JP2746168B2 - Route guidance device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route guidance apparatus mounted on a vehicle and used, in particular, for displaying a recommended route that a vehicle should travel from among a plurality of branches at an intersection having a plurality of branches. The present invention relates to a route guidance device for providing guidance.

[0002]

2. Description of the Related Art Conventionally, a navigation device, which is a route guidance device, has been mounted on a vehicle to assist the vehicle in traveling on unfamiliar land. In the above conventional navigation device, a control unit including a CPU (Central Processing Unit) detects the current position of the vehicle based on the traveling distance and traveling direction of the vehicle detected by the distance sensor and the direction sensor, respectively. The current position of the vehicle is displayed on a display device including a CRT and a liquid crystal display element together with a road map around the vehicle. The above road map data is generally stored in a road map memory.

Further, in accordance with the setting of the destination by the driver, road calculation road map data in a range including the departure point (current position) and the destination is read from the road map memory, and the read path calculation road map data is read. A recommended route from the departure point to the destination is calculated based on the map data. When the road map is displayed on the display device, the calculated recommended route is displayed over the displayed road by, for example, a dotted line.

Further, when a vehicle comes before an intersection to pass next, a schematic diagram of the intersection is displayed in a window in eight directions, for example, in order to inform the driver of the shape of the intersection and a recommended route to be followed by the vehicle. ing. FIG. 5 is a schematic diagram of an intersection used in a conventional navigation device. Referring to FIG. 5, the intersection is displayed by a schematic diagram having eight-way branch road display units. Normally, the branch road display section D1 indicates the approach road on which the vehicle is currently traveling, and branch roads other than the approach road at the intersection are displayed by the corresponding branch road among the branch road display sections D2 to D8. Specifically, 360 ° is divided into eight equal parts on the basis of the branch road display section D1 which is the approach road, and a branch road which is within a range of 45 ° around each of the branch road display sections D2 to D8 exists at the intersection. If so, the corresponding branch road display sections D2 to D8 are displayed.

[0005] In addition, the forked road includes a recommended route on which the vehicle should travel, and the recommended route is also displayed on the forked road display sections D2 to D2.
8 to indicate that the branch road is a recommended route, an arrow is displayed along with the recommended route from the approach road. By notifying the driver of the recommended route using the schematic diagram of the intersection as described above, the driver can obtain information only by glance at the screen of the display device.

[0006]

However, in the above-mentioned conventional navigation apparatus, there are cases where the intersection cannot be displayed in a shape suitable for the driver's feeling at the time of traveling, and accurate route guidance cannot always be provided. There was a problem. FIG. 6 is a diagram for specifically explaining the above problem. For example, when there is an intersection as shown in FIG. 6, ie, when the vehicle is traveling on
When approaching the intersection having two branch roads O1 and O2, the approach road I1 and the branch roads O1 and O2 are displayed on the display device of the navigation device using the schematic diagram of the intersection shown in FIG.

FIG. 7 is a diagram showing a display example when the intersection shown in FIG. 6 is shown using the schematic diagram of the intersection shown in FIG. Referring to FIG. 6, when the branch road O1 has an azimuth deviated counterclockwise from the straight traveling direction of the approach road I1 by the angle β, and the angle β is smaller than 22.5 °, the branch road display shown in FIG. The section D5 is selected, and as shown in FIG.
Is displayed. When the azimuth of the branch road O2 is shifted clockwise from the straight traveling direction of the approach road I1 by the angle γ, for example, when the angle γ is larger than 22.5 ° and smaller than 67.5 °, the branch shown in FIG. The road display section D6 is selected,
As shown in FIG. 7, the branch road display section D6 is displayed. FIG.
Since there is no branch other than the above at the intersection shown in FIG. 5, the branch road display portions D2 to D4, D7, and D8 shown in FIG. 5 are not displayed, and the schematic diagram of the intersection shown in FIG. 7 is finally displayed. You.

