JP3414305B2 - Navigation device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device for providing route guidance to a destination, and more particularly to a navigation device capable of searching for an optimal route. 2. Description of the Related Art Conventionally, as a navigation device for performing route guidance to a destination, a navigation device described in Japanese Patent Application Laid-Open No. Hei 8-94375 is known. This navigation device employs the following route search method. First, a first route that gives priority to the traveling direction of the vehicle is calculated, and a second route that does not give priority to the traveling direction of the vehicle is calculated.
Next, the searched route is selected and displayed under predetermined setting conditions. Here, the comparison of the distance and the required travel time of each route or the ease of running, for example, the road width, the type of road, the good scenery, etc., is performed according to the set conditions. For example, when comparing and determining the distance of each route, if the distance of the first route is longer than the distance of the second route by a predetermined value or more, the second route is selected and displayed. [0003] As described above, the conventional navigation device compares and determines the route that prioritizes the traveling direction of the vehicle and the route that does not prioritize the traveling direction when guiding the route from the current position of the vehicle to the destination. This has the advantage that the optimal route can be guided to the driver. [0004] However, in the conventional navigation device, both the first route that gives priority to the traveling direction of the vehicle and the second route that does not give priority to the traveling direction of the vehicle are both used. Since the calculation is performed, there is a problem that a relatively long time is required for calculating both routes. [0005] In addition, when a conventional navigation device is set in advance to select a first route giving priority to the traveling direction of a vehicle, it is difficult to reach a destination in a large-scale parking lot such as a shopping mall. When the route search is performed, there is a problem that the first route is selected even if the first route is a circuitous route because the route is out of the link used for the route search. [0006] The present invention has been made in view of the above,
An object of the present invention is to provide a navigation device that can easily search for a desired appropriate route without finding a detour route. Means for Solving the Problems The invention according to claim 1 is:
In order to solve the above problems, a storage unit for storing map information, a current position detection unit for detecting a current position of the vehicle, a traveling direction detection unit for detecting a traveling direction of the vehicle, and a search with priority given to the traveling direction Mode setting means for setting one of the search processing modes of the traveling direction priority mode and the traveling direction non-priority mode in which the traveling direction is not prioritized, and the map information indicating the route from the current position to the destination. Road departure detection means for detecting that the current position of the vehicle has deviated from on the road; and Angle determining means for determining whether the direction is at a predetermined angle or more with respect to the destination direction, and when the current position of the vehicle is off the road when the traveling direction priority mode is set. And control means for controlling when the traveling direction of the vehicle is equal to or more than a predetermined angle with respect to the destination direction so as to switch the search processing mode to the traveling direction non-priority mode and execute the route search processing. Make a summary. According to the first aspect of the present invention, when the search processing mode is set to the traveling direction priority mode and the current position of the vehicle is off the road, the vehicle When the traveling direction is equal to or more than a predetermined angle with respect to the destination direction, by controlling the search processing mode to the traveling direction non-priority mode and executing the route search process, without seeking a detour route, A desired appropriate route can be easily searched. Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a system configuration of a navigation device 1 according to one embodiment of the present invention. In FIG. 1, GPS (Global Positioni)
ng System) The receiver 5 calculates the current position of the vehicle represented by latitude and longitude and the azimuth angle of the trajectory based on the time information added to the radio wave from the GPS satellite received via the antenna 3. Receiver for measuring, GPS
The current position data measured by the receiver 5 is given to the system control unit 7. The system control section 7 has a timer for measuring a time interval, and controls the entire apparatus according to a predetermined control program stored in a control ROM in the memory section 9.
The control ROM stores an execution program corresponding to the navigation function, control data, and the like.
