JP2746604B2 - Navigation device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device for reliably guiding and guiding a vehicle to a destination, and more particularly to a navigation device having a feature in setting a guidance course.

[Conventional technology]

A vehicle navigation device that outputs guidance information for going to a destination displays various kinds of guidance information for going to the destination on a display, and provides a course guide to a driver who is unfamiliar with geography to the destination. In recent years, this navigation device has been actively developed.

Conventional navigation methods are roughly classified into a location method and a route fixing method.

The location method reads a map stored in an external memory using an arithmetic unit constituted by a microcomputer, as seen in, for example, Japanese Patent Application Laid-Open No. 58-115600,
This is a method in which a running locus of a vehicle is calculated from an azimuth and a distance sensor, and a map and a running locus are displayed on a display while being written into an image memory. In this method, a route is set by moving a light pen along a road to be traveled on a map displayed on a display as proposed in, for example, Japanese Patent Application Laid-Open No. 57-152100. Is going. FIG. 111 shows a control flow.

In the fixed route method, as shown in FIG. 112, when a destination and a current position are input, a route search is performed (step
801 to 803), fix the route and display the current position and the route (steps 804 and 805), and then input a sensor signal for detecting the position of the vehicle to calculate the current position (step 80).
6, 807), and the navigation is performed by repeating the above processing until reaching the destination in step 808.

The setting of the route in this method is described in, for example,
In Japanese Patent Publication No. 900, when passing intersections are sequentially designated by touch selection on a screen, a course is set by route data (distance, direction, etc.) between the intersections. Also, in Japanese Patent Application Laid-Open No. 61-198016, when an intersection or a main target along a desired route is sequentially designated and input with a light pen from a map displayed on a display, a course is determined according to a distance and an angle between the intersections. It is set to be set.

[Problems to be solved by the invention]

A drawback common to the above-mentioned conventional location method or fixed route method is that it is necessary to sequentially input intersections or courses existing on the route to the destination. Is that you need to be familiar with it. In addition, the farther the distance to the destination, the greater the number of data to be input, which makes the course setting work inefficient and cumbersome. Further, if the course setting operation is simplified, input of intersections and courses which should be input is neglected, and it becomes difficult to set an appropriate course. In addition, when changing the setting course due to input mistakes or plan changes, or when resetting the course if you get lost while driving,
In some cases, the input operation was restarted from the beginning, and the operation was troublesome.

More specifically, in the location method, the measurement errors of the mileage and the direction are accumulated, so when it is necessary to turn at the intersection on the map shown on the display means, the approaching intersection is displayed on the map. It may not be possible to judge whether or not it is the same as the intersection. Therefore, there is a risk that the vehicle will pass an intersection to be turned or that its position on the map will protrude from a road on the map. That is, in Japanese Patent Application Laid-Open No. 61-198016, since the distance and direction information of the set course is important, it is necessary to faithfully trace the road on the displayed map. It has the disadvantage of requiring skill and time.

Further, in the fixed route method, a course from a departure point to a destination is set in advance before traveling, and course guidance is performed according to the set course, so that it is difficult to change the destination. There is a drawback that if the vehicle accidentally deviates from the course, such as at an intersection, the vehicle cannot continue running.In addition, whether or not the vehicle has passed the predetermined intersection as indicated by the course is determined by the distance sensor or steering angle sensor. It is premised that detection of a right turn, a left turn, and the like is performed. However, in reality, there is a disadvantage that these detection errors are large and a judgment error is easily caused. For example, in Japanese Patent Application Laid-Open No. 60-209900, there is a drawback that a course cannot be set without knowing the name of an intersection to pass through, and in Japanese Patent Application Laid-Open No. 61-198016, If the course is specified without knowing the circumstances, the guide will follow the wrong course.

On the other hand, the present applicant sets the coordinates of a plurality of points, and provides guidance information for going to the destination for each point, so that when one departure point and a destination are input, an optimal course is set between these two points. (Japanese Patent Application No. 62-307805). In this method (hereinafter referred to as a coordinate origin method), the destination can be changed, and a route search from any point to the destination is possible. However, in this method, although the course setting is simple and efficient, it is difficult to set a course as desired because the course is uniquely determined and a detour, a detour, or a passing course cannot be designated on the way. have.

The present invention, in order to solve the above problems and problems,
When setting a course, it is possible to easily input the desired passage location of the user, and it is possible to easily set the course only with the vague information of the outline without knowing or planning the specific course route It is an object of the present invention to provide an ideal navigation device that can automatically set a course that matches the needs of the user.

[Means for Solving the Problems] For this purpose, a navigation device according to claim 1 of the present invention comprises a storage device for storing information related to a map, and a departure point, a destination, and one pass as an arbitrary point on the map. An input device for inputting a desired place, a display device for displaying guidance information based on the information on the map stored in the storage device, and a departure place to a destination based on the information on the map and the inputted points. An arithmetic processing unit for searching for an optimum route to reach and outputting the route to the display device to perform route guidance, the arithmetic processing device comprising: a unit for setting a point on a road with respect to an input desired pass-through location; And means for searching for a point on the road from the departure point to the set desired place to pass, and an optimum route from the point on the road to the destination.

A navigation device according to a second aspect of the present invention includes a storage device that stores information about a map,
A destination, an input device for inputting at least two desired places and an order of passage as arbitrary points on the map, a display device for displaying guidance information based on information on the map stored in the storage device, and the map And an arithmetic processing unit for searching for an optimal route from the departure point to the destination based on the information on the input and each of the input points, and outputting the route to the display device for route guidance. Means for setting a point on the road for each of the desired places to pass, and optimally setting the passing order of the desired places for passing and passing from the departure point to the point on the road for each of the set desired places for passing. Means for searching for an optimal route to the destination in the order of passage through the desired place.

In addition, a navigation device according to a third aspect of the present invention includes a storage device that stores information related to a map,
An input device for inputting at least two desired destinations as destinations and arbitrary points on the map, a display device for displaying guidance information based on the information on the map stored in the storage device, and information on the map. An arithmetic processing unit that searches for an optimal route from the departure place to the destination based on the input points and outputs the route to the display device to perform route guidance, and the arithmetic processing device Means for setting a point on the road with respect to the desired place to pass, and optimally setting the order of passage of the desired place to pass, and passing the desired point from the departure point to the point on the road for each set desired place to pass. Means for searching for an optimum route to a destination in order.

Further, a navigation device according to claim 8 of the present invention includes a storage device for storing information related to a map,
An input device for inputting a destination and a desired place to pass as a pass line on the map, a display device for displaying guidance information based on information on the map stored in the storage device, and information about the map and the input An arithmetic processing unit that searches for an optimal route from the departure place to the destination based on each point and the passing line, and outputs the route to the display device to provide route guidance; Means for setting a point to be passed on the road corresponding to the passing line, and means for searching for an optimum route from the departure point to the destination through the set point to be passed on the road. It is characterized by.

Further, the navigation device according to claim 13 of the present invention, a storage device that stores information about the map,
An input device for inputting a destination and a desired place to pass as a route search area on a map, a display device for displaying guidance information based on information on the map stored in the storage device,
An arithmetic processing unit that searches for an optimal route from the departure point to the destination based on the information on the map and the input points and the route search area, and outputs the route to the display device for route guidance; The arithmetic processing device comprises: means for setting a point to pass on a road existing in the input route search area; and a destination from a departure point to a destination through the set point to pass on the road. Means for searching for a route to be reached.

Further, the navigation device according to claim 15 of the present invention is a storage device that stores information about a map,
An input device for inputting at least two destinations as arbitrary points on the map and a guidance order of the destinations; a display device for displaying guidance information based on the information on the map stored in the storage device; An arithmetic processing unit that searches for an optimal route from the departure point to the destination based on the information and the input points, and outputs the route to the display device to perform route guidance, and the arithmetic processing device includes: Means for setting a point on the road for each input destination, and setting the guidance order of the destination optimally, and setting the points on the road for each of the set destinations from the departure point in the guidance order of the destination. Means for searching for an optimal route to pass through.

[Operation and Effect of the Invention] The user drives the vehicle on the road by using the navigation device to be guided by the route from the departure place to the destination. Need to be along the road. However, depending on the state of the input of the desired place to pass by the user, the desired place to pass is not always on the road. For example, when inputting the desired place to pass, the user selects an arbitrary position on the map. However, if the input position is about this place or information containing ambiguity that you want to pass around this place, you will often enter a point that is not on the road, In addition, when entering a park or a large facility as a desired place to pass, the coordinates of the representative position of the park or facility are stored in the storage device in advance as a registration point, and the user selects and inputs the name of the park or facility. Will be selected as a desired location,
In some cases, the coordinates of the representative position of the park or facility stored in the storage device are not on the road.

According to the first, fourth, fifth, and sixth aspects of the present invention, the information of the desired place to be inputted may be around this,
Even when an input including an ambiguity that the user wants to pass around is performed, the point at which the vehicle can travel and the route can be routed can be automatically set. The user can easily enter the desired place to pass, search the route based on the input information, and set the optimal route. Therefore, without knowing or planning a specific route, it is possible to use only the outline vague information Route setting can be easily performed. In other words, even if the user has only the information that he wants to pass around this area, or even if he selects a point outside the road without instructing and selecting a point on the road, he or she may choose from the place of departure. It is possible to continuously guide to a destination through a point on a road corresponding to a desired place to pass.

According to the second and fourth aspects of the present invention, in addition to the effects of the first aspect of the present invention, an optimum route is automatically set by a simple operation in response to the need for the user to desire a passing order. be able to. According to the third, fourth and seventh aspects of the present invention, in addition to the effects of the first aspect, the present invention is optimized in response to the need for a user to travel in an optimal passing order without inputting a passing order. Route can be automatically set by simple operation. According to the inventions of claims 8 to 12, in addition to the effect of the invention of claim 1, the optimum route is automatically and simply operated in response to the user's need to input on a passing line on the map. Can be set with. Further, according to the inventions set forth in claims 13 and 14, in addition to the same effects as those of the first aspect, it is possible to easily set a route only with more rough and vague information. According to the invention of claims 15 to 19, in addition to the same effects as those of the invention of claim 1, an optimal route is automatically determined in response to the need for the user to desire a destination guidance order. It can be set by simple operation.

〔Example〕

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

FIG. 1 is an overall configuration diagram showing one embodiment of a navigation device of the present invention. The device comprises an input device 1, a display device 2, a storage device 3, and an arithmetic processing device 4, which are essential components of the present invention, and a current position confirmation device 5, a communication device 6, and an information center 7 as additional devices. .

 Details of each of the above devices will be described.

(Input Device 1) The touch panel 8 is like a transparent operation panel superimposed on the display device 2 as shown in FIG. 2, and is displayed on the display device 2 via the transparent operation panel. It can be input by touching a menu or an arbitrary point. For example, select “Leisure, Inn” in the diagram (a), select “Golf course” in the diagram (b),
(C) A desired target can be input, such as selecting a golf course name in the figure. In addition, instead of the touch panel 5, it is possible to input using the light pen 9, the mouse 10, the keyboard 11, and the like.

As shown in FIG. 3, the input control device 39 may display a map on the display device 2 and perform touch input. Alternatively, instead of the touch panel 5, a light pen 9 may be used.
It is also possible to specify on the map using the mouse 10 and the keyboard 11. In this case, the input control buttons 40 to 41 enable enlargement and reduction of the map.

In addition to the information displayed on the display device 2, as shown in FIG. 4 (a), a destination name or the like is hard-copied on a map, means for inputting using a guidebook 43, for example, a guidebook. The menu on 43 is indicated by a bar code, which may be read and input to the input control device 44 by the bar code reader 12 (45) as shown in FIG. Further, characters on the guidebook may be directly read and input by the character scanner 13 instead of the barcode reader.

Also, as shown in FIG. 5, the user clicks on the device on which the map and guidebook 47 are set on the digitizer 14 (49) by directly indicating (clicking) the destination or the like with the input pen 48. Input coordinate data of point coordinate data 46
May be input.

Further, in addition to the input means, another navigation device having a part or all of the functions of the navigation device is prepared, and this is connected to a television, a personal computer, or the like, and a pass designated by using any of the input devices is provided. Place and destination data on compact disk (CD) 15, floppy disk
16. The course may be designated by storing the data in the IC card 17 and reproducing the data on the navigation device. For example, as shown in FIG. 6, a course is input to the input control device 50 by setting the IC card 52 in the IC card driver 51.

(Display device 2) The display device 2 displays information necessary for setting a guidance course as information input to the input device 1. After the arithmetic processing is performed by the arithmetic processing device 4 described later, for example, a route to a destination is provided as guidance information. And a CRT 18, a liquid crystal display 19, and the like are employed.

(Storage device 3) The storage device 3 is, for example, a floppy disk, a CD-ROM,
Optical disks, magnetic tapes, IC cards, and optical cards are used.

7 to 15 show a data structure stored in the storage device 3 used in the vehicle navigation device of the present invention.

FIG. 7 shows an area name list 20, and FIG. 7 (a) shows an area name, for example, a prefecture name list, which is relatively widely compiled. For example, the prefecture number 01 is "Aichi prefecture", and kanji and hiragana are used as data. In addition, it has the name of the prefecture in Roman characters, the address of the city name list (the first address), the number of city name list data, the number of the representative intersection feature, and the like. FIG. 7 (b) shows, for example, a ward name or a city name list, which is lower-level information of a region name, and data such as kanji, hiragana, and romaji city names, a street name list storage address (top address), the number of street name list data, It has a representative intersection feature number and the like. FIG. 7 (c) shows a town name list which is further lower level information of the area name, and includes kanji, hiragana and romaji town names, an intersection list storage address (first address), an intersection list data number, and a destination list storage address. , Destination list data number, feature list storage address, feature list data number, representative intersection feature object number, and the like. By having such hierarchical structure data, input of departure place, present location or destination can be searched from prefecture name to town name, and representative intersections and features can be set by prefecture, city or town. Making it possible.

FIGS. 8 (a), (b), and (c) show an intersection list 21, a destination list 22, and a feature list 23 belonging to each town, where an intersection number, a destination number, and a feature object number are listed, respectively. I have. FIGS. 8D and 8E show files 29 and 30 for sorting Roman letters and hiragana. By arranging place names in alphabetical order or the Japanese syllabary and having data storage addresses corresponding thereto, the place names can be sorted and search time can be reduced.

FIG. 9 shows an example of number assignment for defining roads and intersections on a map. Intersection numbers are between 1 and 21 between the three towns, and road numbers are between 1 and 2 between the intersections.
Up to 46 (numbered with ○). Roads that can reciprocate on one road are each assigned a road number, and one-way traffic is assigned a single road number. Also, destination numbers 101 to 103 are assigned, and feature numbers 201 to 206 are assigned.

FIG. 10 shows an example of the intersection data 25. The intersection name corresponding to the intersection number, the coordinates (north latitude, east longitude), and the road number with the smallest number among the roads where the intersection is the start point or the end point (the ninth (See the figure), the presence / absence of a signal, and the level (importance) of an intersection are stored, and this is used to search for a route and display various types of navigation information on a display.

FIG. 11 (a) shows an example of the destination data 26. For the destination number (see FIG. 9), a destination name, coordinates, and connecting intersection numbers 1 and 2 on both sides of the destination are provided. FIG. 11 (b) shows the feature data 27. The feature number corresponds to the feature name (for example, river name, building name, bridge name, etc.).
Coordinates and contact intersection numbers on both sides of the feature are stored.

FIG. 12 shows an example of the road data 28. As shown in FIG. 9, roads are assigned road numbers. For each road number, a start point and an end point (intersection number), and among road numbers having the same start point, the next one and the same end point are assigned. Among the road numbers that have the following numbers, the thickness of the road, information on traffic prohibition (left turn, right turn prohibition), information unnecessary guidance (for example, do not give guidance information when going to Karaoke), photo number of intersection, one way Whether or not and information on the road name are stored. As shown in FIG. 13, each road number has coordinate (latitude, longitude) data.

FIG. 14 shows a map database 24, in which major maps and guide information for each region in Japan or around the world are prepared as a hierarchical structure, for example, for each CD or IC card. For example, hotels in the area,
A map and guidance information centering on a gas station, a rental car office, and the like are input.

FIG. 15 (a) shows the structure of the terrain data stored in the map database 24. The maximum and minimum latitudes and longitudes for the place names are shown in adjacent screens G1 to G8 shown in (b), (c) and (d). The relationship between the screen data shown and the color type, the wide area map number (reduced view information) including this area, and the enlarged view information included in this area are stored. The screen data a ₁₁ and a _mn are land, sea, and river. And the like in a bitmap system and provided with color data.

(Operation Processing Unit 4) When information necessary for setting a guidance course such as a destination is input and designated by the input unit 1, the information is stored in the external storage unit 3 according to the navigation program stored in the ROM 33 of the operation processing unit 4. The CPU 31 calls the map and guidance information data stored in the RAM 32 and stores them in the RAM 32.

(Current position confirmation device 5) GPS (GLOBAL POSI) that measures position using artificial satellites
A TIONING SISTEM) receiving device 34, a beacon receiving device 36 for receiving positional information of a beacon placed on the road, a geomagnetic sensor 35, a distance sensor 37, and a steering sensor 38 are used. However, GPS receiver 34 and PC control receiver 3
6, the position can be measured independently, but in other cases, the position is measured by a combination of the distance sensor 37 and the geomagnetic sensor 35 or a combination of the distance sensor 37 and the steering sensor 38.

(Communication device 6 and information center 7) Instead of the storage device 3, the data is prepared in the information center 7, the data is input via the telephone line by the communication device 6 such as a car telephone, and the data is transmitted to the CPU 31 via the modem. You may make it store in RAM32. Further, not only the data of the storage device 3 but also the course setting information of the input device 1 and the information of the current position confirmation device 5 may be transmitted. In this case, as the information center 7, a hotel, a gas station, a rental car office, or the like in the area is suitable, and it is also conceivable to provide a unified service in the center of the area or the metropolitan area.

Next, control processing of the navigation device of the present invention will be described.

First, an embodiment in which the present invention is applied to the coordinate origin method described above will be described.

In FIG. 16, first, in step 53-1, when the driver sets a guidance course, step 53-2
When a guide course such as a destination is set and a course data stored in an IC card or the like is used, the process proceeds to a set course load (53-3). In step 53-2, when a destination or the like is input by the driver, the mode is set to the route search mode, information for going to the destination is set for all points other than the destination, and the traveling direction at that point is set. Output (Step 5
Four).

Then, when the start is inputted, the next intersection information is outputted (step 56), and in the next step 57, when the intersection confirmation trigger is inputted automatically or by the driver, the flow returns to step 56 and the purpose at the next intersection is obtained. The information for going to the ground is output, and when restarting, the process returns to step 53-2 to execute the above routine. In other words, in this system, if you are driving according to the guidance, a trigger is input every time you check the intersection, but if you notice that you have gone off the course to be guided and traveled to another intersection Executes the guidance course setting routine.

FIG. 17 shows the processing of the guide course setting routine. First, when a destination, a departure place, and a passing point on the way are input, a route search is performed in step 61. The departure point is the current position of the vehicle or a desired place. Next, in steps 62 to 67, the course setting mode is selected.
That is, a mode 65 for setting the optimum course in the order of inputting the passing points, a mode 66 for setting the optimum course by optimizing the order of the passing points, and a specified order of the passing points (the order of the passing points when the The mode 67 for setting the optimal course is selected in the (rearrange)). Then, the set course is displayed in step 68, and the course change processing can be performed as desired in steps 69 to 73. When the course setting is completed, the set course is stored in an IC card or the like (step 7).
Four).

The destination input process in step 58 will be described with reference to FIGS.

FIG. 18 shows an example of an input screen, in which a driver operates an enlargement / reduction button to display a desired screen, and when a destination is touch-input on the touch panel, the destination is displayed on the screen. . At this time, the destination point may be displayed blinking.

The process will be described with reference to FIGS. 19 and 20, first,
After obtaining the coordinate data PO of the input point in step 75,
In step 76, as shown in FIG. 20, the destination data described in FIG. 11 is searched for within the verification distance r ₀ (m) from PO, and in step 77, it is determined whether or not there is a destination. If there is no destination, return to step 75 and repeat the input. If there is a destination, select and display the destination closest to the PO (steps 78 to 80), search for one destination, and search for the destination. A connecting intersection (for example, 103 in FIG. 20) is set as a destination point (step 82).

FIGS. 21 to 23 show the departure place input processing in step 59 in FIG. 17, except that the intersection closest to the input point is selected. Description is omitted because it is similar.

Next, the process of inputting a passing point in step 60 of FIG. 17 will be described with reference to FIGS. 24 to 32.

FIG. 24 shows an example of an input screen. After pressing a selection input button such as near a destination, near a feature, an area, an intersection, a road, etc., a touch input near a passing point is made on the touch panel.

FIG. 25 shows a flow for setting a passing point by selecting and inputting the vicinity of the destination, the vicinity of the feature, the area, the intersection, the road, and the like.

26 and 27 show the pass point setting process near the destination in step 97 in FIG. Also, the 28th
The figure shows the pass point setting process near the feature in step 98 in FIG. In each case, the contents are the same as the processing in FIG.

FIG. 29 shows the process of setting a passing point in the designated area in step 99 in FIG. First, after obtaining coordinate data P of an input point in step 120, _a representative intersection is searched for in an area within the verification distance ra (m) from the point P in step 121, and there is one representative intersection in steps 122 and 123. Is determined. If not, return to step 120 and repeat the input. If there is one representative intersection,
Check after displaying the region name (step 123 to 125), a pass point P _i the representative intersection (step 126).

FIGS. 30 and 31 (a) show the process of setting the designated intersection at step 100 in FIG. 25 as a passing point. First, after obtaining the coordinate data P of the input point in step 127, test distance r _p from the point P in Step 128
(M) Search for an intersection in the area within
Judgment of the intersection level (intelligibility) at,
Select a high level intersection, the closest intersection confirmed after displaying the point P in step 132-134, the pass point P _i a corresponding intersection (step 136).

FIG. 31 (b) shows an example of the intersection level. In this case, if there is a signal at the intersection and there is a name, it will be Level 2 and
If there is any of them, the level is set to 1; otherwise, the level is set to 0.

FIG. 32 shows the process of setting a pass point on the designated road in step 101 in FIG.

First, in step 137, the coordinate data P of the input point
Is obtained, the verification distance r from the point P is obtained in step 138.
_Find the closest road within _d (m), then
In step 139, it is determined whether or not the vehicle is one-way. If YES, this is displayed, and the process returns to step 137. If NO, the corresponding road is displayed and confirmed (steps 141, 142). _i , the end point intersection is set to the passing point P _{i + 1,} and the thickness data of the road is set to 2 (steps 143 to 143).
45). The reason why the thickness data is set to 2 is to use this data in a route search described later. Then, start point P
The _{i + 1} end point 2 the thickness data of the road to detect the road to P _i (step 146-147). And step 148
The above process is repeated.

Also, as shown in FIG. 68 steps 342 to 344 described below,
It is also possible to set a temporary intersection on the road.

In the above-described search at the destination, the departure point, and the passing point, a corresponding point within the verification distance from the input coordinates is detected. It is also possible to detect a block in which coordinates exist and set a passing point for a destination, an intersection, a road, and the like included therein. However, in this case, it is necessary to add destination data and road data to the block data.

If the target is selected by menu input as shown in FIGS. 2 and 4, it is possible to obtain the coordinates or intersection of the target as an input point from the data structure shown in FIG. It is possible to set the above-mentioned passing point based on the obtained point or to use the obtained intersection itself as the passing point.

Next, the processing of the route search A in step 61 in FIG. 17 will be described with reference to FIGS. 33 to 39.

FIG. 33 (a) shows the overall flow. First, the process of route search area setting A is performed, and then the process of route search data setting A is performed. In the processing of the route search area setting A, as shown in FIGS. 33 (b) and 34, a point PF farthest from the starting point is obtained from the destination point and the passing point (step 15).
1) Then, a straight line distance L between the departure point and the point PF is obtained, and a circle having a radius k × L (k is a coefficient of 1 or more) centered on the departure point is stored as the route search area SAA (step 152, Fifteen
3).

FIG. 35 shows the processing of the route search data setting A in FIG. In step 154, all the intersection data in the route search area SAA are detected, and in step 156
In 160, it creates a route search data by searching directions for reaching the pass point P _i at each intersection of the route search region SAA each passing point P _i as a path end point (detailed in FIG. 37), In steps 161 to 163, route search data from the last pass point to the destination is created.

FIG. 36 is an example in which the route search data when the destination is the route end point is illustrated.

FIG. 37 shows the process of creating route search data in step 157 of FIG.

First, in step 164, the distance L (c) from the departure point is set to FF for all intersections, and the search flag F
(C) is set to 0 (unsearched) (initial setting). Step 16
In 5, enter the intersection numbers on both sides of the departure place and the distance from the departure place, and add the search flag 1 to the intersection numbers on both sides of the departure place.
(Searching). Further, the user inputs the road number that has passed from the departure place. In step 166, find the intersection number C ₀ the search flag is 2 instead of (search end) and the distance L (c) is minimized. In steps 167 and 168, the surrounding road (see FIG. 9) is searched, and if there is a surrounding road, an optimum route condition setting subroutine is executed (step 16).
9) In step 170, the intersection number of the end point of the road
C ₁ , the length of this road is L. Next, at step 171, the distance L (c ₀ ) distance L from the departure point is added, and step 17 is performed.
If the distance P is equal to or greater than the distance L (c ₁ ) from the departure point in step 2, the distance is set as the distance from the departure point, the search flag is set to 1 (searching), and the road number is input (step 173).
The processes in steps 167 to 173 are executed. If it is determined in step 168 that there is no surrounding road, the search flag is set to 2, and the end condition confirmation subroutine is executed and the process ends (steps 174 to 176). In this way, the shortest route from the departure point to the destination is set.

FIG. 38 shows the processing of the surrounding road search subroutine of step 168 in FIG. First, step 177
It is determined whether or not the search for surrounding roads is the first time. If it is the first time, in step 178, the road number starting from the current intersection is extracted from the intersection data and stored. Next, in step 179, a prohibited road corresponding to the road coming to this intersection is extracted from the road data,
In step 180, it is determined whether the road taken out this time is the prohibited road described in FIG. 12, and if YES, the process proceeds to step 182. If NO, the road taken out this time is stored as the surrounding road. If the search for the surrounding roads is not the first time in step 177 and if the answer is YES in step 180, in step 182 the same road as the previously searched road has the same starting point and the next road number is extracted. It is determined whether or not the searched road and the road taken out this time match. If they do not match, the process proceeds to step 179, and if they match, there is no surrounding road in step 184.

FIG. 39 shows the processing of the optimum route condition setting subroutine in step 169 in FIG. First, the thickness and length of the surrounding road are read from the road data, and it is determined whether the thickness is, for example, 1 m or less (steps 185 and 18).
6). If the thickness exceeds 1 m, proceed directly to step 188,
If the thickness is 1 m or less, the length of the road is doubled, for example, and guidance unnecessary data of the road that has come to the intersection currently being searched is read from the road data (steps 187 and 188). Next, in step 189, it is determined whether or not the guidance unnecessary data is on the surrounding road. If there is, the process proceeds to step 191.
At 191, by adding to the virtual distance P ′ of the intersection currently being searched from the departure point, the virtual distance P of the intersection ahead of the surrounding road is obtained.

Next, the optimum course setting processing 65, 66, and 67 in FIG. 17 will be described with reference to FIGS. 40 to 45.

FIGS. 40 to 42 show a process 65 for setting the optimum course in the order in which the passing points have been input. After setting the departure point as the first route start point in step 192, step 19
At 4, an optimal course setting process up to the first pass point is performed [FIG. 42 (a) (a)], and thereafter, an optimal course up to the second pass point is set with the first pass point as a route starting point. (Steps 195 to 197) [FIG. 42 (b) (b)].
Repeat this step until there are no more passing points.
At step 8, an optimal course to the destination is set with the last passing point as the route starting point [FIG. 42 (b) (c)], and step 199 is executed.
In step (b), all the optimum courses are combined in the order of creation to set the optimum course from the departure point to the destination.
(D)].

FIG. 41 shows the processing of the optimum cause setting A in FIG. 40. First, in step 200, the route search data RS
(J) After loading (see FIG. 35), set the route start point in the work area, set the optimal course along the traveling direction at each intersection from the route start point to the route end point, and
The set course data is stored as K (j). As shown in FIGS. 42 (a) and (b), (a), (b), (c)
The course set in the above is synthesized, and the optimum course (d) is set.

FIG. 43 shows a process 66 for setting the optimum course by optimizing the passing point rank in FIG. Step 204
, The pass point rankings are permutated and stored as permutation combinations, and in steps 205 to 216, processing for setting an optimum course is performed for all the combinations (steps 209 and 214). One is selected and output as the optimal course. FIG. 44 (a),
(B) is an optimal course synthesized and set in the order of passing through the departure point, the passing point (2), the passing point (1), and the destination, and the travel distance is longer than that in the example of FIG. Therefore, the example shown in FIG. 42 is selected as the optimum course having the optimum order.

FIG. 45 shows a process 67 for setting the optimum course in the pass point rank designated by the user in FIG.
After storing the passing point rankings in the specified order (step 221), the fourth
The optimum course is set as in the example of FIG.

Next, another embodiment of the present invention will be described with reference to FIGS. 46 to 52. In the present embodiment, a guide course is set by inputting one departure place, a plurality of destinations, and passing points on a desired course.

FIG. 46 shows a guide course setting process, and the input of the basic destination and the passing point is the same as in the example shown in FIGS. 19 and 25.

FIG. 47 shows the processing contents of step 232 in FIG. 46, in which a plurality of destinations and passing points are sequentially inputted, and the respective destination points and passing points are stored in OP (i) and PP (i) (step). 250, 253) and the input point is P
(I).

48 and 49 correspond to step 234 in FIG.
Of the route search AA of FIG. In FIG. 48, the route search area A in step 256 has been described with reference to FIG. The process of step 257 is shown in FIG. This processing is similar to that of FIG. 35, except that in the present embodiment, the route search data is created in the input order because the destination point and the passing point are stored in the input order.

FIG. 50 shows the process of setting the optimum course based on the destination and the passing point rank designated by the user in step 240 of FIG. 46, which is the same as the process of FIG. FIG. 51 shows a process of setting the optimum course by optimizing the destination and the passing point ranking in step 239 of FIG. 51. Since there are a plurality of destinations, the starting point and one destination are the same, that is, return to the starting point. It is characterized in that it is divided into cases and cases where it is not (steps 274 to 276). FIG. 52 shows the process of setting the optimum course in the order in which the destination and the passing point are inputted in step 238 of FIG. The contents are the same as the processing in FIG.

Next, still another embodiment of the present invention will be described with reference to FIGS. 53 to 89. In this embodiment, one departure point and destination and a rough passing course (passing line) are input,
The guide course is set.

FIG. 53 shows the flow of the entire process. First, the initial setting process in step 288 is a process for obtaining the terrain coordinates from the input coordinates of the digitizer in FIG. For example, as shown in FIG. 55 (a), a bar 314 having a barcode representing data such as the name of the map, the number, the scale, the topography of the reference point, and the coordinates on the back of the map is read by a bar for reading the barcode. Digitizer 31 with code reader
5 Set on the top and read the map data (step 31
1). Next, as shown in FIG. 56, a reference point is designated and input by the input pen 318, and digitizer coordinates of the reference point are obtained (step 312). Then, the terrain coordinates and the digitizer coordinates are compared for the reference point, and a correlation coefficient between the three coordinates is calculated (step 313). Note that the initial setting in step 802 represents the above-described initial setting performed when the map is changed to a map having a different scale.

FIG. 58 shows the process of inputting all the courses in step 292 in FIG. 53. In this case, as shown in FIG. 57, the user traces along the course to be passed by the input pen 318,
You don't have to follow them. This input data is converted as shown in FIG.

In order to detect a route search area from the input data sequence shown in FIG. 59, block data AI as shown in FIG.
Use 101-AI124. That is, as shown in FIG. 61, since each block has the coordinate data and the intersection data in the block, when the input data string is detected in the corresponding block, the intersection in the corresponding block is assigned as the intersection to be searched for the route. Becomes possible. As in the guidance course setting at the time of passing point input described in FIG. 26, an intersection within a certain test distance may be searched for each input data point.

FIGS. 62 to 65 correspond to step 293 in FIG. 53.
Of the route search B of FIG.

In the route search B, as shown in FIG. 62, the process of the route search area setting B in step 327 and the process of the route search data setting B in step 328 are performed.

In the processing of the route search area setting B, as shown in FIG. 63, the input data KD (1) is loaded in step 329, all the blocks including this input data (FIG. 60) are detected, and The name is stored in the area data SAB. No. 64
The figure shows this situation.

As shown in FIG. 65, in the process of the route search data setting B, at step 332, all the intersection data of the blocks stored in the SAB are detected, and at step 333, the destination is set as the route end point. After creating the data [FIG. 67 (a)] (step 334), the data is stored as RS (1).

FIG. 66 shows the processing of the optimum course setting B in FIG. 53, in which the starting point is set as the route starting point and the optimum course as shown in FIG. 67 (b) is set.

FIG. 68 to FIG. 74 correspond to step 295 in FIG.
Shows a part of the passing course input processing. The contents are as follows: the first input point from the input data of some courses, the road coordinates are detected in the corresponding block from the last input point, the relevant coordinates are set as the temporary intersection, and the road data including the relevant coordinates is the temporary intersection. Is to be changed as follows. Further, all the blocks including the input data are detected, and if the starting point and the destination point are not included in those blocks, the corresponding area is stored as a partial search area.

FIG. 68 shows the main flow, which will be described together with FIG. 69. First, at step 339, k = 1, and at step 340, the input data shown in FIG. 69 is obtained. In step 341, the first input point P1 (k) and the last input point P2 from this input data
(K) is obtained, and the point P1 (k) is stored as the search center point P (steps 341 and 342). Next, after performing the process of detecting the road coordinate data, as shown in FIG. 69, the PD is changed to the temporary intersection PS.
(K), and store the DN as a road number DS (k) (steps 343, 344). The same processing is performed for the point P2 (k) (steps 345 to 347). Then, all the blocks including the input data are detected, and the corresponding block names are stored in the area data A (steps 348 and 349). Then, it is determined whether there is a departure place and a destination in the area A (steps 350 and 351). If there is, the procedure returns to step 340. If not, the data registration / change processing 352 is performed. Perform processing to read

FIG. 70 shows the process of detecting road coordinate data in steps 343 and 346 in FIG. The road coordinates closest to the point P within the test distance rd (m) from the point P are searched (step 354). If there are road coordinates, the coordinate data is stored as a PD and a road including the PD is detected (step 354). 355-357). Next, it is determined whether or not the vehicle is a one-way street.
It is stored as a DN (steps 358, 359). Step 35
If the answer is NO in 5, 358, the process returns to step 340 in FIG.

FIG. 71 shows the data registration / change processing in step 352 in FIG. First, the input data is stored as KD (k), the temporary intersection PS (k) in step 344 in FIG. 68 is set as the road coordinate data PD, and the road number DS (k) is set as the road number DN.
(Steps 360 and 361), and a road data change process is performed in step 362. Do the same thing with the steps in Figure 68.
The process is also performed on the temporary intersection PE (k) and the road number DE (k) in 347 (steps 363 and 364), and in step 365, the area A is stored in the partial search area SAP (k).

FIGS. 72 and 73 show the road data change processing of steps 362 and 364 in the preceding figure. First, the starting intersection of the road DN
NS, the end point intersection NE is obtained (step 366), and the data of the road DN is changed to the road DN-1 having the start point NS and the end point PD, and the road DN-2 is changed to the start point PD and the end point is NE (step 366). Steps
367). Next, a road having a start point of NE and an end point of NS is detected, and the corresponding road number is stored as CN (steps 368 and 36).
9) Road C with road CN data as NE at start point and PD at end point
Change to N-1, road CN-2 with PD as start point and NS as end point
(Step 370). FIG. 74 shows the road data before the change (A) and the road data after the change (B) for explaining the above processing. For example, when the point P1 is detected on the road with the road number 26, the road 26, the start point is 13, the end point is a road 26-1, the end point is P1, and the start point is P1, and the end point is divided into nine roads 26-2. Guide courses can be set.

FIG. 75 shows the processing of registration of a passing point in step 296 in FIG. 53. First, k is set to 1 and the temporary intersection PS
(K) is stored as the passing point P (k), and the temporary intersection PE
(K) is stored as the passing point P (k + 1), and step 37 is executed.
At 4, it is determined whether or not there is a next temporary intersection. If so, the above processing is repeated with k = k + 2, and the process is terminated if there is no temporary intersection.

FIG. 76 shows the route search C of step 297 in FIG. 53.
The process of the route search area setting C and the process of the route search data setting C are performed.

FIG. 77 and FIG. 78 show the processing of the above route search area setting C, obtaining a point PF farthest from the starting point from the destination point and the passing point, and a linear distance L (m) between the starting point and the point PE. (Steps 377 and 378). Next, all blocks included within the verification distance k × L (m) (k is a constant greater than 1) from the departure point are detected, and the corresponding block names are stored in the general search area data SAC (steps 379 and 380). .

FIG. 79 shows the processing of the route search data setting C. All intersection data in the general search area SAC is obtained, and the corresponding intersection data is stored as TKD. Next, after processing the data setting C in the partial search area (step 383),
Perform data setting C processing in the general search area (step
384).

FIG. 80 shows the processing of data setting C in the partial search area in step 383 of the preceding figure. In this processing, the passing point (2) included in the corresponding partial search area in each partial search area is used.
Location) to obtain route search data with the route end point as
First, k and i are set to 1 to obtain all intersection data in the partial search area SAP (k) (steps 385 and 386). Next, the passing point P (i) is set as the route end point, and processing for creating route search data is performed in step 388. This processing is the processing described with reference to FIGS. 37 to 39. Next, the route search data is stored as RP (i), and the passing point P (i) is deleted from the intersection data in the partial search area SAP (k) (step
389, 390). Next, if i is odd in step 391,
After adding 1 to i, the process returns to step 387. If it is an even number, the intersection data in SAP (k) is deleted from all the intersection data TKD in the general search area SAC (step 393). Next, if there is a next partial search area SAP (k) in step 394, 1 is added to k and i, and the process returns to step 386.

FIG. 81 shows the process of data setting C of the general search area in step 384 in FIG. 79. First, steps
In step 395, intersection data is obtained from all the intersection data TKD in the general search area SAC, and processing for creating route search data is performed with i as 1 and the passing point P (i) as the route end point (step 395).
~ 398). Next, the route search data is stored as RA (i). If there is a next pass point, 1 is added to i and the process returns to step 397. If there is no next pass point, the process proceeds to step 402 and the destination is set as the route end point. , I is incremented by 1, and the route search data is created, and the route search data is stored as RA (i) (steps 403 to 405).

FIG. 82 shows a process of setting an optimum course in the order in which the passing points of step 301 in FIG. 53 have been input. First, the departure point is set as the route start point, i is set to 1 and the process of setting the partial optimum course of the general area is performed, and then 1 is added to i to perform the process of setting the optimum course of the partial area. In step 411, 1 is added to i, and it is determined whether or not there is a next pass point. If there is, the process returns to step 408. If there is no pass point, the process of setting the optimal course in the general area is performed in step 413. After going, all set course data K
(I) is combined with i in order from 1 to create the optimal course data KF. In short, the route search data of the general area from the departure point to the first pass point and the route search data of the corresponding partial search area from the first pass point to the second pass point are optimal in each section. Set the course,
From the last pass point to the destination, an optimal course is set based on the route search data in the general area.

FIG. 83 shows the process of setting the partial optimum course of the general area in step 408 in the previous figure. After the route search data RA (i) is loaded into the work area, the process of setting the partial optimum course C is performed.

In the process of the partial optimum course setting C, as shown in FIG. 84, the route start point is set in the work area, and the optimum course is set from the route start point to the route end point along the traveling direction at each intersection. Next, the set course data is stored as K (i), and the route end point is set as the route start point.

FIG. 85 shows the process of setting the partial optimum course of the partial area in step 410 in FIG. 82. After loading the route search data RP (i) into the work area, the process of setting the partial optimum course C (FIG. 84) ).

FIG. 86 shows the course of the optimal course set by the processing of FIGS. 82 to 85.

FIGS. 87 and 88 correspond to step 302 in FIG. 53.
The process of setting the optimum course by optimizing the passing point ranking of the above is shown. In this process, an optimal course is created by a permutation combination of the passing points so that the passing points (two places) in the partial search area are always adjacent to each other, and then one course with the shortest travel distance is selected and set as the optimal course. Is what you do.
Details are the same as the processing in FIG. 43. In FIG. 88, the optimal course is set in the order of the departure point, the passing point (2), the passing point (1), and the destination point. However, since the travel distance is longer than in the example of FIG. 86, The course in FIG. 86 will be selected as the optimal course.

FIG. 89 shows the process of setting the optimum course at the designated passing point rank in step 303 in FIG. 53.
This processing is the same as the processing in FIG. 82 after storing the designated pass point ranking.

Although the road name can be input by menu selection input as shown in FIGS. 2 and 4, the road data configuration shown in FIG. The intersection number is obtained. When the road name is shared by a plurality of road numbers, the above-mentioned road number and the intersection number of the start point and the end point are plural. From these intersections, a passing point (1) near the departure point and a passing point (2) near the destination are selected by the above-mentioned method. As shown, it is possible to set a route, and it is possible to arrive at a destination through a desired road by inputting a road name.

FIGS. 90 to 95 show still another embodiment of the present invention, and show an example of inputting one departure point, a plurality of destinations, and a general all-course course.

FIG. 90 shows the main flow, but only points different from the embodiment of FIG. 53 will be described. In the process of destination input A in step 441, as shown in FIG. 91, a plurality of destinations are input and the corresponding destinations P (i) are stored. Step 444
The route search BB process is shown in FIGS. 92 and 93.
First, the process of the route search area setting B (FIG. 63) is performed, and then the process of the route search data setting process BB is performed. First, all the intersection data in the route search area SAB is obtained, i is set to 1, and the input point P (i) is set as the route end point. Then step 46
In step 5, the process of creating route search data (FIG. 37) is performed, this route search data is stored as RS (i), and the above process is repeated until i becomes equal to the number n of input points.

FIG. 94 shows the process of setting the optimum course with the input destination rank in step 446 in FIG.
First, the departure point is set as the route start point, and j is set to 1 to perform the optimum course setting process shown in FIG.
(Steps 469 to 471). Next, after setting the route end point as the route start point, the process returns to step 471 and repeats the processing until j becomes the number n of input points, and the set course data is combined with K (j) in order from 1 to create optimum course data. I do.

FIG. 95 shows the process of setting the optimum course at the designated destination order in step 447 in FIG.
First, in step 476, input point numbers are set to A in the specified order.
(I), k is set to 1, and the starting point is set as the route end point. Next, in step 479, A (k) is set to j and
Perform the optimal course setting process shown in the figure and set the set course data to K.
(J). Next, after the route end point is set as the route start point, the process returns to step 479 until k reaches the number of input points n, and the process is repeated, and the set course data is combined with K (j) in order from 1 to create optimum course data. I do.

FIGS. 96 to 104 show still another embodiment of the present invention, and show an example of inputting one departure point, a plurality of destinations, and a part of a rough course. FIG. 96 shows the main flow, but only points different from the embodiment of FIG. 53 will be described.

FIG. 97 shows a process of inputting the destination and a part of the passing course in step 485 in FIG. 96. First, after setting i, j, and k to 1, when inputting the destination, the destination input processing is performed in step 502 (FIG. 19).
Is performed, the corresponding destination is stored in OP (i), 1 is added to i, and the corresponding input point is stored in P (i). Step 501
If NO and enter some courses,
At 506, processing of a part of the course input (FIG. 68) is performed, the temporary intersection PS (j) is stored in the passing point PP (j), and the temporary intersection PE (j) is passed through the passing point PP (j + 1). And j is 2
Is added (steps 505 to 509). Then, the process proceeds to step 510, and if not completed, 1 is added to k and the above process is repeated.

FIG. 98 to FIG. 101 show steps 487 in FIG. 96.
Of the route search CC of FIG.
The description is omitted because it is the same as FIG. 81 to FIG.

FIG. 102 shows a process of setting an optimum course in the order of inputting a destination and a passing point in step 491 in FIG. 96. First, a starting point is set as a route starting point, and i, j, and k are set to 1 and thereafter. It is determined whether the input point is P (i) as the destination point (steps 534 to 536). If it is the destination, in step 537, the process of setting the partial optimal course of the general area (FIGS. 83 and 84) is performed, 1 is added to j, and the set course data is stored in KC (i). If the next input point is P (i), add 1 to i and step
Returning to 536, if it is not the destination point, it is determined whether or not k is an odd number. If it is an odd number, the process of setting a partial optimum course of the general area (FIGS. 83 and 84) is performed, and if it is an even number, For example, the process of setting the partial optimal course of the partial area (Fig. 85, Fig. 84)
Is performed, and 1 is added to k, and the flow advances to step 539. Finally, in step 546, all the set course data KC (i)
Are combined in order from i to create optimal course data KF.

FIG. 103 shows a process of setting the optimum course by optimizing the destination and the passing course ranking in step 492 in FIG. 96. The detailed description is the same as that of the process in FIG. 87, and thus the description is omitted.

FIG. 104 shows the process of setting the optimum course based on the designated destination and the passing course rank in step 493 in FIG. 96. The detailed description is the same as that of the processing in FIG. 102, and thus the description is omitted.

FIGS. 105 to 110 show still another embodiment of the present invention, as shown in FIG. 110, showing an example of inputting one departure point, destination, and course area (passing area). FIG. 105 shows the main flow, but only the points different from the embodiment of FIG. 53 will be described.

FIG. 106 shows the course area input processing of step 583 in FIG. 105. After all input data is obtained, the input data is displayed (steps 591 to 593), and these input data are stored in KD.

FIG. 107 shows the route search D in step 584 in FIG. 105.
Is shown. First, the process of the route search area setting D is performed. This corresponds to the input data K as shown in FIG.
After loading D, all the blocks including the input data are detected, all the blocks surrounded by the corresponding blocks are detected, and then the names of all the detected blocks are stored in the area data KAD.
To memorize. Next, the process of route search data setting D shown in FIG. 109 is performed. After obtaining all intersection data in the route search area KAD and setting the destination as the route end point, a process of creating route search data is performed, and this route search data is stored as RS.

In the above description, even when the number of input points is one, it is also possible to designate a region within the test distance based on the point or a block including the point as a course region.

Further, it is possible to obtain the coordinates of the target object, the connecting intersection, and the representative intersection by the menu input shown in FIGS. 2 and 4, and any one of those points as a base point of the course area as described above. Can be ordered.

Although each of the above embodiments mainly shows an example in which the present invention is applied to the coordinate origin method, it is naturally possible to apply to the route fixing method or the location method described in the conventional example by selecting data contents. .

[Brief description of the drawings]

FIG. 1 is a block diagram of an apparatus showing one embodiment of a navigation device according to the present invention, FIGS. 2 and 3 are diagrams for explaining an example of input by a touch panel, FIG. 2 is a menu screen input, FIG. The figure shows the map screen input. FIG. 4 is a diagram for explaining an example of input by a barcode, FIG. 5 is a diagram for explaining an example of input by a digitizer, and FIG. 6 is a diagram for explaining an example of input by an IC card. 7 to 15 are views for explaining an example of the data structure. FIG. 7 is a view showing a list of area names, and FIG. 8 is a view showing an intersection, a destination and a feature list, and a sort file. Fig. 9, Fig. 9 shows examples of road and intersection number allocation, Fig. 10 shows intersection data, Fig. 11 shows destination and feature data, Figs. 12 and 13 show roads. FIG. 14 is a diagram showing data, FIG. 14 is a diagram showing a map database structure, and FIG. 15 is a diagram showing map data. 16 to 45 show one embodiment of the navigation device of the present invention.
FIG. 16 is a diagram for explaining the flow of processing of the control system according to the embodiment; FIG. 16 is a basic flowchart, FIG.
FIG. 18 is a flowchart of a process for setting a guidance course by inputting a destination and a passing point on a desired course, FIG. 18 is a diagram showing a destination input, and FIGS. 19 and 20 are flowcharts and descriptions of a destination input process. FIG. 21, FIG. 21 shows a departure place input, FIG. 22 and FIG.
FIG. 24 is a diagram showing a passing point input, FIG. 25 is a flowchart of a passing point input process, FIGS. 26 and 27 are flowcharts and explanatory diagrams of a passing point setting process near a destination, and FIG. 28 is a feature. FIG. 29 is a flowchart of a pass point setting process in the vicinity of an object, FIG. 29 is a flowchart of a pass point setting process in a designated area, FIG. 30 is a flowchart of a process of setting a designated intersection as a pass point, and FIG. Its explanatory diagram,
(B) A diagram for explaining an example of an intersection level, FIG. 32 is a flowchart of a process for setting a passing point on a designated road, FIG.
FIG. 34 is a flowchart of the route search process, FIG. 34 is a diagram for explaining the flow of FIG. 33, FIG. 35 is a flowchart of the route search data setting process of FIG. 33, and FIG. FIG. 37 is a flowchart for explaining the flow, FIG. 37 is a flowchart of the route search data creation processing in FIG. 35, FIG. 38 is a flowchart of a surrounding road search subroutine in FIG. 37, and FIG. Flow diagram of the route condition setting subroutine, FIG. 40 is FIG.
FIG. 41 is a flowchart of a process for setting an optimum course in the order in which the passing points are input, FIG. 41 is a flowchart of the optimum course setting process in FIG. 40, and FIG. 42 is a diagram for explaining an example of an optimum course setting FIG. 43 is a flowchart of a process for setting an optimal course by optimizing the passing point ranking in FIG. 17, and FIG.
FIG. 45 is a diagram for explaining an example of setting an optimum course, and FIG. 45 is a flowchart of a process for setting an optimum course in a designated passing point order. 46 to 52 are diagrams for explaining the flow of processing of a control system which is another embodiment of the navigation device of the present invention. FIG. 46 shows one departure place, a plurality of destinations, and a destination. FIG. 47 is a flowchart of a process of inputting a passing point on a course and setting a guidance course, FIG. 47 is a flowchart of a destination and a passing point input process, FIG. 48 is a flowchart of a route search process in FIG. 46, and FIG. FIG. 48 is a flowchart of the route search data setting process in FIG. 48, FIG. 50 is a designated destination in FIG. 46,
Flow chart of the process of setting the optimum course in the passing point ranking,
FIG. 51 is a flowchart of a process of setting an optimum course by optimizing a destination and a passing point rank.
It is a flowchart of the process which sets an optimal course in a passing point order. FIG. 53 to FIG. 89 are diagrams for explaining the processing flow of a control system which is another embodiment of the navigation device of the present invention. FIG. FIG. 54 is a flowchart of processing for inputting a course and setting a guidance course, FIG. 54 is a flowchart of initial setting in FIG. 53, and FIG.
FIGS. 56 and 57 are diagrams for explaining the initial setting by the digitizer, FIG. 58 is a flow diagram of the all-pass course input processing in FIG. 53, FIG. 59 is a diagram showing the contents of the input data, 60 and 61 are diagrams showing the contents of the block data, FIG. 62 is a flowchart of the route search process in FIG. 53, FIG. 63 is a flowchart of the route search area setting process in FIG. 62, and FIG. The figure is a diagram for explaining the process of FIG. 63, FIG.
65 is a flowchart of the route search data setting process in FIG. 62, FIG. 66 is a flowchart of the optimal course setting process in FIG. 53, FIG. 67 is a diagram for explaining the optimal course setting, FIG.
FIG. 68 is a flowchart of a part of the course input process in FIG. 53, FIG. 69 is an explanatory diagram thereof, FIG. 70 is a flowchart of the road coordinate data detecting process in FIG. 68, and FIG. FIG. 72 is a flow diagram of the road data change process in FIG. 71, FIG. 73 is an explanatory diagram thereof, FIG. 74 is a diagram for explaining the contents of change of the road data, FIG. FIG. 53 is a flow chart of the pass point registration processing in FIG. 53, FIG. 76 is a flow chart of the route search processing in FIG. 53,
FIG. 77 is a flowchart of the route search area setting process in FIG. 76, FIG. 78 is an explanatory diagram thereof, FIG. 79 is a flowchart of the route search data setting process in FIG. 76, and FIG. FIG. 81 is a flowchart of a data setting process in a partial area, and FIG.
Flow chart of the data setting process for the general area in FIG. 79, FIG.
FIG. 82 is a flowchart of a process for setting an optimum course based on the inputted passing-point rank in FIG. 53, FIG. 83 is a flowchart of a process of setting an optimum course of the general area in FIG. 82, and FIG.
Fig. 83 is a flowchart of the sub-optimal course setting process in Fig. 85
FIG. 82 is a flowchart of the partial optimum course setting process for the partial area in FIG. 82, FIGS. 86 (a) and (b) are diagrams for explaining the optimum course setting, and FIG. 87 is the passing point ranking in FIG. Flow chart of the process of setting the optimal course by optimizing
FIGS. 88 (a) and (b) are diagrams for explaining the optimum course setting, and FIG. 89 is a flow chart of the processing for setting the optimum course at the designated passing point order in FIG. 53. FIGS. 90 to 95 are diagrams for explaining the processing flow of a control system which is another embodiment of the navigation device according to the present invention. FIG. 90 shows one departure place, a plurality of destinations and a schematic view. FIG. 91 is a flowchart of a destination input process in FIG. 90, FIG. 92 is a flowchart of a route search process in FIG. 90, and FIG. FIG. 92 is a flowchart of the route search data setting process in FIG. 92, FIG. 94 is a flowchart of a process of setting an optimal course with the input destination rank in FIG. 90, and FIG.
FIG. 90 is a flowchart of a process of setting an optimum course at a designated destination rank in FIG. 90. FIG. 96 to FIG. 104 are diagrams for explaining the processing flow of a control system which is another embodiment of the navigation device of the present invention. FIG. 96 shows one departure place, a plurality of destinations and a schematic view. FIG. 97 is a flowchart of a process for inputting a part of a passing course and setting a guidance course, FIG. 97 is a flowchart of a process for inputting a destination and a part of a passing course in FIG. 96, and FIG. 98 is a diagram of FIG. Flow chart of the route search process in FIG.
Flow chart of route search data setting processing in FIG.
FIG. 99 is a flowchart of the data setting process in the partial search area in FIG. 99, FIG. 101 is a flowchart of the data setting process in the general search area in FIG. 99, and FIG. 102 is the input passage in FIG. 96. FIG. 103 is a flowchart of a process for setting an optimum course by a point ranking, FIG. 103 is a flowchart of a process for setting an optimal course by optimizing a destination and a passing course ranking in FIG. 96, and FIG. FIG. 10 is a flowchart of a process of setting an optimum course based on a destination and a passing course ranking. FIG. 105 to FIG. 110 are diagrams for explaining the flow of processing of a control system which is another embodiment of the navigation device of the present invention. FIG. 105 shows one departure place, destination and course area. Flow chart of the process of setting the guidance course by inputting,
FIG. 106 is a flowchart of the course input process in FIG. 105,
FIG. 107 is a flowchart of the route search process in FIG. 105, and FIG.
108 is a flowchart of the route search area setting process in FIG. 107, FIG. 109 is a flowchart of the route search data setting process in FIG. 107, and FIG. 110 is a diagram for explaining the above process. FIG. 111 and FIG. 112 are flowcharts showing the processing flow of the conventional navigation device. 1 input device, 2 display device, 3 storage device, 4
... Arithmetic processing device, 5... Current position confirmation device, 6... Communication device, 7.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shoji Yokoyama 10 Takane, Fujii-machi, Anjo, Aichi Prefecture Inside Aisin AW Co., Ltd.・ AW Co., Ltd. (56) References JP-A-58-70117 (JP, A) JP-A-59-17577 (JP, A) JP-A-59-126207 (JP, A) JP-A-60-1985 114999 (JP, A) JP-A-60-209900 (JP, A) JP-A-61-229197 (JP, A) JP-A-62-95699 (JP, A) JP-A-62-177604 (JP, A) JP-A-62-214317 (JP, A) JP-A-62-243029 (JP, A) JP-A-62-289721 (JP, A) JP-A-63-281013 (JP, A) JP-A-1-138409 (JP, A) Special Table Sho-61-502989 (JP, A) Shokai Sho-62 192499 (JP, U) JitsuHiraku Akira 63-188517 (JP, U) Japan Industrial Management Journal, Vol. 38 No. 5, 1987, P320-325 Hisatoshi Suzuki, Shigenobu Nomura, "Shortest Route Problem with Visit Order Constraint, Unified Viewpoint for Transport Route Planning Problem,

Claims (19)

(57) [Claims] 1. A storage device for storing information related to a map, an input device for inputting a departure place, a destination and one desired place to pass as an arbitrary point on the map, and a storage device for storing a map stored in the storage device. A display device for displaying guidance information based on the information; and searching for an optimal route from the departure place to the destination based on the information on the map and each of the inputted points, and outputting the route to the display device to provide a route. An arithmetic processing unit for performing guidance, the arithmetic processing unit comprising: a unit for setting a point on the road with respect to the input desired place; a point on the road from the departure point to the set desired place; Means for searching for an optimal route from a point on a road to a destination. 2. A storage device for storing information relating to a map; an input device for inputting at least two desired places and a passing order as a starting point, a destination, and an arbitrary point on the map; and a storage device for storing in the storage device. A display device for displaying guidance information based on the information on the map, and searching for an optimal route from the departure point to the destination based on the information on the map and each of the inputted points, and displaying the route on the display device. An arithmetic processing unit for outputting and providing route guidance, the arithmetic processing unit comprising: means for setting a point on the road for each input desired pass-through location; and optimally setting a pass order of the desired pass-through location. Means for searching for an optimal route from the departure point to the destination by passing through the points on the road for each of the set desired passing locations in the order of passing the desired passing locations. . 3. A storage device for storing information related to a map, an input device for inputting a departure place, a destination, and at least two desired places to pass as arbitrary points on the map, and a map stored in the storage device. A display device that displays guidance information based on the information about the map, based on the information about the map and each of the input points, searches for an optimal route from the departure place to the destination, and outputs the route to the display device. An arithmetic processing unit for performing route guidance, the arithmetic processing unit comprising: a unit for setting a point on the road with respect to the input desired pass-through location; Means for searching for an optimal route to a destination through a set point on the road for each desired place to pass, in the order in which the desired places pass. 4. The method according to claim 1, wherein the point on the road corresponding to the input desired place is set based on a position on the road closest to the input position coordinates of the desired place. The navigation device according to claim 3. 5. The storage device includes intersection level information together with position information on the intersection, and selects an intersection based on the position of the desired intersection and the level information of the intersection input by the input device, and selects the intersection for the desired intersection. The navigation device according to claim 1, wherein a point on a road is set. 6. The storage device includes representative intersection information together with positional information on the intersection, and selects an intersection based on the position of the desired intersection and the representative intersection information input by the input device, and selects an intersection on a road corresponding to the desired intersection. The navigation device according to claim 1, wherein the following points are set. 7. The arithmetic processing device according to claim 1, wherein the input order of the desired passage is arranged in a permutation and stored as a permutation combination.
4. The navigation device according to claim 3, wherein an optimal route search is performed for all combinations, and one optimal route is selected from the plurality of searched optimal routes. 8. A storage device for storing information on a map, an input device for inputting a departure place, a destination, and a desired place to pass as a pass line on the map, A display device for displaying guidance information; and searching for an optimal route from the departure point to the destination based on the information on the map and the input points and passing lines, and outputting the route to the display device to output a route. An arithmetic processing unit for performing guidance, wherein the arithmetic processing unit sets a point to be passed on the road in accordance with the input passing line; Means for searching for an optimal route to a destination through a power point. 9. The navigation device according to claim 8, wherein the passing line is a road desired to pass, and a point to be passed is set based on the desired road. 10. The navigation device according to claim 9, wherein said desired road is inputted by inputting a road name. 11. The navigation device according to claim 8, wherein said passing line is inputted by tracing and inputting on a map displayed on a display device. 12. The method according to claim 1, wherein a coordinate sequence of the input data input by the tracing input is detected, and a point on the road corresponding to the coordinate sequence is set as a point to pass on the road corresponding to the passing line. 12. The navigation device according to claim 11, wherein 13. A storage device for storing information relating to a map, an input device for inputting a departure place, a destination and a desired place to pass as a route search area on the map, and information relating to the map stored in the storage device. A display device for displaying guidance information based on the information on the map, the input points and the route search area, and searching for an optimal route from the departure point to the destination, and outputting the route to the display device. An arithmetic processing unit for performing route guidance by means of a route setting unit for setting a point to be passed on a road existing in the input route search area; Means for searching for a route to a destination through a point through which the vehicle should pass. 14. The information on the map is divided into blocks and stored, and the setting of the route search area is performed in units of the divided areas.
13. The navigation device according to 13. 15. A storage device for storing information related to a map, an input device for inputting at least two destinations and an order of guidance of destinations as a departure place and an arbitrary point on the map, A display device for displaying guidance information based on the information about the map, and searching for an optimal route from the departure point to the destination based on the information about the map and the inputted points, and outputting the route to the display device. An arithmetic processing device for performing route guidance by means of the input device, the arithmetic processing device comprising: means for setting a point on the road for each input destination; Means for searching for an optimal route that passes through a point on the road for each set destination in the guidance order of the destination. 16. The navigation according to claim 15, wherein the point on the road corresponding to the input destination is set based on a position on the road closest to the position coordinates of the input destination. apparatus. 17. The arithmetic processing device according to claim 1, wherein the input guidance order of the destination is arranged in a permutation and stored as a permutation combination, and an optimum route is searched for all combinations. 16. The navigation device according to claim 15, wherein one optimal route is selected. 18. The storage device according to claim 1, wherein the storage device includes intersection level information as well as position information on the intersection, and selects an intersection based on the destination position and the intersection level information input by the input device, and selects an intersection on a road to the destination. 16. The navigation device according to claim 15, wherein the following points are set. 19. The storage device includes representative intersection information together with positional information on the intersection, and selects an intersection based on the position of the destination and the representative intersection information input by the input device, and selects a point on the road with respect to the destination. 16. The navigation device according to claim 15, wherein is set.