next guide point number (Z ₁ ) is selected from 32 (step 244).

Then, as shown in FIG. 6, the free travel information 56 corresponding to the adjacent guide point number is read from the free travel information area 35 and displayed on the display device 28 (step 246).

Next, the data of the next guidance point (Z ₁ ) and the guidance point number of the next guidance point (Z ₂ ) are read out (steps 248 and 250), and the guidance point one after another is read from the guidance point area 32 adjacent to the next guidance point (Z ₁ ). (Z ₂₎
(Step 25)
2). Then, the traveling direction information of the next guidance point (Z ₁ ) corresponding to the adjacent guidance point number is read from the simplified traveling direction information area 36 and displayed on the display device 28 as the simplified traveling direction information 58 (step 254).

In this embodiment, as described above, when the vehicle approaches each guidance point such as an intersection, the traveling direction and the traveling lane are displayed on the screen together with the abstract figure of the next guidance point, and the distance to the next guidance point is displayed. Is greater than or equal to a predetermined value, the traveling direction at the next guidance point is displayed simply along with the free running information.
This has an effect that a direction to travel and a lane to travel at an induction point such as an intersection can be easily recognized in advance.

In addition, a lane change point is added to the guidance point, and when approaching the point where the lane should be changed, the lane change area is displayed in consideration of the vehicle speed and the traffic congestion situation at that time, so that the vehicle speed can be changed smoothly. It has the effect of.

Next, a second embodiment of the present invention will be described. The same components as those used in the description of the first embodiment are denoted by the same reference numerals and described.

By the way, in this embodiment, the guide point type information stored in the unique area 31 shown in FIG. 3 indicates whether or not the guide point is an intersection on a general road, or whether an expressway and its approach and exit roads Is an intersection at which the intersection of the highway and the intersection of an entry / exit road of an expressway and an ordinary road are identified. If the intersection is on a general road, it is set to "0". If it is an intersection where the highway and its approach road intersect, it is set to "1", if it is an intersection where the highway and its exit road intersect, it is set to "2", and if it is an intersection of an interchange on the highway, 3 ". Therefore, in this embodiment, the lane change point is not included in the guidance point.

In addition, in the shape / traveling direction / traveling lane information area 34,
The traveling direction and the lane to be traveled when traveling in the direction of the adjacent guidance point corresponding to the adjacent guidance point are stored together with the abstract figure indicating the shape of the guidance point, but the adjacent guidance point (Z ₁ ) When the vehicle is approaching, as shown in FIG. 24, graphic data that can also display the shape, traveling direction, and traveling lane of the next guidance point (Z ₂ ) are stored. When the next guidance point (Z ₁ ) is not approaching, graphic data for displaying only the next guidance point (Z ₁ ) is stored as shown in FIG.

On the other hand, the simplified traveling direction information area 36 stores graphic data of an abstract graphic in which the road shape and traveling direction stored in the shape / traveling direction / traveling lane information area 35 are further simplified. The figures 72 and 74 in the upper frame of FIG. 26 show this, and in this case, the information of the next guidance point (Z ₁ ) is displayed together with the next guidance point (Z ₁ ). .

In this embodiment, the free running display process is not performed as in the first embodiment, and when the distance to the next guidance point is equal to or more than a predetermined value, the distance information between the two guidance points is displayed at the bottom of the screen.
76 is displayed.

Therefore, as shown in FIG. 27, guidance point distance intervals are displayed between the guidance points on the way, and guidance point traveling directions and traveling lane instructions are displayed near each guidance point.) Steps 260,262,264).

The display processing shown in FIG. 24 is performed when the vehicle moves to the next guidance point (Z ₁ ).
Is displayed when the user approaches the vicinity of the display area. However, since this display processing is exactly the same as the case of FIG. 21 in the first embodiment, the description thereof is omitted.

The display processing in FIG. 25 is performed when the guidance point (Z ₂ ) is not approaching one after another, and the display processing in this case is also performed in FIG.
Since it is exactly the same as the case of the figure, the description is omitted.

The next guidance point (Z ₁ ) shown in FIGS. 24 and 25 shows the case where the guidance point is an interchange. FIG. 24 shows a branch point, and FIG. 25 shows a junction. . While the vehicle is running, the display screen changes continuously, and a scroll-like guidance display is performed.

In addition, the display processing as shown in FIG. 26 is performed when the vehicle has completed the passage on the way (the guidance point Z ₀ currently passing) and the distance to the next guidance point (Z ₁ ) is sufficient (for example, (500m or more) (processing of step 262 in FIG. 27),
Hereinafter, this display processing will be described with reference to the flowchart of FIG.

In this process, first, the guide point currently passing (Z ₀ )
And the guidance point number of the next guidance point (Z ₁ ) are read (steps 266 and 268).

Then, determine whether the distance reading the remaining distance D _CP to the next induction point (Z ₁₎ from the processing up to step 150 in FIG. 15 (step 279), D _CP fits in the display range of the display screen (Step 272).

Here, if not within the range, only the center line 78 is displayed (step 274), and this processing ends.

On the other hand, if it falls within the range, the process proceeds to the following process. That is, an adjacent guide point number corresponding to the next guide point (Z ₁ ) is selected from the adjacent guide point area 32 of the guide point (Z ₀ ) that is currently passing (step 276).

Then, read the simplified traveling direction information corresponding to the adjacent induction point number is displayed as a figure 72 the screen position corresponding to the remaining distance D _CP (step 278).

Further, the data of the next lead point (Z ₁ ) and the next lead point (Z ₂ )
(Steps 280 and 282).

Then, the distance D _CPi from the next guide point (Z ₁ ) to the next guide point (Z ₁ ) is read from the adjacent guide point area 32 (step S1).
284), which was added to the remaining distance D _CP induction point of the current passing from (Z ₀₎ to the next induction point (Z _1), the addition distance D _CP +
It is determined whether or not _DCCPi is a distance that falls within the display range of the screen (step 286).

Here, if it is out of the range, the process is terminated, and if it is in the range, the adjacent guide point corresponding to the next guide point number (Z ₂ ) from the adjacent guide point area 32 of the next guide point (Z ₁ ). A number is selected (step 288). Next, the simple traveling direction information area 3
Next induced point corresponding to the adjacent induction point number from 6 reads information on the traveling direction of (Z _2), and displays as an addition distance D _CP + D graphics 74 on the screen position corresponding to _CPi (step 29
0).

In the second embodiment, as described above, the traveling direction and the traveling lane of the vehicle are displayed together with the next guidance point, which has been made an abstract figure, before the current traveling position reaches the position of the next guidance point. When a point is approaching, the next guidance point and the next guidance point are displayed as an abstract figure on the same screen, so at the guidance point such as an intersection, the next guidance point and the next guidance point are approaching one another. In this case, the action at the next guidance point can be determined in consideration of how to act at the next guidance point one after another.

In order to further display the distance interval to the further guidance point and the traveling direction at the guidance point, the processing from step 280 onward in FIG. 28 may be repeated.

Next, a third embodiment of the present invention will be described with reference to FIGS. 29 and 28.

This shows a guidance display when intersections are approaching each other on a general road.
The case is within 500m.

In this case, as shown in FIG.
When traveling, the current position of the vehicle is C, greater than guidance display B ₀ at the intersection B is sequentially induce point induction display A ₀ at the intersection A is the next induction point.

With such a display, even when two guidance points are displayed on the screen, the guidance display A ₀ at the next intersection A that passes through is displayed.
Is displayed larger, so that a guidance point display that is easy for the driver to understand can be obtained.

Further, as shown in FIG. 30, when the current position C passes through the intersection A, as well as increase the guidance display B ₀ at the next intersection B, also induced path A ₁ in passing intersection A previously displayed.

According to such a display, traveling lane information that is easier to understand for the current traveling lane can be obtained.

<< Effect of the Invention >> As described above, the vehicle route guidance device according to the present invention
When the vehicle approaches the guidance point such as an intersection, the next guidance point as an abstract figure is displayed on the screen together with the lane where the vehicle should travel, distinguishing it from the lane that should not travel. In terms of points, there is an effect that a lane to be traveled can be taught easily.

[Brief description of the drawings]

FIG. 1 is a diagram corresponding to claims of the present invention, FIG. 2 is a block diagram of a preferred embodiment of the device according to the present invention, FIG. 3 is a diagram for explaining the data structure of a storage device, FIG. 4 and FIG. Is an explanatory diagram showing a display example in the case of proceeding to a guidance point such as an intersection, FIG. 6 is an explanatory diagram in which simplified traveling direction information is displayed together with free traveling information, and FIG. 7 is a screen table for inputting a unit area. FIG. 8 is a flowchart for explaining the operation of the first embodiment. FIG. 9 is an explanatory diagram for explaining the operation of determining an initial guidance point.
FIG. 10 is an explanatory diagram for determining the final guidance point, FIG. 11 is a flowchart for explaining the guidance route setting operation, FIG. 12 is an explanatory diagram for setting the guidance route, and FIG. 13 is a screen for displaying an initial guidance point direction. FIGS. 14 to 17 are flowcharts for explaining the operation of the first embodiment, FIG. 18 is an explanatory diagram showing the setting operation of an error determination area and an approach determination area, and FIGS. FIG. 24 is a flowchart for explaining the operation of the first embodiment. FIG. 24 is an explanatory view of a display screen when the next guidance point and the next guidance point are approaching one another. FIG. FIG. 26 is an explanatory view of the display screen in the case where the distance to the next guide point is equal to or more than a predetermined value, and the guide point information of the next guide point is displayed together with the next guide point in a simplified manner.
FIGS. 28 and 28 are flowcharts for explaining the operation of the second embodiment, FIGS. 29 and 30 are operation explanatory diagrams of the third embodiment, and FIG. 31 is an explanatory diagram of a display screen in a conventional example. . 10 Travel distance sensor 12 Direction sensor 14 Processing device 16 Processing device 18 Processing data storage device 20 Keyboard 22 Start switch 24 Map data storage device 26 Display control device 28 Display device

Continued on the front page (72) Inventor Katsuhiko Mizushima 2 Takara-cho, Kanagawa-ku, Yokohama-shi, Kanagawa Nissan Motor Co., Ltd. 56) References JP-A-61-190698 (JP, A) JP-A-62-193615 (JP, A) JP-A-1-198997 (JP, A) JP-A-62-193617 (JP, A)

Claims (1)

(57) [Claims] 1. A guidance route setting means for setting a guidance route of a vehicle, and guidance point information storage means for storing guidance point information about a guidance point such as an intersection in a set guidance route in correspondence with each guidance point. Current running position calculating means for obtaining the current running position of the vehicle; next guiding point specifying means for specifying the intermediate guiding point that the vehicle should reach next along the guidance route by monitoring the current running position; Guides the lane in which the vehicle should travel: Travel lane determining means that determines based on the guidance point information specified in the route settings, and before the current travel position reaches the position of the next guidance point given by the corresponding guidance point information And a traveling lane display means for displaying a lane in which the vehicle should travel along with the next guidance point, which is an abstract figure, to distinguish the lane from which the vehicle should not travel.