Further, the system control unit 7 is stored in the map database 4 based on the latitude / longitude information at the current position of the vehicle detected via the GPS receiver 5 and the traveling direction of the vehicle detected by the direction sensor 13. The current position and traveling direction of the vehicle are corrected and determined on the road link by map matching with the road link information. When the current position of the vehicle is map-matched on the road link, the matching flag is stored in the memory unit 9. The memory unit 9 stores menu screen data, destination setting operation screen data, and the like in a control ROM, and stores setting flags and the like in each function set according to the use of each driver in an internal RAM. To memorize. The vehicle speed sensor 11 detects the traveling speed of the vehicle by generating a pulse signal corresponding to the number of revolutions of the mission by a rotary encoder provided in the mission. The azimuth sensor 13 detects the traveling direction from the turning angle of the vehicle using a geomagnetic sensor, a vibration gyro sensor, or the like. The CD-ROM drive 15 is a CD-RO drive.
M has a drive mechanism for driving M, and the latitude and longitude recorded on a CD-ROM or a format similar thereto (hereinafter, referred to as
This device reads wide-area and narrow-area map data representing positions using map coordinates. The map data recorded in the CD-ROM drive 15 is sent to the system controller 7 using a transmission method such as serial communication or parallel communication. The display control unit 17 is connected to the system control unit 7 and V
Image data is exchanged with the RAM unit 19 to render the image data, and the image data is stored in the VRAM unit 19. The image data stored in the VRAM unit 19 is read out and displayed on the display unit 21. VRAM (Video Random A
ccess Memory) unit 19 develops and stores map data and traffic congestion section data that can be displayed on the display unit 21. Display 2
1 has a liquid crystal display panel and the like, and displays the display data created by the display control unit 17. The screen touch panel unit 23 is a touch panel arranged on the screen of the display unit 21 and is a device for inputting position data when there is a contact in association with a position on the screen. The screen touch panel unit 23 inputs a touch of a fingertip by a driver as position data using a well-known method such as an electronic type, an electrostatic type, or an optical type. Further, by displaying operation guide information on the display unit 21 and touching a desired portion on the screen touch panel unit 23, for example, departure point data, destination data, and the like necessary for a route search are input. Next, an operation of setting a search condition using the screen touch panel unit 23 will be described. In advance, the system control unit 7
Reads the menu screen data from the memory unit 9, causes the VRAM unit 19 to store the menu screen data via the display control unit 17, reads the menu screen data from the VRAM unit 19 via the display control unit 17, and displays the menu screen data on the display unit 21. There is. As the menu screen, for example, touch switch images such as a destination setting switch, a confirmation switch, and a search condition setting switch are displayed on the display unit 21. Here, when the search condition setting switch is operated by the driver through the screen touch panel 23, a search condition setting screen is displayed on the display unit 21. On this search condition setting screen, a traveling direction superior mode switch for instructing that the traveling direction be searched with priority, and a traveling direction non-priority mode switch for instructing that the traveling direction be given non-priority searching are displayed. ing. When the indicator in the traveling direction priority mode switch is lit, the mode is set so that the route search process is performed with priority given to the traveling direction. When the indicator in the traveling direction non-priority mode switch is lit, the mode is set so that the traveling direction is given non-priority and the route search process is performed. The result of the mode setting is stored as a setting flag via the system control unit 7 in the internal RAM in the memory unit 9. In addition,
When an indicator in one switch is turned on, the other indicator is turned off and controlled so as not to be compatible. Next, the basic operation of the navigation device 1 will be described with reference to the flowchart shown in FIG. First, in FIG. 2, in step S10, when the driver touches the destination setting switch displayed on the screen with the fingertip from the screen touch panel section 23, the position data on the screen is displayed on the screen touch panel section 23. Is input to the system control unit 7 via In the system control unit 7,
It is determined that the position data is within the range of the destination setting switch, and the destination setting operation screen data for setting the destination is read from the memory unit 9 and the display control unit 17.
The destination setting operation screen data is read from the VRAM unit 19 via the display control unit 17 and displayed on the display unit 21 via the display control unit 17. As described above,
The destination data is input to the system control unit 7 while sequentially operating the pop-up menu. Note that the selection method using the pop-up menu is not directly related to the present invention, and thus the description thereof is omitted. Then, in step S20, first, GP
The current position data detected by the S receiver 5 is taken into the system control unit 7. Next, a recommended route from the departure point to the destination is searched based on the current position data of the departure point detected by the GPS receiver 5 and the destination data specified by the driver via the screen touch panel unit 23. I do. The process of searching for a recommended route will be described later with reference to a flowchart of a subroutine shown in FIG. In step S30, the system control unit 7 expands and stores the route data in the VRAM unit 19 via the display control unit 17. Next, the wide-area map data that can display all the routes to the created destination is stored in C
The data is read from the CD-ROM via the D-ROM drive device 15 and the wide area map data is developed on the VRAM unit 19 via the display control unit 17. Next, the system control unit 7 superimposes the route data on the map data stored in the VRAM unit 19 via the display control unit 17 and reads the map data, and causes the display unit 21 to display the recommended route. In step S40, it is determined whether the driver has selected the navigation mode. Specifically, when the driver touches the navigation mode switch displayed on the screen with the fingertip from the screen touch panel section 23, the position data on the screen is input to the system control section 7 via the screen touch panel section 23, and the system The control unit 7 determines that the position data is within the range of the navigation mode switch, and determines in step S50.
Proceed to. On the other hand, if the navigation mode has not been specified, the process returns to step S10, and the above-described processing is repeated. Here, the driver operates the shift lever and the accelerator pedal of the vehicle to start traveling to the destination. In step S50, first, the current position data detected by the GPS receiver 5 is
Take in. Then, in step S60, the narrow-area map data around the current position is read from the CD-ROM via the CD-ROM drive device 15, and the narrow-area map data is developed in the VRAM section 19 via the display control section 17,
The driving route around the current position is displayed on the display unit 21. In step S70, it is determined whether the driver has selected the end switch, and the process returns to step S50 until the end switch is selected, and the above-described processing is repeated. On the other hand, when the end switch is selected, the route guidance by the navigation device 1 ends. Next, the process of searching for a recommended route in step S30 will be described with reference to a flowchart of a search process subroutine shown in FIG. First, in step S210, the system control unit 7 reads the setting flag set in the memory unit 9 and determines whether the traveling direction priority mode is selected as a search condition. If it is determined in step S210 that the traveling direction priority mode has not been selected, the process proceeds to step S220, and a traveling direction non-priority search process is executed. More specifically, as shown in FIG. 4, for example, a vehicle 53 parked in a large parking lot 51 is connected to a shortest link L23, L34 in the direction of a destination 57 in contact with the large parking lot 51. The link having the shortest distance among the distances D1 and D2 is selected. When the positional relationship as shown in FIG. 4 is established, since D1> D2, the link L34 having the shortest distance D2 is selected. Then, link L from departure point 55
34, searching for a route to the destination 57 via the node N3. In the route search processing, nodes and road links recorded on the CD-ROM are searched based on the well-known Dijkstra method or the like, and route data of a recommended travel route is created. If it is determined in step S210 that the traveling direction priority mode has been selected, the process proceeds to step S23.
The process proceeds to 0, and it is determined whether or not the current position of the vehicle is matched on the road (link) with reference to the current state of the matching flag stored in the memory unit 9. If it is determined in step S230 that the current position is matched on the road (link), the flow advances to step S240 to execute a traveling direction priority search process.
More specifically, as shown in FIG. 5, a case is conceivable in which, for example, the vehicle 53 once exits on the road from within the large parking lot 51, stops at the shoulder, and searches for a route to the destination. In this case, since the vehicle 53 already exists on the road, the traveling direction priority search process is executed to avoid the vehicle from making a U-turn. As shown in FIG. 5, an intersection (node) N1 in the traveling direction is set as a temporary departure point, and a route from the node N1 to the destination 57 is searched. In the case of the example shown in FIG. 5, the link from the node N1 to the link 12,
The route to the destination 57 via the node N2 is searched. If it is determined in step S230 that the current position is off the road (link) and is not matched, the process proceeds to step S250, and the direction of the destination is, for example, 135 with respect to the traveling direction of the host vehicle. Judge whether it is more than degree. Here, referring to the examples shown in FIGS. 6 and 7,
The determination process in step S250 will be described. First, the angle θ between the traveling direction of the vehicle 53 and the direction of the destination is determined. Specifically, the position (latitude / longitude) of the destination is stored in the CD-R via the CD-ROM drive 15.
The data is read from the OM, and the destination direction angle θm is obtained from the position of the destination (latitude and longitude) and the current position (latitude and longitude). Then, as the angle θ, θ = θs−θm is obtained from the traveling direction angle θs and the destination direction angle θm. As shown in FIG. 6, when θ1 <135 ° from the angle θ1 between the traveling direction of the vehicle 53 and the direction of the destination, the angle θ1 is less than 135 degrees,
In step S240, even if the search processing mode set in the memory unit 9 is the traveling direction priority mode, the mode is switched to the traveling direction non-priority mode and the traveling direction priority search process is executed. More specifically, as shown in FIG. 6, for example, a vehicle 53 parked in a large parking lot 51 is connected to a shortest link L23, L34 in the direction of a destination 57 in contact with the large parking lot 51. The positional relationship between the distances D1 and D2 is D1> D2. However, in the case of the traveling direction priority search processing,
Since the cost coefficient giving priority to the traveling direction is applied to the shortest distance D1, the link L23 having the shortest distance D1 is selected.
Then, a route from the departure point 55 to the destination 57 via the link L23 and the node N3 is searched. On the other hand, as shown in FIG. 7, when θ1> 135 ° from the angle θ1 formed by the traveling direction of the vehicle 53 and the direction of the destination, the angle θ1 exceeds 135 degrees. Proceeding to step S260, a traveling direction non-priority search process is executed. More specifically, as shown in FIG. 7, a vehicle 53 parked in a large parking lot 51, for example, has the shortest respective links L23 and L34 in the direction of the destination 57 in contact with the large parking lot 51. The link having the shortest distance among the distances D1 and D2 is selected. When the positional relationship as shown in FIG. 7 is established, D1> D2, so the link L34 having the shortest distance D2 is selected. Then, link L34, node N from departure point 55
A route to the destination 57 via 3 is searched for. As described above, when the search processing mode is set to the traveling direction priority mode, when the current position of the vehicle is off the road, the traveling direction of the vehicle is at a predetermined angle with respect to the destination direction. For example, when it becomes 135 degrees or more, by controlling the search processing mode to the traveling direction non-priority mode and performing the route search processing,
For example, even when a route search to a destination is performed in a large-scale parking lot such as a shopping mall, a desired appropriate route can be easily searched without finding a detour route. Further, unlike the conventional navigation device, it is possible to perform a quick route search process without requiring the time required for calculating two types of routes.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing a system configuration of a navigation device 1 according to one embodiment of the present invention. FIG. 2 is a flowchart for explaining a basic operation of the navigation device 1. FIG. 3 is a flowchart illustrating a subroutine of a route search process. FIG. 4 is a diagram for explaining a traveling direction non-priority search process. FIG. 5 is a diagram for explaining a traveling direction priority search process. FIG. 6 is a diagram for explaining a traveling direction priority search process. FIG. 7 is a diagram for explaining a traveling direction non-priority search process. [Description of Signs] 5 GPS receiver 7 System control unit 9 Memory unit 11 Vehicle speed sensor 13 Direction sensor 15 CD-ROM drive 17 Display control unit 19 VRAM unit 21 Display unit 23 Screen touch panel unit

Claims (1)

(57) [Claims] 1. A storage means for storing map information; a current position detection means for detecting a current position of the vehicle; a traveling direction detection means for detecting a traveling direction of the vehicle; Mode setting means for setting one of a search processing mode of a traveling direction priority mode in which a search is performed with priority in a direction, and a traveling direction non-priority mode in which a search is performed with a non-priority in a traveling direction; Route search processing means for executing a route search process in accordance with a search process mode set with reference to the map information, wherein the current position of the vehicle is detected as being off the road. Detecting means, angle determining means for determining whether the traveling direction of the vehicle is equal to or greater than a predetermined angle with respect to the destination direction, and when the traveling direction priority mode is set, the current position of the vehicle is set on the road. When the vehicle is off, when the traveling direction of the vehicle is equal to or more than a predetermined angle with respect to the destination direction, the control means switches the search processing mode to the traveling direction non-priority mode and performs a route search process. And a navigation device comprising: