JP3149118B2 - Car navigation system - 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 navigation system for receiving road data transmitted from a beacon antenna installed along a road and transmitting current position data and route data of a vehicle to a driver.

[0002]

2. Description of the Related Art A conventional vehicle navigation system of this type is disclosed in Japanese Patent Application Laid-Open Nos. 63-231477 and 63-254600.

[0003] The former publication discloses a technique for superimposing and displaying traffic data on map data. Further, the latter publication discloses a technique of storing map data, performing route setting by using the map data, and generating a specific signal when a route set by a map is different from current position data. . The technologies described in both publications receive road data frequently, modify existing map data, and notify the driver of the correction.

[0004]

The technology described in both publications stores detailed road data in a storage means and outputs the data to a display means, and uses a large amount of map data. Therefore, the in-vehicle navigation device becomes expensive. The technique disclosed in Japanese Patent Application Laid-Open No. 63-254600 is to output the map information set in advance and the current position information when they differ from each other. Since the determination of route departure is made, the time lag increases on a road with few intersections even if the route actually deviates from the route, and in many cases, even if the route departure becomes clear at the intersection, it cannot be dealt with.

In addition, Japanese Patent Application Laid-Open No. 62-142216 and Japanese Patent Application Laid-Open No. 1-277716 also disclose a route based on data on the direction of intersections of vehicles. Therefore, since the vehicle can be determined to leave the route only at the intersection, the time lag increases on a road with a small number of intersections even if the vehicle actually deviates from the route.

Accordingly, an object of the present invention is to provide an inexpensive in-vehicle navigation device which can determine a departure from a route other than at an intersection and reduces the time lag between the occurrence of the departure and the time of the determination. is there.

[0007]

According to the present invention, there is provided an on-vehicle navigation device comprising: a storage device for storing map data; an input device for inputting a destination corresponding to the map data stored in the storage device; A position detection device that measures the position of the vehicle, performs a route search using the destination by the input device, and based on the route search data and the current position of the vehicle as a result of the route search, the traveling direction at the main intersection and up to the intersection. The route guidance is performed using the distance between the vehicle and the straight-line distance between the current position of the vehicle and the next target intersection based on the route search data, and the travel distance from the previous target intersection to the next target intersection based on the route search data. The running distance to the current position of the vehicle is subtracted, and the actual running distance is compared with the actual remaining running distance obtained by adding the allowable distance error within an allowable range that is not determined to be the route departure. It is an route disengaged when larger than actual remaining distance.

[0008]

According to the present invention, a route search is performed using the destination of the input device, and the traveling direction at the main intersection and the distance to the intersection are obtained based on the route search data obtained as a result of the route search and the current position of the vehicle. Provides route guidance. On this occasion,
Distance tolerance ± d, which is an allowable range that is not determined to be route departure
(However, the sign + indicates an error of the positive characteristic, and-indicates an error of the negative characteristic, but the characteristic of d is specified for convenience of explanation), and an absolute position sensor using GPS is calculated. Calculates the straight-line distance G between the current position of the vehicle obtained by one or more of the mileage sensors and beacons and the next target intersection in the route search data, and the distance X to the next target intersection in the route search data. Is added to the remaining travel distance XY obtained by subtracting the travel distance Y from the actual travel distance L =
X−Y + (± d) is obtained, the straight-line distance G is compared with the actual running remaining distance L, and when the straight-line distance G is larger than the actual running remaining distance L, the route is departed.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An on-vehicle navigation device according to an embodiment of the present invention will be described below.

FIG. 1 is an overall configuration diagram of an on-vehicle navigation device according to an embodiment of the present invention.

In FIG. 1, a position detecting device 1 includes a beacon receiver for receiving road data from a sign post installed on a road, a traveling distance sensor 8 for detecting a traveling distance of a vehicle, and a positioning device such as a GPS. It obtains the output of an absolute position sensor 7 that measures the position of the vehicle using an artificial satellite. The display device 2 is capable of displaying characters and simple figures, and includes an LCD, a CRT, or the like. The input device 4 includes a keyboard and various dedicated keys for setting destinations, initial settings, and the like. The storage device 5 includes a drive device such as a floppy disk, a memory card, a CD, and an MD, and a simple map database (D / B) stored therein.
The control device 3 includes a CPU, a ROM, a RAM, and the like.
Using the position data from the position detecting device 1, the set value data from the input device 4, and the map data from the storage device 5, R
Program control is performed by a predetermined program stored in the OM, and various contents are displayed on the display device 2.

FIG. 2 is a functional block diagram for explaining the overall functions of the on-vehicle navigation device according to the embodiment of the present invention shown in FIG.

In FIG. 2, a setting cursor is moved by using the keys of the input device 4 from the place names displayed on the display device 2 by the position setting means 12, and a desired point is selected. The place names displayed on the display device 2 are stored in the simple map data 11 together with the position data. The point to be selected can be set not only the destination name but also a passing point on the way. In the route setting means 13, when the position setting means 12 selects at least the departure place and the destination, or when the first beacon 6 is obtained and the destination is selected and set at that time, the simple map The route between the two points is searched using the data 11. The search result is stored as route data 15. When the route data 15 has already been obtained, the route guidance unit 14
The route of the route data 15 is guided using the obtained position data. When the route data 15 is not obtained because the departure place is not input, and the destination is selected and set, if the position data is obtained from the beacon 6, the obtained position is set as the departure place. The route setting means 13 is instructed to search for a route to the destination. If the route data 15 is obtained, route guidance is executed.

In the case where a route departure has occurred, if position data is first obtained from the beacon 6, a search for a route to the destination is performed using the obtained position as a departure point.
To order. If a new route is obtained, route guidance is executed based on the new route.

FIG. 3 is a view for explaining the format of node data stored as simple map data in the on-vehicle navigation device according to one embodiment of the present invention, and FIG. 4 is a view for explaining the format of link data also stored as simple map data. FIG. 5 and FIG. 5 are explanatory diagrams of the format of cost data similarly stored as simple map data.

The node data sequence shown in FIG. 3A includes major intersections nationwide, and numbers (0 to N) in the order of data arrangement.
Is a collection of node data to which is added. As shown in the node data of FIG. 3B, the data of each node (N) includes an X coordinate and a Y coordinate for specifying a position on the map, a minimum number of a link connected thereto, and an intersection as intersection name data. Character data such as names, and type data such as altitude, stop, ferry landing, etc. are stored as node attributes.

Further, the link data string in FIG.
The road between the nodes (A, B) is named a link (n) as each link. The data for each link (n)
As shown in the link data of FIG. 4B, of the node number of the node A, the node number of the node B, and the link connected to the node A, the link number of the next link in the clockwise direction is connected to the node B. Of the next link, the link number of the next link in the clockwise direction, the traveling distance [m] between the nodes A and B, the traveling time [sec] between the nodes A and B, and connection to the nodes A and B Each road name data (National highway number line or character data of commonly used name)
Is stored. In addition, various regulations such as traffic regulation when proceeding from the link to the node A or the node B, link direction data of each road connected to the nodes A and B, cost calculation of each of the nodes A and B Intersection cost data number to be used for node A and node B
, A beacon number when entering this link from each of the above, a link type of a road directly connected to each of the nodes A and B, and a link attribute for writing data such as a road type are stored.

The intersection passage cost data sequence shown in FIG. 5A is a list of costs used for calculating costs at major intersections nationwide for each intersection. The intersection passing cost data of each intersection (M) is calculated based on the section distance and the traveling time. Specifically, the passing distance [m] to each link (n) connected to each intersection and the link (n) The transit time [seconds] to is stored.

FIG. 6 is an explanatory diagram in the case of selecting a route at an intersection using node data and link data.

When it is desired to know the link connected to the intersection of the node (30), the data of the node (30) in FIG. 3A is read. As a result, the position (X coordinate, Y coordinate) on the map, the minimum number of the link connected thereto, the intersection name data, and the node attribute are obtained. Here, L11 is obtained as the minimum link number. Next, referring to the data of the link (L11) having the minimum link number, the node (21) is stored as the node A, and the node (30) is stored as the node B. That is, when it is desired to know the data on the node (30) from the data in the link (L11), it is understood that the node B should be referred to. Referring to the node B side of the next connection link number of the link (L11), the next clockwise link number (L12) connected to the node (30) is obtained. Similarly, the data of the next link (L12) includes:
The link (L13) is selected as the next connection link number in the clockwise direction, the link (L14) is selected for the data of the link (L13), and the data of the link (L14) is set to the next. Link number (L11)
Is selected, and as a result, it can be determined that the link (L11), the link (L12), the link (L13), and the link (L14) are connected to the node (30) in the clockwise direction.

That is, when the node (N) is specified, a plurality of links (n) connected to it are called one after another from the smallest link number in the clockwise order. All roads connected to (N) are known.

As the restriction data, the maximum number of connection links per node is eight, which is represented by one byte (= 8 bits). That is, in this embodiment, the intersection (road) of eight roads is set to the maximum.

In the present embodiment, as follows:
Each bit of one byte b7 (MSB), b6, b5, b4, b3, b2, b1, b0
For (LSB), b0: U-turn prohibition within the node on the current link b1; No traffic from link to first link b2; No traffic from link to second link b3; Third from link No traffic to the link b4; No traffic from the link to the fourth link b5; No traffic to the fifth link b6; No traffic from the link to the sixth link b7; No link to the seventh link It has been assigned a ban on traffic. Here, the first, second,... Are the connection order in the link data, and each bit is set to “1” if traffic is prohibited and “0” if traffic is allowed.
Therefore, at the intersection of the usual four roads, the fifth to seventh intersections
Becomes unnecessary, and “1” is set.

More specifically, in FIG. 6, the link (L11) is changed from the node (21) to the node (3).
It is assumed that the beacon 6 of the node (30) is received while traveling in the direction 0). At this time, bit b0 indicates whether there is a U-turn prohibition restriction in the node on the current link (L11), bit b1 indicates whether there is restriction from the link (L11) to the first link (L12), and bit b2 is Link (L1
The bit b3 is used to determine whether there is a restriction from 1) to the second link (L13). The bit b3 is the third link (L14) from the link (L11).
The presence / absence of the restriction is expressed by one byte.

Next, the use of the intersection passing cost data will be described.

FIG. 7 is an explanatory diagram showing an example of an intersection when an intersection route is selected using the intersection passing cost data. FIG. 8 is a diagram showing node data and link data of the intersection route selection in FIG. FIG. 9 is an explanatory diagram when the route selection at the intersection in FIG. 7 is performed using the intersection passing cost data.

First, as shown in FIG. 7, there is an interchange between two highways H1 and H2 which are overpassing each other, and the connection between the highways H1 and H2 is established.

As shown in FIG. 7, two highways H1,
FIG. 8 shows a case in which the navigation of the H2 interchange is performed using the node data and the link data. That is, if the interchange is represented by node data, only the nodes (31) to (38) and the nodes (51) to (66) are required.
If link data is added to this, the amount of data processed at the interchange is too large, and when searching for a route, using node data or link data will result in a sufficient route search due to the relationship between the processing time and the traveling speed of the vehicle. There is a possibility that it will not be done.

Therefore, a route search for an interchange on the two highways H1 and H2 is performed using the intersection passing cost data as follows.

FIG. 8 shows the interchange shown in FIG. 7 using link data and node data. Since the shape is also to be expressed, the number of data is large.
However, in the intersection passing cost data, data necessary for the route search is provided instead in relation to the entry and the exit of the intersection.

For example, from the node (31) to the node (3
When proceeding to 4), node (65), node (6)
4), node (63), node (60), node (5
9), node (58), node (57), node (5
Reach via 6). In this case, the cost including the time and the distance from the node (65) to the node (56) is provided as the cost data of the link (L21). Similarly, in the cost data of the link (L21), the cost from the node (31) to the node (37) is from the node (65) to the node (51), and the cost from the node (31) to the node (36) is the node (65). ) To the node (66).
The node (31) does not have cost data for nodes that cannot pass.

That is, it is regarded as an intersection where eight roads, which are interchanges of two highways H1 and H2, which cross over each other in this embodiment, intersect, and the passing distance and the passing time of the assumed intersection. The figure shows the load applied to each link.

FIG. 10 is an explanatory diagram of this embodiment in setting a point. 11 and 12 are explanatory diagrams of a conventional case.

As a specific example, a case where the vehicle travels from Tanimachi Interchange (IC) through a loop line to the Shiba Park exit will be described.

First, it is assumed that a loop line is selected from Tanimachi IC and the Shiba Park exit is set as a destination. As a route of the loop line, there is a route to select the inside of the loop line and a route to select the outside of the loop line.

For example, when it is desired to set the Tanimachi interchange as the departure point and the Shiba Park exit as the destination, FIG.
As shown in (2), when the "outside turf park exit" of the loop line is set by the pointer, only the outer circumference route is obviously selected. In this case, if the outer circumference is closed, the inner route will not be selected and there will be no route to reach the Shiba Park exit. Conversely, as shown in FIG. There is a similar problem when setting in.

