JP2796202B2 - In-vehicle navigator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-vehicle navigator,
In particular, the present invention relates to an in-vehicle navigator that provides route guidance along an optimal guidance route from a departure point to a destination.

[0002]

2. Description of the Related Art There is an on-vehicle navigator that provides guidance for driving a vehicle so that a driver can easily reach a desired destination. In this in-vehicle navigator, a vehicle position is detected, map data around the vehicle position is read from a CD-ROM, a map image is drawn on a V-RAM, and a vehicle position mark is superimposed on a predetermined position on the map image. Draw,
While converting the image in the V-RAM into a video signal, the image is output to a CRT display device and displayed on a screen. Then, as the current position changes due to the movement of the vehicle, the vehicle position mark on the screen is moved, or the vehicle position mark is fixed at the center of the screen and the map is scrolled, so that the map around the vehicle position is always displayed. Information can be understood at a glance.

The map stored in the CD-ROM is divided into regions of appropriate longitude and latitude widths according to the scale level, and roads are represented by vertices (nodes) represented by longitude and latitude coordinates. ). A portion connecting two or more nodes is called a link. As shown in FIG. 13, the road data included in each map is road link data RLD.
T, node data NDDT, and intersection data CRDT. Among them, the road link data RLDT gives attribute information of the road link, and includes the total number of nodes on the link and the node data of each node constituting the link. It is composed of data such as numbers on the NDDT, road names, road types, and the like. The intersection data CRDT is, for each intersection on the map, a set of numbers on the node data NDDT of nodes closest to the intersection on the link connected to the intersection (referred to as an intersection configuration node).
DDT is a list of all nodes on the map, coordinate information (longitude, latitude) for each node, an intersection identification flag indicating whether or not the node is an intersection, and indicates intersection data if the node is an intersection; It is composed of a pointer or the like indicating the road link to which the node belongs.

Some in-vehicle navigators have a route guidance function of providing route guidance along an optimal guidance route from a departure point to a destination. In such route guidance,
If the driver sets the departure point and destination before traveling, the CD-
A simulation calculation is performed with reference to the map data in the ROM, and for example, an optimal guide route connecting the departure place and the destination at the shortest distance is obtained, and a node sequence constituting the guide route, the starting departure place data at the head and the tail end The guidance route data combined with the destination data is stored in the guidance route memory.

During driving, the driver searches for a guidance route in the map display area of the screen from the node sequence in the guidance route memory and displays the guidance route in a different color from other roads. Is trying to figure out which road to drive.

[0006]

However, if the scale of the map displayed on the screen is large or the roads are complicated, the vehicle may not be displayed simply by displaying the guidance route in a different color from other roads. In some cases, it is not possible to know in which direction to travel at an intersection existing ahead of the traveling direction.
For this reason, using the node sequence that constitutes the guidance route,
Display the guidance route on the diagram and the distance to the next intersection
And the traveling direction at the intersection. In this case,
The line direction is the node that constitutes the guidance route,
The previous node is the entry node, the node immediately after the intersection is the exit node
Nodes, intersection nodes, and exit nodes.
And display it using the code. However, the total
In the calculation method, the departure point is not on the node and
The node on the next guidance route after the departure point is the intersection node
Can not find the entry node, and at the first intersection
There is a problem that can not be guided in the direction of travel. Also the same
If the destination is not on the node and
If the node on the guide route is an intersection node, the escape node
Cannot be found, and the traveling direction at the last intersection
There is a problem that can not be guided.

Accordingly, an object of the present invention is to provide an in-vehicle navigator that allows a driver to easily know which direction to travel at an intersection on a guidance route. The present invention
Another purpose is that the departure point is not on the node and
The node on the next guidance route of the ground is an intersection node
Also provides on-board navigation
Data. Another object of the present invention is to
The ground is not on the node and on the guidance route immediately before the destination
Even if the node is an intersection node,
By providing an in-vehicle navigator that can guide the direction of travel
is there.

[0008]

According to one aspect of the present invention, there is provided a map data storage means for storing map data and an object from a departure place with reference to map data stored in the map data storage means. Guidance route searching means for finding a node sequence constituting an optimal guidance route to the ground, and a node sequence constituting the guidance route determined by the guidance route searching means, together with the starting point data and the destination data at the end. Guidance route storage means for storing, and vehicle position detection means for detecting the current position of the vehicle, and display means for displaying a map image around the vehicle position together with the vehicle position mark using the map data stored in the map data storage means. In the vehicle-mounted navigator, which performs a predetermined route guidance using the node sequence stored in the guidance route storage means, based on the vehicle position information, With reference to the node string of the means or the node string of the guidance route storage means and the map data of the map data storage means, an intersection node which is closest to the vehicle position when viewed in the vehicle traveling direction on the guidance route is extracted. First extracting means for comparing the extracted intersection node with the node sequence in the guidance route storage means to determine whether the intersection node is the next node of the departure place on the guidance route, At the time of the next node of the ground, by referring to the map data in the map data storage means, the node existing closest to the departure point on the extension of the guidance route is set as the entry node for the intersection node, and the guidance route storage means With reference to the node sequence, the node next to the intersection node on the guidance route is extracted as an escape node for the intersection node, and the intersection node is located next to the departure point on the guidance route. Otherwise, referring to the node sequence in the guidance route storage means, the node before and after the intersection node on the guidance route is extracted as an entry node and an exit node for the intersection node, respectively. 2 extracting means; traveling direction calculating means for determining a direction to travel at the intersection based on the positional relationship between the intersection node, approach node, and exit node extracted by the first extracting means and the second extracting means; Intersection traveling direction guidance means for performing predetermined intersection traveling direction guidance based on the traveling direction obtained by the means.

According to another aspect of the present invention, based on the vehicle position information, a node sequence of the guidance route storage means or a node sequence of the guidance route storage means and map data of the map data storage means are referred to. First extraction means for extracting an intersection node existing closest to the vehicle position as viewed in the vehicle traveling direction on the guidance route; and collating the extracted intersection node with a node sequence in the guidance route storage means. Determining means for determining whether or not the intersection node is the node immediately before the destination on the guidance route, referring to the map data in the map data storage means, The node existing closest to the destination on the extension is set as an escape node for the intersection node, and one of the intersection nodes on the guidance route is referred to by referring to the node sequence in the guidance route storage means.
The previous node is extracted as an entry node for the intersection node. When the intersection node is not the node immediately before the destination on the guidance route, the node sequence is referred to in the guidance route storage means, and Second extraction means for extracting a node one before and one after the intersection node as an entry node and an exit node for the intersection node, respectively, and an intersection node extracted by the first extraction means and the second extraction means Traveling direction calculation means for determining the direction to travel at the intersection from the positional relationship between the entry node and the exit node;
Intersection traveling direction guidance means for performing predetermined intersection traveling direction guidance based on the traveling direction obtained by the traveling direction calculation means.