If the branch route O1 is selected as the recommended route, an arrow is displayed as shown in FIG. 7 from the approach route (D1) to the recommended route (D5) to notify the driver that the vehicle is going straight. You. However, as shown in FIG. 6, the driver finds that the branch roads O1 and O2 are almost the same road,
If the branch O1 is not completely straight ahead, the driver may be wondering which of the branch O1 and O2 to proceed. That is, even if the display guidance is performed so as to go straight ahead at the intersection as shown in FIG. 7, the driver can see the intersection ahead in two directions, that is, the right direction (branch road O1) and the left direction (branch road O2). Since it is recognized that the vehicle has branched, an intersection deviating from the driver's feeling at the time of traveling is displayed, and there is a problem that inappropriate route guidance is performed.

[0009] Further, as shown in FIG.
When the branch road (D5) in the straight-ahead direction is selected as the recommended route from 1), the conventional navigation device does not usually provide voice guidance for the route, so that the driver can move in the left and right directions as described above. However, there is also a problem that voice guidance is not performed even when it is determined that the route is a branch road, that is, when guidance of a recommended route is required.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and has as its object to provide a route guidance apparatus which can always display an intersection in a shape suitable for a user's feeling when traveling. .

Another object of the present invention is to provide a route guidance device which can prevent required guidance from being performed at an intersection.

[0012]

According to a first aspect of the present invention, there is provided a route guidance apparatus for displaying and guiding a recommended route that a vehicle should travel from among a plurality of branch roads at an intersection having a plurality of branch roads. Angle detection means for detecting that the recommended route is within a predetermined angle from the straight traveling direction when the vehicle enters the intersection, and a branch other than the recommended route and the approach road within the predetermined angle An exit road detecting means for detecting that there is one exit road, a comparing means for comparing road attribute information of a recommended route with road attribute information of an exit road detected by the exit road detecting means, and a comparing means It is determined that the road attribute information of the recommended route and the road attribute information of the exit road detected by the exit road detection unit are the same, and the recommended route and the exit road detected by the exit road detection unit are If the recommended route and the exit route detected by the exit route detection means are not in a symmetric orientation with respect to the straight traveling direction as viewed from the front, the recommended route and the exit route are set so that the recommended route and the exit route are symmetrically oriented with respect to the straight traveling direction as viewed from the approach route. Correction display means for correcting and displaying at least one azimuth of the exit road detected by the detection means.

[0013] The route guidance apparatus according to the second aspect is the first aspect.
In addition to the configuration of the route guidance device described above, the road attribute information includes at least information on the road type, information on the width of the road, and information on traffic regulation of the road, and the comparing unit includes information on the road type and information on the width of the road. Compare information and information on road traffic restrictions.

According to a third aspect of the present invention, there is provided a route guidance apparatus.
Or, in addition to the configuration of the route guidance device described in 2, when the azimuth is corrected by the correction display means, the apparatus further includes a voice guidance means for guiding the recommended route by voice based on the corrected azimuth.

[0015]

According to the route guidance apparatus of the first aspect, the road attribute information of the recommended route and one or more information other than the recommended route and the approach route are included.
If it is determined that the road attribute information of the exit road, which is one of the two forks, is the same, and the recommended route and the exit road are not symmetrically oriented with respect to the straight ahead direction as viewed from the approach road, At least one of the recommended route and the exit route is corrected and displayed so that the exit route has a symmetric orientation with respect to the straight traveling direction as viewed from the approach road, so that the road branches in two directions and Even if the road is not in a symmetric orientation,
Since the two branch roads can be displayed so as to have a symmetrical azimuth, it is possible to always display the intersection in a shape suitable for the driver's feeling when traveling.

[0016] In the route guidance apparatus according to the second aspect,
Using the information on the road type, the information on the width of the road, and the information on the traffic restriction of the road as the road attribute information, the recommended route and the exit route can be compared, so the comparison process is performed with a small amount of information. It is possible,
The comparison processing can be speeded up and simplified.