However, in the present embodiment, the "outside turf park exit" and the "inside turf park exit" as destinations are referred to as "shiba park exit" having the same place name as a superordinate concept, and are captured by a pointer. If there is more than one node data or link data at the place name "Shiba-koen Exit", multiple nodes are set, the route search is performed multiple times, and the one with the lowest cost is selected. The inconvenience is resolved.

Next, the overall system control of the vehicle-mounted navigation device according to the embodiment of the present invention will be described.

FIG. 13 is a flowchart of a main routine of the on-vehicle navigation device according to one embodiment of the present invention.

In step S1, a memory and an output terminal used for system control of the on-vehicle navigation device of the present embodiment are initialized, and in step S2, a "setting process" routine of the input performed by the input device 4 is called. In step S3, the data transmitted by the beacon 6 is classified by type. If the data is newer than the previous data, the data is stored in a predetermined memory.
A "guidance process" routine is called to perform route guidance using the data of step S3 and the data of step S3, and these are output to the display device 2 in step S6.

That is, in this main routine, the data sent by the beacon 6 is analyzed in response to the input from the input device 4, stored in a predetermined memory, and the route search data and the beacon 6 These are displayed on the display device 2 in order to provide route guidance using the road data.

FIG. 14 is a flowchart showing details of the "setting process" routine of FIG. In step S11, it is determined which setting process is selected, and in step S12
Performs a data display selection process for selecting which of the data transmitted from the beacon 6 is to be displayed. In step S13, a display timing for selecting when to display the selected data is set. In step S14, a route setting process for setting a departure place and a destination and designating a route to the destination is performed.

That is, in this routine, in response to the input from the input device 4, data display selection processing for selecting which of the data transmitted from the beacon 6 is to be displayed,
Set display timings, set origins and destinations,
A route setting process for designating a route to the destination is performed.

FIG. 15 is a flowchart showing details of the "route setting process" routine of FIG.

In step S31, an intersection selection setting process for setting and inputting a point such as an intersection as a departure place, a passing place, and a destination is performed. In step S32, it is determined whether a departure place, a destination, and the like have been input. If input has been completed, a search flag is set (turned on) in step S33, and if not input, the search flag is lowered in step S34 (set to OFF). Do). At step S35, it is determined whether or not the search flag is set. If at least the departure place and the destination are already input, a route search is performed at step S36, and the route data of the selected route is set in a specified memory. Perform processing.

That is, in this routine, a departure place, a transit place, and a destination are set and input. If the departure place, the destination, etc. have already been input, a search flag is set immediately, and a route search is performed. The route data of the selected route is set in a specified memory.

FIG. 16 is a flowchart showing details of the "route search process" routine of FIG.

In step S41, it is determined whether the specific destination input from the input device 4 is a plurality of set points such as a circular line. If not, a single route search is performed in step S47. Is performed, and step S48 is performed.
When the searched route is accepted, it is inputted from the input device 4 to determine the searched route, and the searched route data is stored in step S46.

In step S41, the specific destination is
When it is determined that a plurality of points are set, such as a loop line, a plurality of route searches are performed in step S42, a route with the lowest cost is selected from the routes searched in step S43, and a route is selected in step S44. The displayed minimum cost route is displayed, and when the route searched in step S45 is accepted, the route is input from the input device 4 and the process proceeds to step S4.
At step 6, search route data is stored. If the minimum cost route is selected but is not accepted in step S45, the route having the higher cost is sequentially displayed.

The operation of step S45 and step S48 of this embodiment for confirming that the route has been selected can be omitted, and the minimum cost route can be automatically selected.

That is, in this routine, when a specific destination is a plurality of set points such as a circular line, a plurality of route searches are performed, and a route with the lowest cost is selected from the searched routes. When a plurality of points are not set, a single route search is performed to determine a search route, and the search route data is stored.

FIG. 17 is a flowchart showing details of the "guidance process" routine of FIG. In step S51, it is determined whether or not the vehicle is currently in the guidance mode, or whether or not the vehicle is waiting for guidance. If the vehicle is not in the guidance mode, this routine is immediately exited. If the departure place is not input and the apparatus is in the guidance waiting mode, the routine exits from this routine in step S55 even when the beacon data is not updated. When the beacon data is updated in step S55, the "intersection with beacon" routine is called in step S56, and the routine exits. When the mode is already in the guidance mode, it is determined whether or not the beacon data has been updated in step S52. When the beacon data has been updated, the "intersection process with beacon" routine is called in step S53. If the beacon data has not been updated, the "intersection process without beacon" routine is called in step S54, and the routine exits.

That is, in this routine, the current mode of the system is determined, and a process corresponding to the mode is led.

FIG. 18 is a flow chart showing details of the "intersection with beacon" routine of FIG.

The beacon 6 at the target intersection is determined based on the route search data selected at step S61. If the beacon 6 at the target intersection is determined, the target intersection is updated at step S62, and the beacon 6 is updated at step S63. The guidance data is set so that the guidance data such as the traveling direction at the intersection indicated by the instruction number 6 and the name of the road on which the vehicle travels is displayed on the display device 2, and the data transmitted by the beacon 6 in step S64 is used to reach the next intersection. Is corrected, and the guidance mode is set to guidance during guidance in step S65.

If the beacon 6 is not determined to be the target intersection based on the route search data selected in step S61, it is determined in step S66 whether the beacon 6 is a beacon 6 on the national beacon list. ,
If the beacon 6 is not on the national beacon list, it exits this routine, assuming that it is a beacon 6 due to noise or malfunction.

If it is determined in step S66 that the beacon 6 is a beacon 6 on the national beacon list, the current beacon 6 is set as the departure place in step S67, and the same route search as step S36 is performed in step S68. The processing is performed, and steps S64 and S6
In step 5, the remaining distance to the next intersection is corrected using the data transmitted by the beacon 6, and the guidance mode is set during guidance.

That is, in this routine, it is determined whether the beacon 6 is at the target intersection based on the route search data, and when the beacon 6 is determined as the target intersection, the subsequent target intersection is updated, and the traveling direction and traveling at the intersection are performed. To display the guidance data such as the road name to be displayed on the display device 2;
The remaining distance to the next intersection is corrected using the data transmitted by the beacon 6. When the beacon 6 is not determined to be the beacon 6 at the target intersection based on the selected route search data, it is determined whether the beacon 6 is on the beacon list nationwide and is not on the beacon list nationwide. At this time, it is determined that it is the beacon 6 due to noise or a failure, and the routine exits. However, when it is determined that the beacon 6 is a beacon 6 on the national beacon list, since the route has been departed, the current beacon 6 is reset as a departure place, and a route search to the destination is performed again. Is performed, the remaining distance to the next intersection is corrected using the data transmitted by the beacon 6, and the guidance mode is set during guidance.

Further, even if the setting of the departure place is not manually set, the beacon position is set as the departure place by receiving the first beacon 6 in step S55, and the input device 4
Since the route search including the routine from step S66 to step S68 is performed between the destination and the destination input, the trouble of inputting the departure place is eliminated. In particular, on a regular drive trip, the starting point is near your home,
Since the geography is well known, there is no need to receive navigation even after inputting the departure place. If the beacon 6 can be received at home, the user can immediately start the route search.

FIG. 19 is a flowchart showing details of the "intersection process without beacon" routine of FIG.

In step S71, in order to determine whether or not the current running has departed from the route of the search data, first, the output of the absolute position sensor 7 that has measured the vehicle position using the GPS as a positioning satellite is used. It is determined from the environment state or the positioning state whether or not it is valid. If it is valid, the "route departure determination process" routine is called in step S72, and the "route departure determination process" routine is determined in step S73. It is determined whether the route leaving flag is set. When it is determined in step S73 that the route leaving flag is set, in step S79, the guidance mode is set to the guidance standby.

When the route leaving flag is not set in step S73, when it is determined in step S71 that the GPS current position data is not valid, in step S74, it is determined whether the distance to the target intersection is within a predetermined distance. . In this embodiment, this distance is 1 [km]. When the distance to the target intersection is not within the predetermined distance in step S74, the routine exits from the opportunity to receive the next beacon 6 and the possibility of easily detecting valid GPS current position data. .

When it is determined in step S74 that the distance to the target intersection is within a predetermined distance, step S75
It is determined whether or not the target intersection has the beacon 6. When the beacon 6 is present, it is determined in step S 76 whether or not the vehicle has passed the intersection with the beacon 6 for a predetermined distance or more, in this embodiment, 150 [m] or more. When the vehicle has passed through an intersection at a predetermined distance or more, a guidance mode is set to standby for guidance in step S79 as a route departure. When the vehicle has not passed through the intersection with the beacon 6 for a predetermined distance or more, the routine exits without determining that the route has left.

In step S75, the target intersection is the beacon 6
When it is determined that there is no guidance intersection, guidance data is set in step S77 to display guidance data such as the traveling direction at the intersection and the name of the road on which the vehicle is traveling on the display device 2, and the subsequent target intersection is updated in step S78. That is, in this routine,
Output of absolute position sensor 7 and / or mileage sensor 8 for positioning the current position of the vehicle using a positioning satellite.
Use the output of to determine the difference from the route search data,
When the route is departed, the guide mode is set to the guidance standby, and when the vehicle enters the intersection where the beacon 6 is located, the route search process is started again. When the degree of the route departure is small, the error range in the measurement and Since there is a possibility of one-way alternating traffic due to road construction, continuous processing is performed assuming normal operation.

FIG. 20 is a flowchart showing details of the "route departure determination process" routine of FIG. 19, and FIG. 21 is an explanatory diagram for explaining the route departure determination process of FIG.

In step S81, the distance tolerance ± d, which is an allowable range in which it is not determined that the route has departed, (the sign + indicates an error in the positive characteristic, and the sign-indicates an error in the negative characteristic. d) is calculated. The distance allowable error ± d is, for example, the position error of the absolute position sensor 7 and / or the error of the mileage sensor 8 (5 km of the mileage) for positioning the vehicle using a positioning satellite.
%). GPS in step S82
, The straight distance G between the current position at the absolute position sensor 7 and the target intersection is calculated, and the travel distance Y at the travel distance sensor 8 is subtracted from the distance X to the next intersection of the set route in step S83. The remaining travel distance XY is calculated, and the allowable distance ± d is added to the remaining travel distance XY. This is assumed to be the actual running remaining distance L = X−Y + (± d). In step S84, the straight distance G and the actual running distance L are compared. When the linear distance G is larger than the actual running remaining distance L,
In step S85, “+1” is incremented to the number Ng of route departures, and it is determined in step S86 whether the number Ng of route departures is equal to or more than a predetermined threshold. In the present embodiment, the predetermined threshold is set to 50 times or more. When it is determined that the number Ng of route departures is equal to or greater than the predetermined threshold, the number of route departures is cleared in step S87, a route departure flag is set in step S88, and the routine exits.

When the straight line distance G is not greater than the actual running remaining distance L in step S84, and when it is determined in step S86 that the number Ng of route departures is not greater than or equal to a predetermined threshold value,
Exit this routine.

That is, in this routine, the distance permissible error ± d, which is the permissible range in which it is not determined that the route has departed, is calculated, and GP
The linear distance G between the current position obtained by the absolute position sensor 7 and / or the travel distance sensor 8 using S and the target intersection is calculated, and the travel distance X to the next intersection in the route search data is calculated from the travel distance X to the travel distance Y. Is calculated, and the allowable distance ± d is added to the remaining travel distance XY. This is set as the actual remaining travel distance L = X−Y ± d, the straight-line distance G is compared with the actual remaining travel distance L, and when the straight-line distance G is greater than the actual remaining travel distance L, the route is departed. In order to enhance the performance, the number of route departures is counted, and when it is determined that the number of route departures is equal to or more than a predetermined number, a route departure flag is set to determine the route departure.

As described above, the on-vehicle navigation device according to the present embodiment has the storage device 5 storing the simple map data whose main data is the distance between intersections of the main road network and the connection data at the intersections, and the storage device 5. One of the input device 4 for inputting a destination corresponding to the simplified map data obtained, and the output of the travel distance sensor 8 of the vehicle and the output of the absolute position sensor 7 for positioning the vehicle position using a positioning satellite. With the above, the position detection device 1 using the road data obtained by the beacon reception, the simple map data stored in the storage device 5, the route search data corresponding to the destination, and the route guidance based on the road data received by the beacon are displayed. A display device 2 for performing a route search using a destination corresponding to the simple map data of the input device 4 in a routine from step S2 to step S5; Based on the route search data obtained as a result of the route search and the current position of the vehicle, route guidance is performed using the traveling direction at the main intersection and the distance to the intersection, and a distance tolerance that is an allowable range in which the route is not determined to be departure in step S81. ± d is calculated, a straight-line distance G between the current position obtained by the absolute position sensor 7 and / or the travel distance sensor 8 using the GPS using the GPS and the target intersection is calculated in step S82, and the route search data is calculated in step S83. Remaining travel distance X- obtained by subtracting travel distance Y from travel distance X to the next intersection
Y is calculated, and the remaining travel distance XY is distance tolerance ± d.
Is added. This is taken as the actual running remaining distance L = X−Y ± d,
In step S84, the control device 3 is provided which compares the straight line distance G with the actual running remaining distance L and determines that the route has left when the straight distance G is larger than the actual running remaining distance L.

Therefore, the simplified map database stored in the storage device 5 is based on the distance between the intersections of the main road network and the connection data at the intersections as the main data, so that the data amount is much larger than the map data amount. The amount of data is small and can be stored in a semiconductor memory or a card memory, and the hardware becomes simpler and the data processing speed can be increased.

Even if the vehicle is traveling on any road, that is, if the vehicle is not at an intersection stored in the route search data, it is possible to determine the departure of the route. Due to the small number of roads, the time lag for determining the departure of the route becomes large, and there is no situation in which the subsequent measures are unreasonable.

In particular, when the current position of the vehicle is specified based on the output of the vehicle travel distance sensor 8 and the output of the absolute position sensor 7 that measures the vehicle position using a positioning satellite, there are errors in these. , It is calculated as a distance tolerance error ± d, which is an allowable range that is not determined as a route departure, and the route departure is determined using it. Therefore, even if the error varies, the route departure determination is corrected. Route determination, the determination of the route departure becomes more accurate. And the linear distance G
Is larger than the actual remaining distance L, the route is departed, the number of route departures is counted, and when it is determined that the number of route departures is equal to or more than a predetermined number, the route departure is determined. Reliability can be improved.

Further, a route search according to the destination is performed in advance, and the output of the traveling distance sensor 8 of the vehicle by the position detecting device 1 and the absolute position sensor 7 for positioning the vehicle position using a positioning satellite are used. Based on the output and the road data obtained by receiving the beacon 6, steps S71 to S7 are performed.
2. The current position of the vehicle is specified by the routine from step S81 to step S88, and when the route departure is determined based on the route search data and the current position of the vehicle as a result of the above route search, the route search is not immediately performed, and the next reception is performed. Based on the beacon 6 obtained, a route search is performed again in the routine from step S66 to step S68, and the route search is performed using the direction of travel at the main intersection and the distance to the intersection based on the route search data resulting from the route search and the current position of the vehicle. Since the guidance is provided, the output of the vehicle travel distance sensor 8 and the absolute position sensor 7 that measures the position of the vehicle using a positioning satellite are used.
The route search can be performed again in a state where an error does not enter as in the output of FIG. Therefore, when a route departure occurs, the route search can be performed at an accurate position, and since the result of the route search again contains no error, the error is repeated for the inherent route search data, and the route departure is performed. Is not determined.

By the way, the storage device 5 storing the simple map data whose main data is the distance between the intersections of the main road network and the connection data at the intersections in the above embodiment is the node data shown in FIG. 3 and the link data shown in FIG. 5 is stored, but the present invention is not limited to this when implementing the present invention. However, they can be standardized data.

The input device 4 for inputting the destination corresponding to the simple map data stored in the storage device 5 of the above embodiment is based on a keyboard, but is limited to "Hiragana" or "Alphabet" keys. Instead, the key may be a key for alternatively selecting scroll display on the display device 2.

Then, at least one of the output of the traveling distance sensor 8 of the vehicle of the above embodiment and the output of the absolute position sensor 7 for positioning the vehicle using the positioning artificial satellite, and the road data obtained by receiving the beacon. Position detecting device 1 using
Can be used as long as either the traveling distance sensor 8 of the vehicle or the absolute position sensor 7 that measures the position of the vehicle using the positioning artificial satellite can be used. Particularly, when reliability is increased, both can be set. However, it is expensive.

Further, the display device 2 for displaying the route guidance based on the simple map data stored in the storage device 5 of the above embodiment, the route search data corresponding to the destination, and the road data obtained by receiving the beacon is provided. , Or an LCD or CRT.

[0078]

As described above, the in-vehicle navigation device according to the present invention performs a route search using the destination input to the input device, and uses the route search data obtained as a result of the route search and the current vehicle position to obtain a main intersection. Route guidance is performed using the traveling direction and the distance to the intersection. During this time, the straight line distance between the current vehicle position and the next target intersection in the route search data, and the remaining travel distance obtained by subtracting the travel distance from the distance from the previous target intersection to the next target intersection in the route search data The actual travel distance is obtained by adding a distance allowable error that is an allowable range that is not determined to be a path departure, comparing the straight distance with the actual travel remaining distance. I do.

Therefore, even if the vehicle is traveling on any road, it is possible to determine the departure of the route. Even if the vehicle actually deviates from the route, the time lag for determining the departure of the route increases because the road has few intersections. Then, the situation in which the subsequent actions would be unreasonable is eliminated. In particular, even if there is an error in the current position of the vehicle, the path departure is determined as the allowable distance that does not judge the path departure as a distance allowable error, so even if the error varies, the path departure judgment is corrected. Therefore, the determination of the departure from the route becomes more accurate.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an on-vehicle navigation device according to an embodiment of the present invention.

FIG. 2 is a functional block diagram for explaining the overall functions of the on-vehicle navigation device according to the embodiment of the present invention shown in FIG. 1;

FIG. 3 is an explanatory diagram of a format of node data stored as simplified map data of the vehicle-mounted navigation device according to one embodiment of the present invention.

FIG. 4 is an explanatory diagram of a format of link data similarly stored as simple map data.

FIG. 5 is an explanatory diagram of a format of cost data similarly stored as simple map data.

FIG. 6 is an explanatory diagram of a case where an intersection route is selected using node data and link data.

FIG. 7 is an explanatory diagram showing an example of an intersection in a case where an intersection route is selected using intersection passing cost data of the vehicle-mounted navigation device according to the embodiment of the present invention;

FIG. 8 is an explanatory diagram in the case where the route selection at the intersection in FIG. 7 is performed using node data and link data.

FIG. 9 is an explanatory diagram in the case where the route selection of the intersection in FIG. 7 is performed using the intersection passing cost data.

FIG. 10 is an explanatory diagram showing an example of a case where a point selection setting is performed in the vehicle-mounted navigation device according to the embodiment of the present invention.

FIG. 11 is an explanatory diagram showing an example of a conventional technique for setting a point.

FIG. 12 is an explanatory diagram showing an example of a conventional technique for setting a point.

FIG. 13 is a flowchart of a main routine of the vehicle-mounted navigation device according to one embodiment of the present invention.

FIG. 14 is a flowchart showing details of a “setting process” routine in FIG. 13;

FIG. 15 is a flowchart illustrating details of a “route setting process” routine in FIG. 14;

FIG. 16 is a flowchart showing details of a “route search process” routine in FIG. 15;

FIG. 17 is a flowchart showing details of a “guidance process” routine of FIG. 13;

FIG. 18 is a flowchart showing details of the “intersection with beacon” routine of FIG. 16;

FIG. 19 is a flowchart showing details of the “intersection process without beacon” routine in FIG. 17;

FIG. 20 is a flowchart illustrating details of a “route departure determination process” routine in FIG. 19;

FIG. 21 is an explanatory diagram for explaining the route departure determination process in FIG. 20;

[Explanation of symbols]

 Reference Signs List 1 position detecting device 2 display device 3 control device 4 input device 5 storage device 6 beacon 7 absolute position sensor 8 mileage sensor

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazuhiko Sekino 2-1-1 Asahi-cho, Kariya-shi, Aichi Aisin Seiki Co., Ltd. (72) Keiji Katsura 2-1-1 Asahi-cho, Kariya-shi, Aichi Aisin Seiki (72) Inventor Yasuyuki Aoki 2-1-1 Asahi-cho, Kariya-shi, Aichi Prefecture Aisin Seiki Co., Ltd. (72) Inventor Hironobu Sugimoto 1-Toyota-cho, Toyota-shi, Aichi Prefecture Toyota Motor Corporation (72) Inventor Motohiro Nakamura 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Automobile Co., Ltd. 56) References JP-A-63-163210 (JP, A) JP-A-2-275307 (JP, A) JP-A-2-145912 (JP, A) Akira 61-216100 (JP, A) JP Akira 63-196812 (JP, A) (58 ) investigated the field (Int.Cl. ^7, DB name) G01C 21/00 G08G 1/0969 G09B 29/00 - 29 / 10 G01S 5/02

Claims (1)

(57) [Claims] A storage device storing map data; an input device for inputting a destination corresponding to the map data stored in the storage device; a position detection device for measuring a position of the vehicle; A route search is performed using the ground and route guidance is performed, and a straight line distance between the vehicle current position and the next target intersection based on the route search data, and from the target intersection before the route search data to the next target intersection. The travel distance is calculated by subtracting the travel distance to the current position of the vehicle from the travel distance of the vehicle and the actual travel distance obtained by adding the allowable distance error within an allowable range that is not determined as departure from the travel distance. A vehicle-mounted navigation device, comprising: a control device that leaves the route when the distance is longer than the actual remaining distance.