[0010]

According to one aspect of the present invention, a guidance route is referred to based on vehicle position information by referring to a node sequence of the guidance route storage means or a node sequence of the guidance route storage means and map data of the map data storage means. The intersection node existing closest to the vehicle position when viewed in the vehicle traveling direction is extracted above, and the extracted intersection node is compared with the node sequence of the guidance route storage means, and the next node of the departure point on the guidance route is determined. When the intersection node is the next node of the departure place on the guidance route, the node existing closest to the departure place on the extension of the guidance route is referred to by referring to the map data in the map data storage means. The entry node for the intersection node is referred to, and the node next to the intersection node on the guidance route is extracted as the escape node for the intersection node with reference to the node sequence in the guidance route storage means. If the node is not the next node of the departure point on the guidance route, the node before and after the intersection node on the guidance route is referred to by referring to the node sequence in the guidance route storage means. Each intersection node extracted as an entry node and an exit node for the node,
From the positional relationship between the entry node and the exit node, the direction to travel at the intersection is determined, and a predetermined intersection traveling direction guidance is performed. With this, the driver can easily understand in which direction the next intersection on the guidance route should be traveled. Even if the next node at the departure point is an intersection, the driver can easily understand the direction. In which direction the vehicle should travel.

According to another aspect of the present invention, based on vehicle position information, a node sequence of the guidance route storage means, or
With reference to the node sequence in the guidance route storage means and the map data in the map data storage means, extract the intersection node that is closest to the vehicle position when viewed in the vehicle traveling direction on the guidance route,
The extracted intersection node is compared with the node sequence in the guidance route storage means to determine whether it is the node immediately before the destination on the guidance route, and when the intersection node is the node immediately before the destination on the guidance route. By referring to the map data in the map data storage means, the node existing closest to the destination on the extension of the guidance route is set as an escape node for the intersection node, and by referring to the node sequence in the guidance route storage means, A node immediately before the intersection node on the guidance route is extracted as an entry node for the intersection node, and when the intersection node is not the node immediately before the destination on the guidance route, a node sequence of the guidance route storage means , The node before and after the intersection node on the guidance route is extracted as an entry node and an exit node with respect to the intersection node, respectively, and each extracted intersection is extracted. Node, ingress node, the positional relationship between the exit node obtains the traveling direction to be in the intersection, predetermined intersection traveling direction guidance. Thereby, the driver can easily understand in which direction to travel at the next intersection on the guidance route, and even if the node immediately before the destination is the intersection, It is possible to surely know in which direction the vehicle should travel at the intersection.

[0012]

FIG. 1 is a block diagram of a main part of an on-vehicle navigator according to the present invention.

In FIG. 1, reference numeral 1 denotes a CD-ROM serving as map data storage means, and reference numeral 2 denotes an operation panel. Left, right, up, and down cursor keys, a route guidance mode setting key, a departure place setting key, and a destination. A setting key, a key for map search, enlargement / reduction, a start key, and the like are provided. Reference numeral 3 denotes an azimuth sensor that detects the azimuth of the vehicle traveling direction viewed from a predetermined reference azimuth and outputs an azimuth signal. 4 denotes a distance sensor that outputs a pulse indicating that the vehicle has traveled a certain distance each time the vehicle travels a certain distance. The vehicle position calculation CPU by navigation calculates the current position (longitude, latitude) of the vehicle by integrating from the departure point using the respective signals input from the direction sensor 3 and the distance sensor 4. Reference numeral 6 denotes a CRT display device, which inputs a video signal and displays a map on a screen together with a cursor mark, a vehicle position mark, an emphasized guidance route, warning information, and the like.

The reference numeral 10 designates an optimal guidance route from a starting point and a destination by simulation calculation, and displays a map image around the vehicle position along with a cursor mark, a vehicle position mark, an emphasized guidance route, an intersection guidance image, etc., if necessary.
It is a navigation controller that displays on the screen of the RT display device 6 and outputs intersection guidance information by voice. Among them, 11 is a buffer memory for temporarily storing map data read from the CD-ROM 1, 1
Reference numeral 2 denotes a current position correction unit that corrects the current position by map matching using a projection method. Each time the current position data is input from the vehicle position calculation CPU 5, the current position data is corrected on a nearby road by referring to the map data. Reference numeral 13 denotes a presence link detection unit which inputs the corrected current position data from the current position correction unit 12 and the azimuth signal from the azimuth sensor 3 and refers to the road data (see FIG. 13) in the map data, and The nodes existing immediately before and after the vehicle position in the vehicle traveling direction on the road on which the vehicle is currently traveling are defined as a front node and a rear node, respectively, and an existing link composed of a pair of the front node and the rear node is detected. The front node and the rear node consist of longitude and latitude coordinates.

Reference numeral 14 denotes a cursor position calculation unit, which corresponds to the center of the map on the screen when a map selection operation or a cursor operation is performed using a cursor key of the operation panel 2, a map search key, a key for enlargement / reduction, or the like. Calculate the longitude and latitude to be output as the cursor position. Reference numeral 15 denotes a map drawing control unit which stores desired map data (may include peripheral map data) selected by a key for map search, enlargement / reduction, etc. on the operation panel 2 before starting traveling. The map data is read from the ROM 1 to the buffer memory 11 and a map image is drawn on a first V-RAM, which will be described later, and new map data is added as necessary as the cursor position input from the cursor position calculator 14 changes in response to the cursor operation. To CD-ROM
While reading from 1 to the buffer memory 11, the map image in the first V-RAM is rewritten so that the cursor position is always at the center, and a cursor mark is drawn at the center of the first V-RAM. Further, the map drawing control unit 15 is running (after the start key of the operation panel 2 is pressed), and
As the corrected current position data output from the CPU changes, new map data is read out from the CD-ROM 1 to the buffer memory 11 as needed, and the map image in the first V-RAM is rewritten so that the current position becomes the center. In addition, the map drawing control unit 15 draws a vehicle position mark in the center of the first V-RAM based on the corrected current position data during traveling, and in the route guidance mode, stores the guidance position data stored in the guidance route memory described later. From among them, guide route data that falls within the range of the map image currently drawn on the first V-RAM is input, and a guide route highlighted in a color different from that of other roads is drawn.

Reference numeral 16 denotes a departure point / destination setting unit, which is set to a route guidance mode on the operation panel 2 before starting traveling, and after the cursor at the center of the screen is matched with the departure point by operating the operation panel 2, When the departure place setting key is pressed, the output of the cursor position calculation unit 14 at that time is set as the departure place data, and after the cursor at the center of the screen is matched with the destination by operating the operation panel 2, the destination is set. When the setting key is pressed, the output of the cursor position calculator 14 at that time is set as destination data.

Reference numeral 17 denotes a guide route search unit, which inputs departure place data and destination data from the departure place / destination setting unit 16 when a departure place and a destination are set in the route guidance mode. , Read various map data from the starting point to the destination from the CD-ROM 1 to the buffer memory 11 and perform simulation calculations on various routes with reference to the read map data, for example, using the shortest distance as an index, An optimal guidance route from the departure point to the destination is determined, and a series of node trains (each node includes longitude and latitude coordinates and an intersection identification flag indicating whether or not the intersection exists) constituting the guidance route is determined as the departure point. Along with the data and the destination data, it is stored in a later-described guidance route memory as guidance route data. Each node in the node sequence is extracted from a node list of map data (see NDDT in FIG. 13).

Reference numeral 18 denotes a guidance route memory for storing guidance route data. When the node sequence obtained by the guidance route search unit 17 comprises, for example, 16 ³ -2 nodes, FIG.
As shown in, stored departure point data in the address F000 _H, address F001 _H The ～FFFE _H, closest node departure on the guide route to the address F001 _H, leaving on the guide route to the address F002 _H The node sequence is stored in order, for example, as a node closest to the second.
Then, the destination data is stored at the end of the address FFFF _H.

In this embodiment, the guidance route memory 1
The departure point data stored in the departure point S stored in the departure point / destination setting unit 16 (which is shown in FIG.
Normally, the coordinates of the pseudo departure point S ′ are projected onto a link between the two nearest nodes N ₀ and N ₁ (this is referred to as pseudo departure point data SD). Similarly, the guidance route memory 18
As shown in FIG. 4, the destination data stored in the destination O (which usually does not match the node in the map data) set by the departure / destination setting unit 16 is the closest destination data. Coordinate data of the pseudo destination O 'projected onto the link between the two nodes N _x-1 and N _x (this is the pseudo destination data OD)
It is assumed that

Reference numeral 19 denotes a collation unit, and the existence link detection unit 1
3 and inputs the existing links (front node and rear node) to the guidance route data stored in the guidance route memory 18 to determine whether there is a node identical to either the front node or the rear node. It is determined whether the vehicle is on the guidance route.

Reference numeral 20 denotes a first extraction unit, which refers to the node sequence stored in the guidance route memory 18 based on the forward node input from the existence link detection unit 13 when the vehicle is on the guidance route, and The intersection node closest to the vehicle position when viewed in the traveling direction is extracted. Specifically, the intersection identification flag in the node column is checked, and when the intersection identification flag of the same node as the preceding node is set, this node is extracted as the intersection node closest to the vehicle position, If the intersection identification flag of the same node as the front node is off, the node with the first intersection identification flag that has the higher address than the same node as the front node is set to the intersection closest to the vehicle position. Extract as a node.

It should be noted that the node row of the guidance route memory 18 includes:
When the intersection identification flag is not included, the guidance route memory 1
8 is read out sequentially from the node at each address after the same node as the front node, and the node list ND in the map data
The same node in the DT (see FIG. 13) may be searched to check the intersection identification flag, and the node where the intersection identification flag is set first may be extracted as the intersection node closest to the vehicle position.

Reference numeral 21 denotes a discriminating unit, which compares the intersection node extracted by the first extracting unit 20 with the node sequence stored in the guidance route memory 18 and generates a pseudo departure point S 'on the guidance route.
, Or the node immediately before the pseudo destination O ′. Reference numeral 22 denotes a second extraction unit. The intersection node extracted by the first extraction unit 20 is used by a determination unit 21 to determine the next node of the pseudo departure place S 'on the guidance route or the one of the pseudo destination O'. When it is determined that the node is not one of the previous nodes, the node at the address before the intersection node is referred to the entry node, and the node at the next address is referred to by referring to the node sequence stored in the guidance route memory 18. Extract nodes as escape nodes.

When the entry node and the exit node are extracted, all other nodes (intersection node, FIG. 13) forming a link with the intersection node extracted by the first extraction unit 20 are referred to the map data. From the intersection data CRDT), a node that matches a node in the node sequence stored in the guidance route memory 18 is extracted, and the smaller one of the addresses in the guidance route memory 18 is the entry node and the larger the address. One may be the escape node.

The second extracting unit 22 refers to the map data when the discriminating unit 21 determines that the intersection node is the next node of the pseudo departure point S 'on the guidance route. A node closest to the pseudo departure point S 'is extracted as an entry node from all the other nodes (intersection configuration nodes) constituting the node and the link, and stored in the guidance route memory 18 from the intersection configuration nodes. A node that matches a node in the extracted node sequence is extracted as an escape node. The escape node is a node next to the intersection node in the node row stored in the guidance route memory 18. The entry node is a node existing closest to the pseudo departure point S 'on the extension of the guidance route. As shown in FIG. 5, there are four intersection configuration nodes N _A , N _B , N _C , and N _D. When there was
Around the intersection node N _CP, the angle theta _A of the pseudo departure _{S ', θ B, θ C} , in the theta _D, extracted as a node according to the smallest angle (in FIG. 5 N _A).

The second extraction unit 22 determines that the intersection node is one of the pseudo destination O 'on the guidance route by the determination unit 21.
When it is determined that the node is the previous node, by referring to the map data, the node closest to the pseudo destination O ′ is selected from all the other nodes (intersection constituent nodes) forming a link with the intersection node. The node is extracted as an escape node, and a node that matches a node in the node sequence stored in the guidance route memory 18 is extracted as an entry node from the intersection configuration nodes. The entry node is a node immediately before the intersection node in the node row stored in the guidance route memory 18. The escape node is a pseudo destination O 'on the extension of the guidance route.
Is the closest node to
When there are four intersection nodes N _E , N _F , N _G , and N _H , the angles θ _E , θ _F , θ _G , and θ formed between the intersection node N _CP ′ and the pseudo destination O ′ _{In H} , it is extracted as a node relating to the smallest angle (N _{F in} FIG. 6).

Reference numeral 23 denotes a traveling direction calculation unit, which is based on the intersection node extracted by the first extraction unit 20, the entry node and the exit node extracted by the second extraction unit 22, and based on the positional relationship between them, The direction to travel (straight, left turn, right turn) is detected. Specifically, as shown in FIG.
With the intersection node as the center, the angle θ of the escape node is determined clockwise, with the half-line extended from the intersection node in the direction of the entry node as the reference direction, And

Numeral 24 denotes a distance calculation unit, which stores the guidance route memory 1 based on the corrected current position data and the forward node detected by the existing link detection unit 13 when the vehicle is on the guidance route.
8, the first extraction unit 20 from the vehicle position with reference to the node sequence of FIG.
The distance along the guidance route to the intersection node extracted in is obtained.

Reference numeral 25 denotes a passage determination unit, which determines whether or not the vehicle has passed the intersection node extracted by the first extraction unit 20. Specifically, the backward node detected by the existence link detecting unit 13 matches the intersection node extracted by the first extracting unit 20, or the backward node is the first node in the node sequence of the guidance route memory 18. When it matches a node having an address larger than the intersection node extracted by the extraction unit 20,
It is determined that the vehicle has passed the intersection.

Reference numeral 26 denotes an intersection guidance control unit.
9, when the vehicle is detected on the guidance route or when the passage determination unit 25 determines that the vehicle has passed through a certain intersection while riding on the guidance route, an extraction command is sent to the first extraction unit 20. After outputting, referring to the road data in the map data based on the intersection node input from the first extraction unit 20,
All other nodes (intersection configuration nodes) that form a link with the intersection node are determined, and the traveling direction calculation unit 2
3 and the distance calculation unit 24.
, Distance information is input to a second V-RAM, which will be described later, and an enlarged shape of the intersection based on the intersection node and the intersection configuration node, a predetermined traveling direction arrow pattern based on the traveling direction information, and traveling direction characters ("straight ahead", "left turn" ”,“ Right turn ”), and an intersection traveling direction guidance image including characters of approach distance to the intersection based on the distance information (such as“ after ｍm ”) is drawn and output to the synthesizing unit described later. Also, the intersection guidance control unit 26 determines that the distance to the intersection is 150 m,
When the vehicle passes either point of 00m or 50m,
"Please go straight (or turn left or right) at 150m", "Go straight (or left or right) at 100m", "Go straight (or left or right) at 50m" A voice output command for performing voice output is output to a voice synthesizing unit described later.

Reference numeral 27 denotes a first V-RAM, which is a map image drawn by the map drawing control unit 15 (including a cursor mark when the cursor is operated before the start of driving, and a vehicle position mark when driving in the route guidance mode). , And other guidance routes that are different in color from other roads). 28 is the second V-RA
M, and stores the intersection traveling direction guidance image drawn by the intersection guidance control unit 26. Reference numeral 29 denotes a synthesizing unit, which outputs a map image read from the first V-RAM 27 at normal times, and outputs a second map image to the map image read from the first V-RAM 27 when a synthesis command is input from the intersection guidance control unit 26.
The intersection traveling direction guidance image read from the V-RAM 28 is synthesized and output.

It is assumed that the intersection traveling direction guide image drawn on the second V-RAM 28 has a size of, for example, one-twelfth of the screen and is synthesized by the synthesizing unit 29 at the upper left corner of the map image.

Reference numeral 30 denotes a video conversion unit that converts the image data output from the synthesis unit 29 into a video signal and outputs the video signal to the CRT display device 6.

Reference numeral 31 denotes a voice synthesizing unit. When a voice output command is input from the intersection guidance control unit 26, according to the type of the voice output command, the voice synthesizing unit proceeds to "go straight (or turn left or right) 150m ahead by voice synthesis". Please "or" 1
Go straight ahead (or turn left or right) at a distance of 00 m "or" Go straight (or turn left or right) at a distance of 50 m ". Reference numeral 32 denotes an amplifier for amplifying the audio signal input from the audio synthesis unit 31;
Is a speaker for acoustically converting the audio signal amplified by the amplifier 32.

FIGS. 8 and 9 are flowcharts showing the operation of the navigation controller 10, FIGS. 10 and 11 are explanatory diagrams of the intersection traveling direction guidance operation by the navigation controller 10, and FIG. 12 is an explanatory diagram of the display screen of the CRT display device 6. Hereinafter, description will be given with reference to these drawings.

First, when a map of a desired area is selected at a desired scale by operating a map search and a key for enlargement / reduction on the operation panel 2, the map drawing control unit 15 reads the desired map from the CD-ROM 1. The data is read out to the buffer memory 11 and a map image is drawn on the first V-RAM 27. The map image data drawn on the first V-RAM 27 is output to the video conversion unit 30 via the synthesis unit 29, and is converted into a video signal by the video conversion unit 30, and the CRT display device 6
Output to The CRT display device 6 displays a map on the screen based on the input video signal (steps 101 and 102 in FIG. 8). Subsequently, when the cursor key of the operation panel 2 is operated after the setting operation of the route guidance mode is performed on the operation panel 2, the cursor position calculation unit 14 calculates the cursor position (longitude and latitude coordinates) (step S1). 103-10
5) According to the change in the cursor position, the map drawing control unit 15 draws a map image in the first V-RAM 27 while reading predetermined map data from the CD-ROM 1 to the buffer memory 11 so that the center is always the cursor position. At the same time, a cursor mark is drawn at the center of the first V-RAM 27. As a result, the map on the screen moves in accordance with the cursor operation while the cursor mark is displayed at the center of the screen (steps 106 to 108).

When the cursor operation is temporarily stopped and the destination setting key of the operation panel 2 is pressed when the cursor mark on the screen reaches the destination, the departure / destination setting unit 16 displays the cursor position calculation unit 14 at that time. Is set and registered as destination data (steps 109 and 110). Subsequently, the cursor is operated again to move the map on the screen, and when the cursor mark comes to the departure place, the cursor operation is temporarily stopped, and the departure place setting key of the operation panel 2 is pressed. Part 1
6 sets and registers the cursor position data output from the cursor position calculator 14 at that time as departure point data (steps 112 and 113).

When the setting and registration of the departure place data and the destination data are completed in this way, the guidance route searching section 17 uses the CD-ROM 1 to switch from the departure place to the destination based on the departure place data and the destination data. The simulation calculation is repeated while reading out the map data to the buffer memory 11 to search for an optimal guidance route using the shortest distance as an index, for example. It is stored in the guidance route memory 18 together with the last pseudo destination data OD (steps 114 to 116). 16 nodes that make up the guidance route
When there are ^three or two, the contents of the guidance route memory 18 are as shown in FIG.

Next, when the start key is pressed on the operation panel 2, the map drawing control unit 15 reads the map data around the departure place from the CD-ROM 1 to the buffer memory 11, and sets the first V-V so that the center becomes the departure place. A map image is drawn in the RAM 27, and a vehicle position mark is drawn in the center of the first V-RAM 27. At this time, a map around the departure point with the vehicle position mark at the center departure point is displayed on the screen (steps 117 to 119). Then, the map drawing control unit 15 reads out nodes included in the map display area of the screen from the guidance route data stored in the guidance route memory 18 and, based on these data, displays the first V in a color different from other roads. -Draw an enhanced guidance route for route guidance on the RAM 27 (step 120). As a result, the guidance route is displayed in a different color from the other roads on the screen,
At a glance, you can tell which road to go along.

When the vehicle starts running, the vehicle position calculation CPU 5 calculates the current position of the vehicle and outputs the current position data to the current position correction unit 12 every time the vehicle travels a predetermined distance. Each time the current position data is input, the current position correction unit 12 corrects the current position to be on the road by map matching by the projection method, and sends the corrected current position data to the map drawing control unit 15 and the existing link detection unit 13. Output (steps 121, 1
22). Upon input of the corrected current position data, the map drawing control unit 15 reads predetermined map data including the corrected current position data from the CD-ROM 1 to the buffer memory 11 so that the center is the vehicle position on the first V-RAM 27. A map image is drawn, and a vehicle position mark is drawn in the center of the first V-RAM 27. Then, from the guidance route data stored in the guidance route memory 18, the node and the departure place data in the map display area of the screen are read out, and the first V-RAM 27 is displayed in a color different from other roads based on these data. The guide route is drawn above. As a result, the map on the screen moves so that the center is always the vehicle position as the vehicle travels (steps 123 to 1).
25).

On the other hand, the existing link detecting unit 13 which has input the corrected current position data refers to the road data in the map data stored in the buffer memory 11 together with the azimuth signal input from the azimuth sensor 3, and Is a node that exists on the road on which the vehicle is currently traveling and is located immediately before when viewed in the vehicle traveling direction,
A node existing immediately after the vehicle in the vehicle traveling direction is searched, and an existing link composed of a pair of the front node and the rear node is detected as a front node and a rear node, respectively, and the matching unit 19, the first extraction unit 20, the distance Calculator 24, pass determination unit 2
5 (step 126). Initially, the front node is node N ₁ and the rear node is node N ₀ (FIG. 10).
reference).

Upon input of the existence link, the collation unit 19 collates the front node and the rear node with the guidance route data stored in the guidance route memory 18 and checks whether the same node as the front node or the rear node exists. By doing so, it is determined whether the vehicle is on the guidance route (step 201 in FIG. 9). When it is determined that the vehicle is on the guidance route, the intersection guidance control unit 26 gives an extraction command to the first extraction unit 20 because the guidance of the intersection traveling direction has not been performed so far (NO in step 202). Upon receiving the extraction instruction, the first extraction unit 20 refers to the node sequence stored in the guidance route memory 18 based on the forward node input from the existence link detection unit 13 and determines the first position of the vehicle position in the vehicle traveling direction. intersection node N ₁ of the intersections CP ₁ near
Is extracted (step 203, see FIG. 10).

Next, the discriminating section 21 checks the intersection node N ₁ extracted by the first extracting section 20 against the node sequence stored in the guidance route memory 18 to obtain the pseudo departure place data SD.
(Step 204). Here, the answer is YES. Based on this determination result, the second extraction unit 22 refers to the map data and refers to the intersection node N ₁
From all other nodes (intersection constituent nodes) N ₀ , N _a , N _b , and N ₂ that form a link with the pseudo departure point S ′
Extract the closest node N ₀ as a selection to enter the node, and selecting the node N _2, which matches the stored node node in column the guidance route memory 18 (the next node in the intersection node N ₁₎ in the Extract as an escape node (step 2
05).

When the first extracting unit 20 and the second extracting unit 22 complete the extracting operation, the traveling direction calculating unit 23 performs a predetermined calculation based on the intersection node N ₁ , the entry node N ₀ , and the exit node N _2. Then, the direction to travel at the intersection is determined by classifying cases as shown in FIG. 7 from the positional relationship of these nodes (step 206). Here, the determined traveling direction is a left turn. In addition, the distance calculation unit 24 refers to the node row of the guidance route memory 18 based on the corrected current position data input from the current position correction unit 12 and the front node detected by the existing link detection unit 13, and calculates the intersection from the vehicle position. determining the distance along the guide route to CP ₁ (step 207). Here, it is assumed that the distance is 56 m.

Next, the intersection guidance control unit 26 refers to the road data in the map data based on the intersection node N ₁ input from the first extraction unit 20, and the intersection node N ₁
And all other nodes (intersection constituent nodes) N ₀ , N _a , N _b , N ₂ constituting the link, and also inputs the driving direction information (left turn) from the driving direction calculation unit 23 and the distance calculation unit Input distance information (56m) from 24,
The V-RAM 28, expanded configuration of intersections CP ₁ based on the intersection node and the intersection configuration node, the direction of travel arrow pattern and direction of travel character "left" represents a left turn based on the traveling direction information, based on the distance information "after 56m" Intersection C
After drawing a intersection running direction guide image containing the approach distance character to P _1, and outputs the combined command to the combining unit 29 (step 208). However, intersection guidance control unit 26, the distance is 150m to the intersection CP _1, 100 m, since both the 50m not also pass through the point, the audio output command is not output (determination of NO at step 209).

The synthesizing section 29 which has input the synthesizing command outputs the first V
-A second V-RAM is added to the map image read from the RAM 27.
The intersection driving direction guidance image read from 28 is synthesized and output to the video conversion unit 30. As a result, on the screen of the CRT display device 6, as shown in FIG. 12A, the intersection traveling direction guidance image is displayed in the map image. Therefore, the driver is seen to be able to travel toward the destination correctly induction path above if left at the intersection CP ₁ in the 56m destination. If the traveling direction calculated by the traveling direction calculation unit 23 is straight ahead, the screen will be as shown in FIG. 12 (2), and if the vehicle is turning right, it will be as shown in FIG. 12 (3).

After determining NO in step 209, the navigation controller 10 proceeds to step 121 in FIG.
The next current position data is input from the vehicle position calculation CPU 5 to correct the current position, move the map according to the change in the current position, rewrite the vehicle position mark and the emphasized guidance route, detect the existing link, and the like. Perform (Steps 122 to 12)
6). Here, the forward node N ₁ and the backward node N
Leave as ₀ .

Then, proceeding to the flow of FIG. 9, the collating unit 19 again determines whether or not the vehicle is on the guidance route (step 201). If YES, the traveling direction of the intersection has already been guided. (Determination of YES in step 202),
The intersection guidance control unit 26 does not output the extraction command. At this time, the passage determination unit 25 determines whether the backward node N ₀ detected this time by the existing link detection unit 13 matches the intersection node N ₁ extracted earlier by the extraction unit 20, or the node in the guidance route memory 18. among column, it is determined whether there is a match to the N ₂ and later, determines whether passing through the intersection CP ₁ (step 210). Here since NO is subsequently distance calculator 24 based on the forward nodes enter corrected current position data newly input from the current position correction unit 12 from the existing link detecting unit 13, calculates the distance to the intersection CP ₁ (Step 211). Here, it is assumed that the distance is 48 m.

Next, based on the distance information (48 m) newly input from the distance calculation unit 24, the intersection guidance control unit 26 rewrites the approaching distance character to the intersection drawn in the second V-RAM 28 to “48 m more” (see FIG. 4). Step 21
2). As a result, the character of the approach distance to the intersection on the screen changes to "48 m remaining", and the driver should turn left at the intersection CP _1.
The distance to can be confirmed in real time.

[0050] Then, the intersection guidance control unit 26, the distance to the intersection CP ₁ has passed the point of 50m, a predetermined audio output command is output to the speech synthesis unit 31, "turn left at 50m details" Are synthesized and output to the amplifier 32 (steps 213 and 214). The amplifier 32 to which the audio signal has been input is amplified and then output to the speaker 33 for sound conversion. As a result, the driver is able to hear the intersection direction of travel guide voice, even without looking at the screen it can be seen that it is sufficient to turn left at the intersection CP ₁ of 50m destination.

After performing the processing in step 214, the navigation controller 10 returns to step 121 in FIG. 8 and inputs the next current position data from the vehicle position calculation CPU 5 to correct the current position and to change the map according to the change in the current position. Of the vehicle, rewriting of the vehicle position mark and the emphasis guidance route, detection of an existing link, and the like (steps 122 to 126).
Then, the flow moves to the flow of FIG. 9. If the vehicle is on the guidance route (determination of YES in step 201), the vehicle is in the traveling direction guidance of the intersection, so it is determined that the vehicle has passed the intersection (steps 202 and 210) if not, to calculate the distance from the vehicle position to the intersection CP ₁ (step 21
1) For example, when the distance is 40 m, the approach distance character in the intersection traveling direction guidance image on the screen is changed to "40 m remaining" (step 212). However, this time, 48m to 40m
Therefore, the intersection guidance control unit 26 does not output the voice output command (NO in step 213).

[0052] Hereinafter, in accordance with the vehicle position in the running of the vehicle in the same manner approaches the intersection CP _1, gradually changing the approach distance characters in intersection running direction guide image on the screen in real time.

[0053] The screen and the intersection direction of travel guidance by voice, the driver can turn accurately and reliably, in the direction along the guide route at an intersection CP ₁ according to the first node when viewed from the starting point. If the second extraction unit 22 attempts to extract the entry node simply by referring to only the guidance storage memory 18, the pseudo departure place data SD is not a node and cannot be extracted, and the vehicle travels at the intersection CP _1. Direction guidance is disabled.

When the vehicle turns at the intersection CP ₁ along the guidance route, the existence link detection unit 13 determines whether the vehicle is traveling in step 1 in FIG.
At 26, the front node N ₂ and the rear node N ₁ are detected. Then, in step 210 of FIG.
Determines that because the rear node matches the intersection node N _1, passing through the intersection. Then, the intersection guidance control unit 2
6 terminates the intersection running direction guidance display outputs a synthetic stop command to the combining unit 29 for the current crossing CP ₁ (step 215). Synthesizing unit 2 that has input a synthesizing stop command
9 outputs only the map image read from the first V-RAM 27 to the video conversion unit 30. Therefore, the screen temporarily contains only the map image.

After outputting the synthesis stop command, the intersection guidance control section 26 outputs a new extraction command to the first extraction section 20. The first extracting unit 20 determines the intersection CP closest to the vehicle position as viewed in the vehicle traveling direction on the guidance route in the same manner as described above.
Extracting the intersection node N ₅ according to ₂ (Step 20
3). Then, the judgment unit 21, the intersection node N ₅ extracted, in node series guide route memory 18, determines the intersection node N ₅ is or after one of the pseudo-departure data SO (step 204), Since it is NO, it is determined whether it is immediately before the pseudo destination data OD (step 216). Since NO Again, the second extracting unit 22, with reference to the node string stored in the guidance route memory 18, the extracted intersection node preceding the node N ₄ ingress node address of N _5,
The node N ₆ addresses one after the exit node (step 217).

Next, the traveling direction calculation unit 23 performs a predetermined calculation based on the intersection node N ₅ , the entry node N ₄ , and the exit node N ₆ to obtain a traveling direction at the intersection (step 206). Here, you turn right. The distance calculation unit 24 obtains the distance along the guide route from the vehicle position to the intersection CP ₂ (step 207). Here, it is assumed that the distance is 106 m.

[0057] Then, the intersection guidance control section 26 refers to the road data in the map data based on the intersection node N ₅ input from the first extraction portion 20, the intersection node N ₁
And all other nodes (intersection constituent nodes) N ₄ , N _c , N _d , and N ₆ that form a link, and also inputs driving direction information (right turn) from the driving direction calculation unit 23 and calculates a distance. 24, the distance information is input, and the second V-RAM
28, expanded configuration of intersections CP _2, the direction of travel arrow pattern and direction of travel character "right turn" represents a right turn, "after 10
After drawing the intersection traveling direction guide image including the approach distance character to the intersection CP ₂ of 6m ", a synthetic instruction synthesis section 29
And outputs to the traveling direction guide image regarding intersections CP ₂ is synthesized and displayed on the screen (step 208). Therefore, the driver is seen to be able to travel towards the destination on the right guidance route if the right turn at the intersection CP ₂ of 106m destination.

Then, the navigation controller 10
Returns to step 121 of FIG.
5 to input the next current position data to correct the current position, move the map according to the change in the current position, rewrite the vehicle position mark and the enhanced guidance route, and detect the existing link (steps 122 to 126). . Here, the forward node N
_2, and was backward node N _1.

Then, proceeding to the flow of FIG. 9, the collating unit 19 determines again whether or not the vehicle is on the guidance route.
At the time of S, since the guidance of the driving direction of the intersection has already been given,
The intersection guidance control unit 26 does not output the extraction command. At this time, the passage determination unit 25 determines whether the backward node N ₁ detected this time by the existing link detection unit 13 matches the intersection node N ₅ , or N in the node row of the guidance route memory 18.
₆ determines whether there is a match since, determines whether passing through the intersection CP ₂ (step 210). NO here
So, subsequently, the distance calculation unit 24 calculates the distance from the vehicle position to the intersection CP ₂ (step 211). Here, it is assumed that it is 98 m.

Next, based on the distance information (98 m) newly input from the distance calculation unit 24, the intersection guidance control unit 26 changes the character of the approach distance to the intersection on the screen to "98 m remaining" (step 212).

Next, since the distance to the intersection CP ₂ has passed the point of 100 m, the intersection guidance control unit 26 outputs a predetermined voice output command to the voice synthesizing unit 31 and outputs “100 m
Please make a right turn first "is output (steps 213 and 214). As a result, the driver can listen to the intersection traveling direction guidance voice, and even if he does not look at the screen,
It turns out that it is sufficient to turn right at the intersection CP ₂ at the point m.

After performing the processing in step 214, the navigation controller 10 returns to step 121 in FIG. 8 and inputs the next current position data from the vehicle position calculation CPU 5 to correct the current position and to change the map according to the change in the current position. Of the vehicle, rewriting of the vehicle position mark and the emphasis guidance route, detection of an existing link, and the like (steps 122 to 126).
Then, the flow shifts to the flow of FIG. 9. If the vehicle is on the guidance route, the traveling direction of the intersection is being guided, so the intersection passing determination is performed. If not, the distance from the vehicle position to the intersection CP ₂ is determined. Is calculated, for example, when the distance is 90 m, the approach distance character in the intersection traveling direction guidance image on the screen is changed to “90 m remaining”.

[0063] Hereinafter, in accordance with the vehicle position in the running of the vehicle in the same manner approaches the intersection CP _2, gradually changing the approach distance characters in intersection running direction guide image on the screen in real time. When the vehicle position passes through a point 50 m to the intersection CP _2, a voice output of “Please turn left at a distance of 50 m” is output.

[0064] The screen and sound according to the intersection direction of travel guide, the driver can turn accurately and reliably, in the direction along the guide route at the intersection CP ₂ according to the second node when viewed from the starting point. Hereinafter, the same processing is repeated up to near the destination.

[0065] the vehicle position to come close to the destination, when the intersection node N _x of the intersection CP _X is extracted in step 203 in FIG. 9, the judgment unit 21 determines YES in step 216. At this time, the second extracting unit 22 refers to the map data and refers to all the other nodes (intersection constituent nodes) N _X−1 , _Ne , N _f ,
Node N closest to pseudo destination O 'from N _{X + 1
X + 1} is extracted as an escape node, and a node N _X−1 that matches a node in the node sequence stored in the guidance route memory 18
(The node immediately before the intersection node N _X ) is extracted as the entry node (step 218, see FIG. 11).

Therefore, the traveling direction calculation unit 23 determines that the intersection CP
The direction should travel in the _X calculates the distance to the distance calculation unit 24 along the guidance route from the vehicle position to the intersection CP _X calculated, intersection node N _X, the traveling direction information, intersection guidance entered distance information Since the control unit 26 can perform the combined display control of the intersection traveling direction guidance image related to the intersection CP _X and can also perform the traveling direction guidance voice output control, the driver can accurately and reliably perform the operation immediately before the destination. It is possible to turn in the direction along the guidance route at the intersection CP _X relating to the node. Wakashi, even if trying to extract the reference to escape node by the second extracting section 22 is simply derived storage memory 18, since the pseudo destination data OD is not a node, it can not extract, traveling at the intersection CP _X Direction guidance is disabled.

[0067] Incidentally, for example, in a state where the intersection running direction guide image regarding intersections CP ₁ screen is displayed, when thus straight accidentally intersections CP ₁ to be left the driver, in the existing link detecting section 13 When the detected front node becomes the node N _g and the rear node becomes the node N _b ,
The collation unit 19 determines that the vehicle has deviated from the guidance route in step 201 of FIG. At this time, the intersection guidance control unit 26
Has displayed the proposed intersection traveling direction image so far, and gives a combining stop command to the combining unit 29 to erase the proposed intersection traveling direction image (steps 219 and 220). As a result, the driver can see that the vehicle has deviated from the guidance route,
Appropriate measures such as U-turn can be taken. afterwards,
When the vehicle returns to the guidance route, the intersection traveling direction guidance is resumed in the same manner as described above (steps 201 to 20).
8) The driver knows that the vehicle has returned on the guidance route, and can drive to the destination along the guidance route if the driver follows the guidance.

In the above-described embodiment, the pseudo departure place data and the pseudo destination data are stored in the guidance route memory. However, the departure place data and destination set and registered by the departure place / destination setting unit are stored. The ground data may be stored as it is, and the driving direction guidance voice is output by one speaker. However, two left and right speakers are provided, and when guiding a left turn, the guidance voice is output from the left speaker. The guidance sound may be output from the right speaker when outputting the right turn guidance, and the guidance sound may be output from both the left and right speakers when guiding straight ahead.

In the intersection traveling direction guidance image, either one of the traveling direction arrow pattern and the traveling direction character may be displayed, and further, the intersection traveling direction guidance image and the intersection traveling direction guidance voice may be displayed. Alternatively, guidance may be provided by only one of them.

The map matching by the current position correction unit is not limited to the projection method, and may be performed by another method such as pattern matching.

[0071]

According to one aspect of the present invention, based on the vehicle position information, the node sequence of the guidance route storage means or the node sequence of the guidance route storage means and the map data of the map data storage means are referred to. Extracting the intersection node existing closest to the vehicle position in the vehicle traveling direction on the guidance route, comparing the extracted intersection node with the node sequence of the guidance route storage means, If the intersection node is the next node of the departure point on the guidance route, the intersection node is located closest to the departure point on the extension of the guidance route with reference to the map data in the map data storage means. The node is set as an entry node for the intersection node, and a node next to the intersection node on the guidance route is extracted as an exit node for the intersection node on the guidance route with reference to the node sequence in the guidance route storage means. When the intersection node is not the next node of the departure point on the guidance route, the node before and one after the intersection node on the guidance route are referred to by referring to the node sequence of the guidance route storage means. It is configured to extract the entry node and the exit node with respect to the intersection node, obtain the direction to travel at the intersection from the extracted positional relationship between the intersection node, the entry node, and the exit node, and perform predetermined intersection traveling direction guidance. The driver can then determine which direction to drive at the next intersection on the guidance route,
It can be easily grasped, and in particular, even when the next node of the departure point is an intersection, it is possible to surely grasp in which direction to travel at the intersection.

Further, according to another aspect of the present invention, a node sequence of the guidance route storage means, or
With reference to the node sequence in the guidance route storage means and the map data in the map data storage means, extract the intersection node that is closest to the vehicle position when viewed in the vehicle traveling direction on the guidance route,
The extracted intersection node is compared with the node sequence in the guidance route storage means to determine whether it is the node immediately before the destination on the guidance route, and when the intersection node is the node immediately before the destination on the guidance route. By referring to the map data in the map data storage means, the node existing closest to the destination on the extension of the guidance route is set as an escape node for the intersection node, and by referring to the node sequence in the guidance route storage means, A node immediately before the intersection node on the guidance route is extracted as an entry node for the intersection node, and when the intersection node is not the node immediately before the destination on the guidance route, a node sequence of the guidance route storage means , The node before and after the intersection node on the guidance route is extracted as an entry node and an exit node with respect to the intersection node, respectively, and each extracted intersection is extracted. From the positional relationship between the node, the entry node, and the exit node, the direction to travel at the intersection is determined, and the system is configured to provide a predetermined intersection traveling direction guidance, so that the driver can find the next intersection on the guidance route. It is easy to know in which direction to travel, especially if the node immediately before the destination is an intersection, and to know in which direction to travel in the intersection. Can be.

[Brief description of the drawings]

FIG. 1 is a main block diagram of an in-vehicle navigator according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a configuration of data stored in a guidance route memory of FIG. 1;

FIG. 3 is an explanatory diagram of pseudo departure place data stored in a guidance route memory of FIG. 1;

FIG. 4 is an explanatory diagram of pseudo destination data stored in the guidance route memory of FIG. 1;

FIG. 5 is an explanatory diagram of an approach node extraction method by a second extraction unit in FIG. 1;

FIG. 6 is an explanatory diagram of an escape node extraction method by a second extraction unit in FIG. 1;

FIG. 7 is an explanatory diagram illustrating an operation of a traveling direction calculation unit in FIG. 1;

FIG. 8 is a flowchart showing the operation of the navigation controller of FIG. 1;

FIG. 9 is a flowchart showing an operation of the navigation controller of FIG. 1;

FIG. 10 is an explanatory diagram illustrating an intersection guidance operation by the navigation controller of FIG. 1;

FIG. 11 is an explanatory diagram illustrating an intersection guidance operation by the navigation controller of FIG. 1;

FIG. 12 is an explanatory diagram showing a screen display example of the CRT display device of FIG. 1;

FIG. 13 is an explanatory diagram showing a configuration of road data in map data.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 CD-ROM 3 Orientation sensor 4 Distance sensor 5 CPU for vehicle position calculation 6 CRT display device 10 Navigation controller 13 Existing link detection unit 15 Map drawing control unit 17 Guidance route search unit 18 Guidance route memory 20 First extraction unit 21 Determination unit Reference Signs List 22 second extraction unit 23 traveling direction calculation unit 26 intersection guidance control unit 28 second V-RAM 31 voice synthesis unit 32 amplifier 33 speaker

Claims (2)

(57) [Claims] 1. A map data storage means for storing map data, and guidance for obtaining a node sequence constituting an optimal guidance route from a departure place to a destination with reference to the map data stored in the map data storage means. Route search means; guidance route storage means for storing a node sequence constituting the guidance route obtained by the guidance route search means together with the starting departure data and the final destination data; and detecting the current position of the vehicle. A vehicle-position detecting means for displaying a map image around the vehicle position on the display means together with the vehicle position mark using the map data stored in the map data storage means, and a node sequence stored in the guidance route storage means In the in-vehicle navigator that provides a predetermined route guidance using a vehicle, based on the vehicle position information, a node sequence of the guidance route storage unit or a node First extraction means for extracting an intersection node that is closest to the vehicle position when viewed in the vehicle traveling direction on the guidance route with reference to the column and the map data in the map data storage means; A discriminating means for comparing with the node sequence of the guidance route storage means to determine whether it is the next node of the departure place on the guidance route; and when the intersection node is the next node of the departure place on the guidance route, the map data storage means With reference to the map data, the node that is closest to the departure point on the extension of the guidance route is set as the entry node for the intersection node, and by referring to the node sequence of the guidance route storage means,
Extracting the next node of the intersection node on the guidance route as an escape node for the intersection node, and when the intersection node is not the next node of the departure point on the guidance route,
With reference to the node sequence in the guidance route storage means, the nodes one before and one after the intersection node on the guidance route are respectively
A second extraction unit that extracts the entry node and the exit node with respect to the intersection node, and travels at the intersection based on the positional relationship between the intersection node, the entry node, and the exit node extracted by the first extraction unit and the second extraction unit. An in-vehicle navigator comprising: a traveling direction calculating means for obtaining a power direction; and an intersection traveling direction guiding means for performing a predetermined intersection traveling direction guidance based on the traveling direction obtained by the traveling direction calculating means. 2. A map data storing means for storing map data, and a guidance for obtaining a node sequence constituting an optimal guidance route from a departure place to a destination with reference to the map data stored in the map data storage means. Route search means; guidance route storage means for storing a node sequence constituting the guidance route obtained by the guidance route search means together with the starting departure data and the final destination data; and detecting the current position of the vehicle. A vehicle-position detecting means for displaying a map image around the vehicle position on the display means together with the vehicle position mark using the map data stored in the map data storage means, and a node sequence stored in the guidance route storage means In the in-vehicle navigator that provides a predetermined route guidance using a vehicle, based on the vehicle position information, a node sequence of the guidance route storage unit or a node First extraction means for extracting an intersection node that is closest to the vehicle position when viewed in the vehicle traveling direction on the guidance route with reference to the column and the map data in the map data storage means; A discriminating unit that compares the node with the node sequence in the guidance route storage unit to determine whether the node is located immediately before the destination on the guidance route; Referring to the map data in the data storage means, a node existing closest to the destination on the extension of the guidance route is set as an escape node for the intersection node. Above, the node immediately before the intersection node is extracted as an entry node for the intersection node, and when the intersection node is not the node immediately before the destination on the guidance route, the guidance route storage means A second extraction means for extracting a node one before and one after the intersection node on the guidance route as an entry node and an exit node with respect to the intersection node with reference to the code sequence, Means for calculating a direction to travel at the intersection from the positional relationship between the intersection node, the entry node, and the exit node extracted by the means and the second extraction means; and a traveling direction obtained by the traveling direction calculation means. An on-board navigator for providing a predetermined intersection traveling direction guidance.