JP3269428B2 - Vehicle navigation device and its storage medium - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle navigation device and a storage medium for the same.

[0002]

2. Description of the Related Art Conventionally, techniques in such a field include (1) a route guidance method in a vehicle navigation system, in which a registration start key is pressed at a departure place on an outbound route and then a registration end key is pressed at a destination. Until the passing, the passing nodes of the vehicle are detected and stored in the memory in order, and the passing nodes are used in reverse order as the guide route data of the return route. For example, if there are two nodes stored on the outbound route, such as when detouring, when creating the return route, delete the overlapping passing nodes and do not depart on the return route from the destination on the outward route. A route to the departure point is created (for example, see Japanese Patent Application Laid-Open No. 7-320194).

(2) In a route search display device that displays the current position of a car or the like on a display device together with a map, and particularly searches for an outbound route and a return route to a destination and displays them on the display device, the destination is set. When a route search request is made, an outgoing route from the departure point to the destination is searched for and displayed on a map. Thereafter, the destination and the departure place are exchanged, and a return route search is performed. When the display instruction is given for this return path, the display is performed (for example, see Japanese Patent Application Laid-Open No. Hei 7-134796).

[0004]

However, according to the system disclosed as the prior art (1),
A passing node of the vehicle on the outbound route is registered, and on the return route, a readout route is created in the reverse order of the registered passing nodes on the outbound route, but, for example, it is possible to pass on an outbound route such as a one-way road. On the return route, there are some roads that are not allowed to pass, and it may not be possible to provide accurate guidance on the return route simply by reading the outward route in reverse order.

Further, when the user arrives at the destination set first, completes registration of a passing node on the outward route, moves around the destination without setting a route, and returns to the first departure point,
If you do not return to the registered route on your outbound route by yourself, you will not be able to receive guidance.

According to the system disclosed in the above (2), the destination on the outward route is set as the departure point on the return route, and the route on the return route is searched in advance with the departure location as the destination, and the result is stored. Keep it. As a result, after reaching the destination, route guidance can be performed without performing a return route search operation.

However, return is the departure point and the destination during the forward search to determine, it is also being predetermined, simply only searches for an optimum route by reversed start and end points, in particular outward It is not a search for a return route taking into account the route information. Therefore, when traveling out of the initial search route while traveling on the outbound route, re-searching automatically or from a point where the route deviation is recognized by the instruction of the user, and receiving guidance guidance on a new route, The new route is not considered at all on the return route.

[0008] For example, suppose that the user returns to the first place of departure after completing the destination for an unknown land.

On the return route (return route) from the destination, it is easier to travel on the same road as the outbound route because the driver has traveled once and understands the road condition to some extent.
Here, in a navigation system in which a route search from a departure point or a current position of a vehicle to a destination is performed in advance and route guidance is performed by voice or display at an intersection or a junction according to the route, if the vehicle is running off the route, It is desirable to automatically re-search for a new route from the current position when the judgment is made.

When it is determined that the vehicle is running off the route, a key for starting the re-search is displayed, and when the key is pressed, the re-search is performed from the current position. Is preferred.

Further, even while traveling on a route, it is desired that an instruction to search for another route is issued to partially detour the original route or re-search for a completely different route.

[0012] In addition, the user, by the preference of only some circumstances and the user, or to perform the re-search out deliberately from the original route, or allowed to explore a different route, there is possible to edit the route. For example, if the user knows the road, such as around the departure point, and there is always a congested main road on the route and wants to avoid that road, the route is edited by re-searching. The edited route is not the best route at the time of the initial search, is the root of the user's preference, there is a demand as a possible route of the going even in the return path.

According to the prior arts (1) and (2) described above, such a demand from the user is not satisfied.

The present invention solves the above problems, reduces the cost of searching for road data sequentially stored on the outbound route, and uses the road data as a resource on the return trip.
It is an object of the present invention to provide a vehicular navigation device capable of searching for a route that is safe for a user and a storage medium therefor.