In the route guidance device according to the third aspect,
In addition to the operation of the route guidance device according to claim 1, when the directions of the recommended route and the exit route are corrected, the guidance of the recommended route is performed by voice based on the corrected direction. Necessary guidance is performed even when guidance on the recommended route is not performed. Therefore, guidance on the recommended route that is always suited to the driver's feeling when traveling is performed by voice.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a navigation device which is a route guidance device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a navigation device according to one embodiment of the present invention.

Referring to FIG. 1, the navigation device comprises:
Distance sensor 1, direction sensor 2, geomagnetic sensor 3, position detection device 4, display device 5, controller 6, road map memory 7, memory drive 8, beacon receiver 9, GPS
(Global Positioning System) It includes a receiver 10, an input device 11, and an audio output device 12. The controller 6
Includes an audio data memory 13.

The navigation apparatus according to the present embodiment is used by being mounted on a vehicle, and includes a distance sensor 1 for detecting a traveling distance of the vehicle, an azimuth sensor 2 for detecting a traveling direction of the vehicle, and a geomagnetism for detecting an earth magnetic field. The current position of the vehicle is detected by the position detecting device 4 based on each output of the sensor 3. The detected current position is displayed on a display device 5 including a CRT, a liquid crystal display element, and the like, together with a road map around the display device. That is, when the current position of the vehicle detected by the position detection device 4 is given to the controller 6, the controller 6 outputs a predetermined value near the current position from the road map memory 7 constituted by a CD-ROM via the memory drive 8. The road map data of the range is read, and the current position is superimposed on the read road map and displayed on the display device 5.

The detection of the current position in the position detecting device 4 is basically performed by the so-called self-contained navigation based on the outputs of the distance sensor 1 and the direction sensor 2. That is, the position detection device 4 integrates the output of the distance sensor 1 over a predetermined time, and also integrates the output of the direction sensor 2 during the predetermined time. As a result, the distance sensor 1
The travel distance of the vehicle in a predetermined time is obtained from the integrated value of the above, and the traveling direction is obtained from the integrated value of the direction sensor 2. Therefore, for example, by inputting the exact position of the vehicle before starting the vehicle, it is possible to detect a subsequent transition in the position of the vehicle.

The position detecting device 4 may detect the current position by using a so-called map mapping method using position detecting road map data stored in the road map memory 7. That is, the current position is corrected to a position on the road in the vicinity of the vehicle by using the fact that the position of the vehicle is restricted on the road in principle. As a result, accumulation of errors in the current position detected based on the outputs of the distance sensor 1, the direction sensor 2, and the like is prevented, and the accuracy of position detection is improved.

Further, a beacon receiver 9 is connected to the position detecting device 4. The beacon receiver 9 is provided with position information and road information (intersection name, destination guidance, traffic congestion information, etc.) radiated from a beacon antenna installed on the road side of a road or the like.
This is for receiving data such as accident information). The road information received by the beacon receiver 9 is provided to the controller 6 and is finally displayed on the display device 5.

A GPS receiver 10 is connected to the position detecting device 4. The GPS receiver 10 receives radio waves transmitted from GPS satellites traveling in orbit around the earth. The position detection device 4 directly detects the current position of the vehicle based on the transmission delay time of the received radio wave. As described above, in the position detection device 4, the current position obtained by the self-contained navigation, the current position obtained based on the position information received by the beacon receiver, or the GPS receiver 10
Any one of the current positions obtained based on the radio waves received in step (1) is selectively adopted according to a predetermined standard.

The road map memory 7 stores display road map data, position detection road map data, and route calculation road map data. As the above data,
For example, intersection detection code, manager code, road type code, main / slave road division code, administrative division code, link type code, link passable / no car code, abnormal weather traffic restricted section type code, road width classification code ,
Road attribute information such as a lane number code and a traffic regulation type code is stored.

The road type code, which is information relating to the road type, includes a national expressway, an urban expressway (including a designated urban expressway), a general national road, a major local road (prefectural road), and a major local road (predetermined city road). ), General prefectural roads, general city roads of designated cities, other roads, uninvestigated, etc., and codes 1 to 9, 0 are assigned to each type. The road width classification code, which is information on the width of the road, is 13.0 m or more in width and 5.5 in width.
m to less than 13.0 m, width 3.0 m or more to 5.5 m
, Less than 3.0 m, unexamined, etc., and codes of 1 to 4, 0 are assigned to each type. The traffic regulation type codes are as follows: no regulation, no traffic (no conditions, here, conditions include vehicle type, time, day of the week, etc.), no traffic (conditions), one way (forward direction, no conditions) , One-way (reverse direction, no condition), one-way (forward direction, conditional), one-way (reverse direction, conditional), one-way (forward / reverse switching), unexamined, etc. Codes 1 to 8,0 are assigned to each type.

The controller 6 is connected to an input device 11 for selecting various functions and an audio output device 12 for outputting audio during route guidance, which will be described later. Further, the controller 6 is provided with an audio data memory 13 composed of a ROM (Read Only Memory) in which audio data to be output when guiding the recommended route is stored as an audio data table.

Further, the controller 6 is provided with a route guidance processing section which functions as a center of the operation of the controller 6. The route guidance processing unit is provided with the current position data of the vehicle from the position detection device 4.
The display road map data around the current position given to the internal road map memory control unit is read from the road map memory 7 via the memory drive 8. The read display road map data and the current position data that have been read are provided to the display control unit in the controller 6, processed into display data, and then provided to the display device 5. As a result, the display device 5 displays the current position of the vehicle on the road map in a superimposed manner.

An input device 11 is connected to the route guidance processing section via an input control section inside the controller 6.
When the route calculation request signal and the destination data are given from the input device 11 via the input control unit, the route guidance processing unit causes the road map memory control unit to read the route calculation road map data from the road map memory 7, The read route calculation road map data, destination data, and current position data are provided to a route calculation processing unit in the controller 6.

The route calculation processing unit calculates an optimal recommended route to the destination based on the given route calculation road map data, destination data and current position data, for example, by the Dijkstra method. Here, Dijkstra's algorithm refers to a node or link closest to a destination (or a current position) as a start point, a node or link closest to a current position (or a destination) as an end point, and a link from a start point to an end point. In this method, all the link costs (the running time and the running distance of the links) constituting the tree are sequentially added, and only the route having the lowest link cost to reach the end point is selected.

When the recommended route is calculated, the route guidance processing unit gives the calculated recommended route to the display control unit and creates a guidance table indicating the calculated recommended route. The guidance table is stored in the RAM inside the controller 6. In the display control unit, the given optimum route is processed into display data, and the processed display data is provided to the display device 5. As a result, the recommended route is displayed on the display device 5 by, for example, a dotted line. In addition, a voice control unit in the controller 6 reads out voice content to be output at the time of a route guidance process to be described later from the voice data memory 13, and supplies the read voice content to the voice output device 12.

Also, in the navigation device of the present embodiment, similarly to the conventional navigation device, a schematic diagram of the intersection is displayed in a window, for example, in eight directions, and the recommended route at the intersection is displayed more easily.

Next, the route guidance processing of the navigation device configured as described above will be described. FIG. 2 is a flowchart for explaining the route guidance processing of the navigation device shown in FIG.

First, in step S1, it is detected whether or not the recommended route obtained by the above processing is within a certain angle in the straight traveling direction when viewed from the approach road. If the angle is not within the predetermined angle, it is determined that the recommended route and the approach road are not roads along a road, and the process proceeds to step S7 to perform a normal route guidance process. On the other hand, if it is within the predetermined angle,
Move to step S2.

Next, in step S2, it is determined whether or not there is a branch other than the recommended route within the predetermined angle. If there is no other branch road, the process is terminated because there is no need to provide route guidance. On the other hand, if another branch road exists, the process proceeds to step S3.

Next, in step S3, it is determined whether or not only one branch road exists within the predetermined angle. 1 or more branch roads, ie 3 including recommended routes
If there are more than two branch roads, the process moves to step S7 to perform normal route guidance processing. On the other hand, if there is only one branch road, the process proceeds to step S4.

Next, at step S4, it is determined whether or not the road attribute information of the recommended route and the road attribute information of the branch road match, and whether or not the recommended route and the branch road are the same grade road is determined. judge. As the road attribute information, at least the above-described road type code, road width classification code, and traffic regulation type code are compared, and it is determined whether or not the recommended route and the branch road match. Alternatively, a comparison may be made along with a line number as the road attribute information to determine whether the recommended route and the branch road are the same grade road. If it is determined that the recommended route and the branch road are not the same level road, the process proceeds to step S7 to perform the normal route guidance process. On the other hand, when it is determined that the recommended route and the branch road are the same grade road, the process proceeds to step S5.

Next, in step S5, it is determined whether or not the recommended route and the branch road are located in symmetric directions with respect to the straight traveling direction as viewed from the approach road. If the vehicle is located in a symmetric azimuth, the process proceeds to step S7 to perform a normal route guidance process. On the other hand, when it is not located in the symmetric azimuth, the process proceeds to step S6. Here, the case where the recommended route and the branch road are not located in the symmetric azimuth means that the recommended route and the branch road are on the same side with respect to the straight traveling direction viewed from the approach road,
This includes the case where there is a straight traveling direction as viewed from the approach road between the recommended route and the branch road.

Next, in step S6, the azimuth is set so that the recommended route and the branch road have a symmetrical azimuth by extending at least one of the azimuths of the recommended route and the branch road outward with respect to the straight traveling direction viewed from the approach road. Is corrected.

Next, in step S7, guidance of a recommended route is performed based on the corrected direction. If the azimuth is not corrected, the route guidance processing is performed as usual using the uncorrected azimuth.

According to the above-described processing, even when the two branches are not the symmetric directions, if the two branches are roads of the same grade within a predetermined angle, the direction of the branch is corrected, and based on the corrected direction. Since the guidance of the recommended route is performed, it is possible to perform the guidance of the recommended route suitable for the driver's feeling at the time of traveling.

Next, the above route guidance processing will be described more specifically. FIG. 3 is a diagram for specifically explaining the route guidance processing shown in FIG.

Referring to FIG. 3, a case where the vehicle travels on approach road I1 and approaches an intersection having two branch roads O1 and O2 will be described. First, when the branch route O1 is selected as the recommended route, the predetermined angle α (for example, 60
°), the recommended route O1 exists (β <α / 2),
It is determined whether there is another branch road. In this case, since one branch path O2 exists within the predetermined angle α, (γ <α
/ 2), it is determined whether or not the recommended route and the branch road are the same grade road. In this case, since the forked road O1 and the forked road O2 are roads of equal width and the like, it is next determined whether or not the recommended route O1 and the forked road O2 are symmetrically oriented. In this case, since β ≠ γ, the recommended route O1
And the branch road O2 are not in a symmetric azimuth, so that the azimuth is corrected. Specifically, the azimuth of the recommended route O1 is corrected in such a manner that the azimuth of the recommended route O1 extends outward, that is, in the counterclockwise direction with respect to the straight traveling direction as viewed from the approach road.

Therefore, when a schematic diagram of an intersection is displayed in eight directions as shown in FIG. 5, the intersection shown in FIG. 3 is displayed on the display device 5 as the intersection shown in FIG. That is, the branch road display unit D1 is selected as the approach route, the branch road display unit D4 is selected as the recommended route O1, and the branch road O2 is selected.
Is selected as the branch road display section D6. Therefore, even when the recommended route O1 is close to the straight traveling direction of the approach route I1,
The branch road display section D5 in the straight traveling direction of the branch road display section D1 is not selected, and the schematic diagram of the intersection can be displayed in a state suitable for the driver's feeling at the time of traveling.
Therefore, as shown in FIG. 4, by displaying an arrow from the branch road display unit D1 to the branch road display unit D4,
It is possible to notify the driver that the right branch of the two branches O1 and O2 is the recommended route.

In addition to the guidance of the recommended route by the above display, when the guidance of the recommended route is provided by voice, for example, a message such as “Next branch is to the right” is output from the voice output device 12. May be notified to the driver. In this case, the driver does not need to visually recognize the display device 5 and can concentrate on driving the vehicle, so that it is possible to further enhance safety during traveling.

In the above embodiment, the description has been made with reference to a schematic diagram branched into eight directions as a schematic diagram of the intersection.
The present invention can be similarly applied to other schematic diagrams such as six directions, and similar effects can be obtained.

[0047]

According to the route guidance apparatus of the first aspect, when the recommended route and the exit route are within a predetermined angle range from the straight traveling direction as viewed from the approaching road and the roads are of the same grade, the recommended route and the exit route are determined. Even when the exit road is not in a symmetric azimuth centered on the straight ahead direction as seen from the approach road, the azimuth is corrected so that it is displayed in a symmetric azimuth, so the intersection is shaped according to the driver's feeling when traveling Can be displayed.

In the route guidance apparatus according to the second aspect,
In addition to the effects of the route guidance device according to the first aspect, since the recommended route and the branch route can be compared using a small amount of road attribute information, the comparison process can be performed at high speed and simplified, and should be stored. It is possible to reduce the information amount of the road attribute information.

In the route guidance apparatus according to the third aspect,
In addition to the effect of the route guidance device according to claim 1 or 2, the guidance of the recommended route can be performed by voice based on the corrected direction, so that necessary guidance at an intersection is prevented from being performed. As a result, the driver can concentrate on driving the vehicle, and the driving safety can be further improved.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a navigation device according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating a route guidance process of the navigation device shown in FIG. 1;

FIG. 3 is a diagram for specifically explaining a route guidance process shown in FIG. 2;

FIG. 4 is a diagram showing a display example of an intersection by the route guidance processing shown in FIG. 2;

FIG. 5 is a diagram showing a schematic diagram of an intersection used in a conventional navigation device.

FIG. 6 is a diagram for explaining a problem of a conventional navigation device.

FIG. 7 is a diagram showing a display example of an intersection in a conventional navigation.

[Explanation of symbols]

 Reference Signs List 1 distance sensor 2 direction sensor 3 geomagnetic sensor 4 position detecting device 5 display device 6 controller 7 road map memory 8 memory drive 9 beacon receiver 10 GPS receiver 11 input device 12 audio output device 13 audio data memory

Claims (3)

(57) [Claims] 1. A route guidance apparatus for displaying and guiding a recommended route that a vehicle should travel from among a plurality of branch roads at an intersection having a plurality of branch roads, wherein the recommended route is such that the vehicle There is an angle detecting means for detecting that the vehicle is within a predetermined angle from the straight traveling direction as viewed from the approach road that has entered the intersection, and there is one exit road that is a branch road other than the recommended route and the approach road within the predetermined angle. Exit road detecting means for detecting that the road attribute information of the recommended route and the road attribute information of the exit road detected by the exit road detecting means, the road of the recommended route by the comparing means It is determined that the attribute information and the road attribute information of the exit road detected by the exit road detection unit are the same, and the recommended route and the exit road detected by the exit road detection unit are In the case where the recommended route and the exit path detected by the exit path detection unit are not in a symmetric orientation about the straight traveling direction as viewed from the approach path, the recommended path and the exit path detected in the exit path have a symmetric orientation about the straight traveling direction as seen from the approach path. And a correction display unit for correcting and displaying at least one of the recommended route and the exit road detected by the exit road detection unit. 2. The road attribute information includes at least information on a road type, information on a road width, and information on a road traffic regulation, and the comparing means includes information on the road type, information on a road width, The route guidance device according to claim 1, wherein the route guidance device compares information on road traffic restrictions. 3. The route guidance apparatus according to claim 1, further comprising: voice guidance means for guiding the recommended route by voice based on the corrected direction when the direction is corrected by the correction display means. .