[0015]

Means for Solving the Problems The present invention, in order to achieve the above object, in a navigation device for (1) the vehicle, while traveling forward from the starting point to the destination, the outward traveling road Recognize and sequentially add the vertical data to the road data of this road
Depending on whether or not there is, the return road corresponding to this outward road is searched and acquired as return data, and the retrieved return data is searched using the acquired return data.

(2) In the vehicle navigation device, after traveling on the outward route from the departure point to the destination, the road on the outward route is recognized, and the road data of this road is included in the vertical data.
In accordance with the presence or absence of the data, a return road corresponding to the forward road is searched and obtained as return data, and a return search is performed using the obtained return data. .

(3) Vehicle navigation system
While traveling on the outbound route from the departure point to the destination,
Recognizes the road on the outbound route and sequentially adds it to the road data for this road.
Depending on whether there is data in the downward direction,
Search for the corresponding return road and acquire it as return data
And reduce the cost of the acquired return data to
It is characterized by performing a search for a road .

(4) Vehicle navigation device
After traveling on the outbound route from the departure point to the destination,
Recognize the road and add the vertical data to the road data of this road.
Return route that corresponds to this outbound route
And retrieve it as return data, and retrieve it
The search for the return route is performed by lowering the cost of the returned return route data .

(5) The above (1) , (2), (3) or
(4) In the vehicle navigation system according, when the road data of the recognized road has a vertical direction of the data takes the opposite direction of the data and forward path, road data of the recognized road If no vertical data, and acquires the data for backward searching road data for a road within outward road or al a predetermined range.

[0020] (6) In (5) the vehicle navigation apparatus according, road data of roads within the predetermined range is in recognized forward of road or al a predetermined distance,
The data is road data of roads within a predetermined angle difference.

[0021] (7) by controlling the CPU included in the navigation apparatus for a vehicle comprising a storage medium having a built-in program for executing the navigation function, while the line run the forward path from the starting point to the destination, travel Recognize the road on the outbound route in the middle, and sequentially add the data in the vertical direction to the road data of this road.
Depending on whether there is data, obtained as the backward data search for return of the road corresponding to the road of the forward path, run the CPU to perform a backward search using the acquired return data was A program for causing the program to be incorporated.

[0022] (8) by controlling the CPU included in the navigation apparatus for a vehicle comprising a storage medium having a built-in program for executing a navigation function, after traveling forward from the starting point to the destination, outward Recognize the road and check if the road data of this road includes up / down walking data.
By whether a program for the acquired as return data by searching the return of the road corresponding to the forward path of the road, to execute to perform the backward search by using the acquired return for data to said CPU Is built-in.

[0023]

According to the operation and effect of the present invention, recovery through the same road as possible by, for Rubeku outward to the above structure
You can search the road, for example, if the user
Out of the optimal route in the initial search
Even if it is performed, the favorite route is reflected on the return route. Moreover, is it a point away from the destination on the outbound route?
Even when a return route is searched for, a search can be made so as to pass through the outward route as much as possible.

[0024]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an overall configuration diagram of a vehicle navigation system showing an embodiment of the present invention.

As shown in FIG. 1, a vehicle navigation system according to the present invention includes an input / output device 1 for inputting and outputting information relating to route guidance, and a current position detection device for detecting or receiving information relating to the current position of the vehicle. 2. an information storage device 3, which stores navigation data necessary for route calculation, display / voice guidance data necessary for route guidance, programs (OS and / or applications), etc.
Central processing unit 4 that performs display / voice guidance processing necessary for route search processing and route guidance, and controls the entire system.
It is composed of First, each configuration will be described.

[0027] The input and output device 1, or input a destination, guidance information when the user is required to be able to output from at least one of the voice及beauty / or screen, the will of the user think <br />, And has a function of instructing the central processing unit 4 to perform the navigation processing and printing out the processed data and the like. As means for realizing the function, the input unit includes a touch switch 11 and an operation switch for inputting a destination as a telephone number or coordinates on a map, and for requesting route guidance. Of course, an input device such as a remote controller may be used.

The output unit includes a display 12 for displaying input data on a screen and automatically displaying route guidance on a screen in response to a user's request, a data processed by the central processing unit 4 and an information storage device. The printer 13 includes a printer 13 that prints out data stored in the printer 3 and a speaker 14 that outputs route guidance by voice.

Here, a voice recognition device for enabling voice input and a recording card reader for reading data recorded on an IC card or a magnetic card can be added. Further, a data communication device for exchanging data with an information source such as a personal computer in which user-specific data such as map data and destination data are stored in advance can be added.

The display 12 is composed of a color CRT or a color liquid crystal display, and is necessary for navigation such as a route setting screen, a section map screen, an intersection map screen based on map data and guidance data processed by the central processing unit 4. In addition to outputting all screens in color display, buttons for setting route guidance, performing guidance during route guidance, and performing a screen switching operation are displayed on this screen. In particular, the passing intersection information such as the passing intersection name is displayed in color in a pop-up on the section map screen at any time.

The display 12 is provided in an instrument panel near the driver's seat, and the user confirms the current position of the vehicle by looking at the displayed map.
In addition, it is possible to obtain information on a route from now on. Further, the display 12 is provided with a touch switch (input device) 11 corresponding to the display of the function button, and is configured such that the above operation is executed based on a signal input by touching the button. Have been.
The input signal generating means including the button and the touch switch constitutes an input unit, but a detailed description thereof is omitted here.

The current position detecting device 2 detects or receives information on the current position of the vehicle, and includes an absolute direction sensor 24 composed of a geomagnetic sensor and the like. A relative direction sensor 2 composed of a steering sensor and a gyro.
5. Distance sensor 2 for detecting running distance from the number of rotations of wheels
6. Consisting of a GPS receiving device 21 using a satellite navigation system (GPS) and a VICS receiving device 22 or a data transmitting / receiving device 23 as traffic information acquiring means, the VICS receiving device 22 multiplexes road traffic information by FM. The data transmission / reception device 23 is, for example, a mobile phone or a personal computer, and exchanges information necessary for navigation with a traffic information center (for example, ATIS) at the request of the user. Is what you do.

The information storage device 3 is an external storage device that stores a navigation program and data in an external storage medium such as a CD-ROM (hereinafter, simply referred to as a CD), an optical CD, an IC card, and the like. The navigation program includes a map drawing unit, a route search unit, a route guidance unit, a current position calculation unit,
It is composed of a destination setting operation control section, etc., and is composed of an application section that performs signal processing for navigation, an OS section, and the like. Here, a program for performing processing such as route search, display output control necessary for route guidance, and voice are provided. A program for performing voice output control necessary for guidance and data necessary for the program, and display information data necessary for route guidance and map display are stored. Data includes map data, intersection data, road data, various guidance data, etc.
All data necessary for navigation are stored.

More specifically, a program for setting a destination and a passing point based on position information from the current position detecting device 2 and an input signal from the input device 11 and executing a route search using searched road data, A program that converts the searched road data and executes the route search again when it deviates from, or a program for determining map drawing, map matching, audio output timing along the route and the content of the voice phrase, and A program that converts a traveling road into return data and stores the data, and when the departure point was previously selected as the destination, reads out the stored return data and changes the search cost to execute a route search. Are stored, and by driving the programs stored in the information storage device 3, each function of the navigation in the present invention is executed. That. That is, in the present embodiment, a program for realizing the functions of the present invention is stored in the information storage device 3 which is an external storage medium.

The central processing unit 4 includes a CPU 40 for executing various arithmetic processing, and a flash memory 41 for reading and storing a program from a CD of the information storage device 3. The flash memory 41 is for erasing an existing program at a time even if there is a change in the CD program. Also, the flash memory 41
A first ROM 43a storing a program (program reading means) for performing a program check and update process of
The set point coordinates of the destination and the road code No. And the like, and a RAM 42 for temporarily storing searched route guidance information and data being processed, and a second ROM 43b for storing display information data necessary for route guidance and map display. Note that a program for performing the above-described update processing may be stored in an external storage device.

The program according to the present invention and other programs for executing navigation may all be stored in a CD-ROM as an external storage medium, or a part or all of the programs may be stored in a ROM ( Second
It may be stored in the ROM 43b). Data and programs stored in the external storage medium are input as external signals to the central processing unit 4 of the navigation apparatus main body and are subjected to arithmetic processing, thereby realizing various navigation functions.

Further, an image memory 44 in which image data to be used for displaying a screen on the display 12 is stored.
The image processor 45 extracts image data from the image memory 44 based on the display control signal from the U 40, performs image processing and outputs the image data to the display 12, the voice read from the RAM 42 based on the voice output control signal from the CPU 40, the phrase, An audio processor 46 that synthesizes a single sentence, sound, etc., converts it into an analog signal and outputs it to the speaker 14, a communication interface 47 for exchanging input / output data with a communication device, and a sensor signal of the current position detection device 2. And a clock 49 for writing the date and time in the internal diagnostic information.

In the central processing unit 4, when data acquired by each sensor of the current position detecting device 2 is fetched from the sensor input interface 48, the CPU 40 calculates the current position coordinates at regular time intervals based on the data. The data is temporarily written to the RAM 42. The current position coordinates are obtained by performing a map matching process in consideration of detection errors of various data. The output values of the various sensors are constantly corrected. Here, route guidance is performed by screen display and voice output, and the user is able to select the presence or absence of voice output.

FIG. 2 shows a guide road data file in which data necessary for calculating a route and performing route guidance by the route calculating means is stored. For each of the number n of roads, a road number, a length, It consists of road attribute data, shape data address, size, and guidance data address and size data. The road number is set for each of the outgoing and returning routes for each road between the branch points. The road attribute data is data indicating whether the road is an elevated road, next to an elevated road, an underpass, an underpass, or the number of lanes. When each road is divided into a plurality of nodes (nodes), the shape data has coordinate data including east longitude and north latitude for each of the number m of nodes.

The guidance data includes the names of intersections (or junctions), the presence or absence of traffic lights, the presence or absence of pedestrian crossings, the characteristics of junctions and landmarks (traffic signs, signs at gas stations and convenience stores, etc.), , Tunnel entrance, exit, width reduction point, etc.), road name [information of road type of expressway, general road (national road, prefectural road, etc.)], address of road name voice, size and destination data It consists of address and size data. The destination data includes a destination road number, a destination name, an address of destination name voice data, a size and a destination direction data, and travel guide data (information from right to left or from the center). The destination direction data is invalid (do not use destination direction data), unnecessary (do not guide), go straight,
This is data indicating information on a diagonally right direction, a right returning direction, a left direction, a diagonally left direction, and a left returning direction.

Although the data structure of FIG. 2 stores road data and information on intersections, as shown in FIG. 3, intersection data is provided separately from road data.
The presence or absence of a traffic light, information on a road to be connected, and the like may be stored. However, if the road information is provided with the connection information, the data such as the impossibility of entry from a certain road to a certain road can be easily provided and the data amount can be reduced.

FIG. 4 is a flowchart showing the flow of processing of the entire vehicle navigation system of the present invention.

(1) First, the current position (departure point) required for the route search is obtained by the current position detecting means (step S1).

(2) Next, on the destination and passing point setting screen, the setting conditions of the destination and the passing point are input via the input device to set the destination and the passing point (step S).
2).

(3) Next, a route search from the current position to the destination / passing point is performed by the route searching means (step S3).

(4) Next, when the guidance start key of the input device is pressed on the searched route to start the route guidance, the current position detecting means measures the position of the own vehicle and tracks the current position. At the same time, route guidance at intersections and junctions where the vehicle should make a right or left turn is displayed or voiced (step S4).

Next, a vehicle navigation system according to an embodiment of the present invention will be described.

FIG. 5 is a flowchart of a vehicle navigation system according to an embodiment of the present invention.

(1) First, a destination is set (step S11).

(2) Next, it is checked whether or not the destination set in step S11 is the previous departure point (step S12).

(3) Next, in the case of the previous departure point,
For example, it is checked whether or not there is a change in the search conditions, such as switching whether to give priority to a toll road or switching the preference of a route search (step S13).

(4) Next, when there is no change in the search condition, the search cost is changed based on the return data (step S14). Details of this processing will be described later.

(5) Next, a passing point is set (step S15).

(6) Next, it is checked whether or not a departure place is to be set (step S16).

(7) Next, in step S16, Y
In the case of ES, a departure place is set (step S1).
7). This departure point is different from the current vehicle location,
It is used when the user knows the road around the current position well and does not need the route guidance, for example, when selecting the nearest interchange as the route guidance start point.

(8) If NO in step S16, the current position is set as the departure point (step S18).

(9) Next, a route search is performed from the departure point set in step S17 or the current vehicle position set in step S18 to the destination set in step S11 (step S19). Here, when a passing point is set, a route passing through the passing point is searched.

(10) The current position is tracked (step S20).

(11) Next, route guidance is performed based on the current vehicle position (step S21).

(12) Next, return data acquisition processing is performed (step S22).

[0061] (13) Next, until reaching the destination, repeating the stearyl <br/>-up S 20 to 22 (step S23). Here, when it is determined that the current vehicle position acquired in step S20 is out of the route, the route is re-searched automatically or in response to a manual instruction from the user, but details are omitted.

[0062] Next, the flowchart (subroutine) of return data acquisition process of FIG. 5 (Step <br/>-up S 22), will be described with reference to FIG.

(1) First, the current position is detected (step S31).

(2) Next, the currently traveling road and the traveling direction are recognized (step S32). This process is performed by a well-known map matching process.

(3) Next, it is checked whether or not the currently acquired road data includes vertical data (step S33). For example, in FIG.
There is no road, and data in the vertical direction is stored in one piece of road data [1a direction and 1b direction in the road data of (1)].

(4) Next, in step S33, N
In the case of O, since data in the opposite direction is not stored in the currently acquired road data,
Search for roads within a predetermined angle difference (step S3)
4).

(5) Next, it is checked whether or not there is a corresponding road as a result of the search processing in step S34 (step S35).

[0068] (6) Next, when there is no such road, by reducing the exploration search cost of the searched road is acquired as the return data (step S36).

(7) In step S33, YE
In the case of S, the data in the opposite direction of the acquired road is acquired, and the process proceeds to step S38 (step S37).

Also, in the case of NO in step S35, the process proceeds to step S38.

(8) It is checked whether or not the acquired road data has already been registered (step S38).

(9) If it is not registered in step S38, the acquired road data is stored in the RAM 42 as return data (step S3).
9).

(10) Next, it is checked whether a predetermined time has elapsed (step S40).

For example, the return data processing in FIG. 6 will be described with reference to FIG. 7 which simply shows a road data structure (link state of road data).

Here, (1), (2),... In FIG. 7 are the road numbers of the road data stored in the information storage device 3,
Are intersection numbers of the intersection data. For example, the roads (1), (6), and (11) are roads without the median strip 51, and store data in the vertical direction in one road data. 1a direction and 1b direction].
Also, for example, road numbers (9), (10), (13), and (14) are roads that cannot move from the same lane to the lane where the median strip 51 is located, and are in the opposite direction (9). (10) is stored as another one-way road data.

Here, the preset route (outbound route) is
(1) (1a) → (6) (6a) → (9) → (13) → (16).

(A) Since the road (1) is a vertical traffic road, the search cost is reduced by reducing the search cost by using the 1b direction as the return data while traveling in the 1a direction on the road (1).
Store it in AM42.

(B) Next, when the route of the road (6) is guided at the intersection I (passing point), the road (6) is also a vertical traffic road. During the progress, the direction 6b is stored in the RAM 42 as return data, with the search cost reduced.

(C) Next, at the intersection II (passing point), when the road (9) is route-guided, the road (9) has the median strip 51 and is a one-way road in the upper and lower directions. Therefore, the road (10), which is the downward road closest to the road (9), is stored in the RAM 42 as return data at a reduced search cost.

(D) Next, at the intersection III (passing point), when the route of the road (13) is guided, this road (13) also has the central separation zone 51, Therefore, the road (14), which is the downward road closest to the road (13), is stored in the RAM 42 as return data at a reduced search cost.

(E) Next, at the intersection V (passing point), when the road (16) is guided, the road (16) is also a one-way road, so that the angle closest to the road (16) is The road (17), which is a downward road having the following condition, is stored in the RAM 42 as return data at a reduced search cost.

As described above, on the outward route, the return route data closest to the outward route is stored at a reduced search cost , so that the return route data is obtained between pass points, that is, for each node.

As shown in FIG. 8, the route data string in FIG. 7 shows road data 1a-6a- (9)
− (13) − ( 16) …
(17)-(14)-(10) -6b-1b can be obtained as return data with a reduced search cost.

Other one-way roads other than those described above include:
There are highways and toll roads separated vertically.

Next, another embodiment of the present invention will be described.

FIG. 9 is a navigation flowchart showing another embodiment of the present invention.

(1) First, a destination is set (step S51).

(2) Next, a passing point is set (step S52).

(3) Next, it is checked whether or not a departure place is to be set (step S53).

(4) Next, in step S53, Y
In the case of ES, a departure place is set (step S5).
4).

(5) If NO in step S53, the current position is set as the starting point (step S55).

(6) Next, a route search is performed (step S)
56).

(7) The current position is tracked (step S)
57).

(8) Next, route guidance is performed (step S)
58).

(9) Next, the above-described return route data is acquired for each node. (Step S59).

(10) Next, it is checked whether or not the storage mode (A) of the return path data for each node is turned off (step S60). That is, for example, when the user selects a route that the user does not want to select as a return route, that is, when the user wants to take a detour, the user operates the input / output device 41 to
The storage mode (A) of the return data for each node is turned off.

(11) Next, the storage mode (A) of the return path data for each node is turned off, and the process proceeds by the normal route search (search for not storing the return path data) (step S61). If NO in step S60, the process proceeds to step S64.

(12) Next, when it is desired to enter the outbound route where the return data is to be obtained from the detour, it is checked whether or not to return to the storage (A) mode of the return data for each node (step S62).

(13) Next, in step S62, Y
In the case of ES, return data is acquired again for each node (step S63).

(14) Next, the above steps (S57 and thereafter) are repeated until the vehicle reaches the destination and reaches the destination (step S64).

(15) Next, while using the above-mentioned travel history information for the return route search, a re-search for the detour section is performed (step S65).

(16) Next, the data is converted into data for the return path and stored (step S66).

FIG. 10 is a diagram showing a route data string according to another embodiment of the present invention.

As shown in this figure, for example, as the outbound data, road A is 101, road B is 108, and road C is 1
10, road D 115, road E 121, road F 12
6. When the travel history of the road G is stored as 130,.
When traveling on this outbound route, road A is 1
02, Road B is 109, Road C is OFF (sidewalk), Road D is OFF (sidewalk), Road E (return to main line) is 12
7, the road F is stored as 133,... With the search cost reduced, so that the return data can be obtained.
In the above-described embodiment, the portion that does not need to be left as return data by the user while traveling on the outward route is set to OFF so as not to be left. .

At the time of route search, an optimum route is obtained based on link information and cost information. There are various searching methods. (A method of combining road rows in a tree structure from the destination and selecting the one with the lowest cost as the optimal route, a method of sequentially selecting and connecting the ones with the lowest cost among multiple intersections connected in order from the destination, data Is divided into blocks, a method of narrowing down the search target block in advance, having data in a coarse and dense hierarchical structure,
There is a method of searching by moving up the hierarchy in order from both sides of the destination).

For example, as a method of searching for a road in step S34 in FIG. 6 , a predetermined area is set from the coordinates of the starting point and the ending point of the road currently obtained during traveling on the outward path, and the current data is obtained for the road data entering the area. Calculate the angle difference between the road and the road. However, if the road being compared is a one-way road, the direction is also considered.

As a method of setting a predetermined area from the currently acquired road, there are a method of setting a rectangular area around the start point and end point coordinates of the road data and a method of setting a circle having a predetermined radius as the area. In addition, there is a method of setting a rectangular area or a circle having a predetermined radius around the coordinates of the current position of the vehicle.

As for the method of searching for a road having an angle difference from the currently acquired road, the angle of the currently traveling road (may be stored in advance in the road data. Is stored as the start point and the end point, the start point and the end point are divided and stored according to the node coordinates based on the road shape, and the node coordinates of the vehicle current position are determined. The inclination between two points may be set as the angle.) And the angle difference between the two points is 180 ° ± a.

In the embodiment shown in FIGS. 5 and 6,
Although the return route data is sequentially stored during the forward route, the route data traveled on the forward route may be extracted after completion of the forward route guidance, and the process of converting the route data into the return route data may be performed. . When converting the searched route into the return route data, when it is determined that the vehicle has traveled without deviating from the initial search route, the return route data may be obtained from the route. The same applies to a case where another route is searched for on the initial search route and the vehicle travels along the route.

When the vehicle has deviated from the initial search route and is in the automatic re-search mode, the route up to the route departure point and the re-search route may be connected and registered as an outbound route. In addition, in the case of the manual re-search mode in which the user performs a re-search at a time desired by the user, when the vehicle deviates from the route and travels without performing the re-search for a while, the route to the route departure point is re-established. What is necessary is just to connect to the point where the search was executed and register it as an outbound route.

In addition, in a system that receives traffic information by VICS at the time of traveling on a route and performs a re-search based on traffic congestion and congestion information, a portion where a route is changed by traffic information is stored (for example, an initial search route). If traffic congestion is detected ahead of the current position while traveling on the road and a re-search is performed to avoid that part, the original route is registered as an outbound route. This is because the traffic congestion may be resolved when you return home after completing your business.

Further, in the above embodiment, in step S12 of FIG. 5, it is determined whether or not the input destination is the last departure point. A key such as "departure point" may be displayed so that the departure point coordinates in the previous route guidance can be selected as the destination. Alternatively, the coordinates of the previous departure point may be registered, and when the periphery of the coordinates is input as the destination, it may be determined that the previous departure point has been input. Specifically, it is assumed that a rectangular area or a predetermined area of a predetermined radius circle is set centering on the previous departure point, and when the input destination is within the area, the previous departure point is set as the destination. .

Regarding the process of changing the search cost based on the return route data in step S14 in FIG. 5, the road data previously stores, for example, a road length, a road width, and a road attribute as data for performing the cost calculation during the route search. However, in the return data change processing, the cost may be reduced by multiplying or subtracting a predetermined value from a road cost based on data stored in advance.

In the above-described embodiment, the cost of the return data acquired during the forward travel is reduced, and the return search is performed when the return guidance is requested. However, the return data acquired during the forward travel is used. Is connected in advance,
If it is used at the time of a return route guidance request, the return route search processing becomes faster. At this time, in a case where the vehicle travels on a one-way road during the forward traveling, for example, even if the process of step S34 in FIG. Just search for it.

Further, the present invention is not limited to the above-described embodiment, and various modifications can be made based on the gist of the present invention, and these are not excluded from the scope of the present invention.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a vehicle navigation device showing an embodiment of the present invention.

FIG. 2 is a diagram showing a structure of road data of the vehicle navigation device according to the present invention.

FIG. 3 is a diagram showing intersection data of the vehicle navigation device according to the present invention.

FIG. 4 is a flowchart showing the flow of processing of the entire vehicle navigation system of the present invention.

FIG. 5 is a flowchart of vehicle navigation showing an embodiment of the present invention.

FIG. 6 is a flowchart illustrating a return data acquisition process according to an embodiment of the present invention.

FIG. 7 is a diagram showing a specific route example showing an embodiment of the present invention.

FIG. 8 is a diagram showing a route data string showing an embodiment of the present invention.

FIG. 9 is a navigation flowchart showing another embodiment of the present invention.

FIG. 10 is a diagram showing a route data string showing another embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 input / output device 2 current position detecting device 3 information storage device 4 central processing unit 11 touch switch 12 display 13 printer 14 speaker 21 GPS receiving device 22 VICS receiving device 23 data transmitting / receiving device 24 absolute direction sensor 25 relative direction sensor 26 distance sensor 40 CPU 41 Flash memory 42 RAM 43a First ROM 43b Second ROM 44 Image memory 45 Image processor 46 Audio processor 47 Communication interface 48 Sensor input interface 49 Clock 51 Central divider

Continuation of the front page (56) References JP-A-8-128845 (JP, A) JP-A-8-68646 (JP, A) JP-A-5-118866 (JP, A) JP-A-9-184733 (JP) , A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 21/00 G08G 1/0969 G09B 29/10

Claims (8)

(57) [Claims] [Claim 1] to traveling on a forward path from the starting point to the destination,
Recognizing the road on the outbound route during traveling , and sequentially
Depending on whether there is a vertical direction of the data in data, obtained as the backward data search for return of the road corresponding to the road該往path, performing the backward search by using the return data which is the acquired A navigation device for a vehicle, comprising: 2. After traveling on the outward route from the departure point to the destination,
Recognize the road on the outbound route and add the road
The data on the return road corresponding to the outgoing road is obtained and acquired as return data, and a search for the return path is performed using the obtained return data. Vehicle navigation device. 3. While traveling on the outward route from the departure point to the destination,
Recognizes the road on the outgoing route while traveling, and sequentially reads the road data on the outgoing route.
Depending on whether there is data in the vertical direction
Search for the return road corresponding to the road and use it as return data
Acquisition, lower the cost of the acquired return data
A navigation device for a vehicle, which searches for a return route . 4. After traveling on the outward route from the departure point to the destination,
Recognize the road on the outbound route and add the road data of the outbound route in the vertical direction.
Depending on whether there is data of
Search for the return road, acquire it as return data, and
Search for the return route by lowering the cost of the obtained return data.
Cormorant vehicle navigation device, characterized in that. 5. The method of claim 1, in the vehicle navigation apparatus 2, 3 or 4, wherein when the road data of the recognized road with vertical data gets the opposite direction of the data and forward path , wherein the road data of the recognized forward path if no vertical data, acquired as data for backward searches the road data of the road in the forward path of the road or al a predetermined range Vehicle navigation device. 6. The vehicle navigation device according to claim 5 , wherein the road data of the road within the predetermined range is:
Located recognized forward of road or al a predetermined distance, and vehicular navigation device, characterized in that the road data of the road is within a predetermined angular difference. 7. A CP included in a vehicle navigation device.
A storage medium containing a program for controlling the U to execute a navigation function . The traveling medium recognizes a traveling outgoing road while traveling on an outgoing path from a departure point to a destination, and sequentially recognizes the traveling outgoing road. Road data has vertical data
Whether or not the CPU is to search for a return road corresponding to the outbound road and obtain the data as return data, and to search for a return using the obtained return data. A recording medium having a built-in program. 8. A CP included in a vehicle navigation device.
A built-in storage medium storing a program for controlling the U to execute the navigation function, after traveling forward from the starting point to the destination, and recognizes the forward path of the road, 該道
It depends on whether there is up-and-down walking data in the road data.
In addition, a program for causing the CPU to execute a search for a return road corresponding to the outward road and acquiring it as return data, and performing a search for a return using the acquired return data is built in. A recording medium characterized in that: