JP3417462B2 - Vehicle path estimation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] [0001] The present invention relates to a method for converting road map data.
The present invention relates to a route estimation device that estimates a route of a vehicle using the route estimation device. [0002] [Related Background Art] Navigation devices include, for example,
Relative position of vehicle obtained by direction sensor and distance sensor
Calculated from the position and travel trajectory and the satellite navigation system (GPS)
The absolute position of the vehicle and the electronic map stored on the CD-ROM
It calculates the position of the vehicle on the map from the road shape.
Generally, it is useful for displaying maps around driving roads and for route guidance.
Have been used. Map for navigation as described below
The data may be used for vehicle shift control. [0003] In automatic shifting, generally, urban roads and mountain roads are used.
Shift patterns that match the road conditions
Set in advance as a function of the rottle opening and vehicle speed,
When the throttle opening and vehicle speed are detected while the vehicle is running,
Select a shift pattern that matches the current road conditions,
Target shift speed based on the detected throttle opening and vehicle speed
Is determined from the selected shift pattern, and the necessary automatic shifting is performed.
I am trying to do it. In such automatic shift control, the shift
Judging the current road condition when selecting a pattern
It is generally necessary to operate the steering wheel
Steering angle that changes depending on the vehicle and lateral acceleration acting on the vehicle during turning
The steering angle, steering frequency, and lateral
The road condition is determined based on acceleration and the like. A navigation device is used for the automatic shifting described above.
It is known to use For example, Tokuhei 6-581
No. 41 discloses a method for determining a curve running or a low friction coefficient road.
Navigation from the perspective of eliminating the need for sensors
Perform shift control using the road information stored in the device
A device has been proposed. However, navigation
Gearboxes that use gearboxes adapt to road conditions
The gear stage may not be selected properly. That is,
For the road condition judgment for speed control, the vehicle
It is necessary to specify the course to travel in advance,
Did not have a sufficient course judgment function. For example,
The gear shift control device disclosed in Japanese Patent Publication No.
Recommended route determined by the route guidance function of the navigation device
Is the path to be subjected to the shift control.
Transmission control based on the assumption that the route guidance is being performed by the
It just implements. On the other hand, the road branches in various ways
Running on roads with no route guidance or branches
Unlike when traveling, it is not possible to identify the vehicle path to one,
Difficulty in implementing shift control. [0005] SUMMARY OF THE INVENTION The object of the present invention is toNavigation
Whether route guidance is being performed by the gating device
regardless of,It is highly probable that the vehicle will travel after this time
To provide a route estimation device that accurately identifies roads
You. [0006] SUMMARY OF THE INVENTION A route estimating apparatus according to the present invention.
IsRoute guidance is being performed by a navigation device
If so, recommended route data entered from the navigation device
Route estimation based on the
If notPertaining to road forks appearing on road map data
For each of a plurality of branch roads, each of a plurality of judgment items
This indicates the high probability of the driver's choice of course
Scores are calculated, and the total score obtained from these scores is the highest.
A branch path is selected as an estimated course. [0007]That is,The present inventionNavigation device
If route guidance is provided by
Route estimation based on recommended route data from
If no route guidance is provided,Driver (driving
Common to many drivers regarding the route selection by the driver)
Or specific driver-specific selection criteria
Each of a group of roads branching variously
The high probability of the driver's choice of course
Preset to match the driver's path selection criteria
Evaluation according to the judgment items and judgment rules
The route is estimated based on the evaluation result. For example, most drivers obey traffic rules.
In accordance with the fact that
Items are set, and for this judgment item,
The road to be judged is not selected if it is subject to line regulation. ''
Is set. For this judgment item,
Roads subject to judgment are subject to one-way regulation based on road map data
If it is determined that the score is zero, for example,
Otherwise, a high score will be given. In addition, "Individual documents
Drivers often choose the same route every time they commute.
In accordance with the fact that
Fixed items and "The higher the number of past passes, the better
Elephant road is likely to be selected. "
Is determined according to the stored information.
A grade is given according to the number of times. There are various judgment items that can be used for route estimation.
You. For example, running shoes represented by the number of past passes
History, traffic regulation conditions represented by one-way regulation, road type
Road conditions, represented by road width or road intersection angle,
Vehicle driving conditions represented by vehicle speed, accelerator pedal operation,
Vehicle driving operation status represented by brake pedal operation, vehicle
Body conditions represented by body width and body length, represented by snow and fog
Natural environment conditions, seasonal and night time conditions represented by night
And the like can be selected as appropriate.In the present invention, the path estimation accuracy
From the viewpoint of improvement, at least the driving history and traffic regulation conditions
And road conditions are included in the judgment items. [0010] The rating for each judgment item is, for example,
Included in the road map data input from the figure data input unit
Information or input from sensors or storage devices installed in the vehicle
Implemented based on information. About multiple judgment items
Once the scores have been determined, an overall score is calculated from these scores.
The branch route with the highest overall score is selected as the estimated route.
It is. A series of estimated courses sequentially selected in this way is
As a whole, it represents an accurate vehicle course. In the present invention, preferably, a plurality of judgments are made.
When calculating the overall score from the scores for each item,
By multiplying the score for the judgment item by a weighting factor,
Find the score that was found, and then
The sum of the scores found is calculated as a total score. This place
If appropriate, set the weighting factor appropriately for each judgment item
This improves the accuracy of the route estimation. For example, the majority of dry
Since the rules comply with traffic rules, decisions related to traffic rules
By setting the weight coefficient for the item to a large value,
Path estimation can be performed with high accuracy. More preferably, the judgment for each judgment item is made.
Set rules and weighting factors according to one or more related parameters
Ask. In this case, the route estimation is finely and accurately
I can do it. For example, a determination related to a determination item related to a road width
By deciding the rules according to the width of the vehicle,
Drivers choose wider roads "
Road estimation can be performed according to criteria. Judgment rules and weights
If the number is determined for each combination of a number of related parameters,
More preferably, the judgment rule and the weighting factor are set to, for example, a lookup table.
Table in advance, and a number of related parameters
The judgment rules and weighting factors according to the current and fixed values of
If you read from the file, you can quickly estimate the route
You. [0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below.
The course estimation device will be described. Route estimation device of the present embodiment
For example, the shift map selection of the automatic transmission for vehicles
Route estimation data for road condition estimation
Therefore, the navigation device 6 shown in FIGS.
No. The navigation device 6 is an electronic road area.
Map data storage unit storing figure data, for example, CD-R
OM62 and a vehicle position detector 6 for detecting the current vehicle position
4 and a route invitation to output route guidance data representing the recommended route
And a guide 66. Stored in the CD-ROM 62
Road maps are, for example, non-
Always contains a large number of mesh sections, the road of each mesh section
The data represents the roads and road attributes within the mesh compartment.
You. Each of the roads has a number of breakpoints (no
Adjacent nodes define one road section
I have. Road data consists of nodes such as the coordinate position of each node.
Contains data and includes information about junction nodes or intersection nodes.
Contains data representing the roads connected to this node.
I have. The road attribute includes the name of the road, the road width, and the like.
No. The position detecting section 64 is a satellite navigation system (G
(PS) to input data representing the absolute position of the vehicle.
A GPS controller 642 that outputs data,
Direction and wheel sensor 61 detected by sensor 611
Relative position of the vehicle based on the relative position detected by
And dead reckoning unit 64 that outputs data representing the vehicle trajectory
4 is included. In the map matching unit 646, the CD-R
Input from the CD-ROM 62 via the OM controller 65
From road shape on dead map data and dead reckoning section 644
The currently traveling road is identified based on the traveling locus of
You. In the navigation section 648, the control
Absolute position data from the RAM 642 and the map matching unit 6
Current vehicle position data based on the output data from
Is required exactly. The display control and route guidance unit 66 provides the driver with
Destination data set from the CD-ROM 62
Road map around the driving road using road data
And a recommended route from the current vehicle position to the destination
68 is displayed. In addition, this implementation
A route estimating device in the form includes an electronic control unit. this
The electronic control unit is connected to the road from the navigation device 6.
Data, current location data and recommended route data
A route estimating unit for estimating the vehicle route (reference numeral 42 in FIG. 2)
Functions) and are not directly related to the present invention and are simplified below.
And a road condition estimation / automatic shift control function described in (1). That is, the electronic control unit performs the course estimation.
The estimated route data and the estimated route input from the
Road condition on estimated route based on linked node data
Conditions (e.g., on mountain / curved roads, urban roads or standard roads)
Is estimated, and the shift
Turn and throttle opening detected by throttle sensor
Determines target gear based on vehicle speed detected by vehicle speed sensor
When the current gear is different from the target gear,
Command is sent to the shift control unit of the automatic transmission.
You. Hereinafter, with reference to FIG.
This will be further described. Map data input of course estimation unit 42
The unit 421 is the position detection unit 62 of the navigation device 6.
Related to the current vehicle position data
Node data included in the map data to be input
It has become. Also, the route of the navigation device 6
If the guidance unit 66 is performing the route guidance operation, the route guidance unit 66
Recommended route data from is supplied to the map data input unit 421
Will be done. The current node corresponding to the current vehicle position includes a car
One or more road sections in both directions of travel
Supplement) is connected. That is, if the current node is a road junction or
Must be a junction node or intersection node representing an intersection
Then, only one route section candidate is connected to the current node.
I have. On the other hand, if the current node is a branch node or intersection node
, The current node has two or more route section candidates (minutes).
Crossroads) are connected. First, a case where the route is not being guided will be described.
I do. If the current node is not a junction node or intersection node
Therefore, the next section of the vehicle path is the only one that follows the current node.
It is clear that the route
In this case, the route section selection unit 422
Select as the next course section. On the other hand, the current node is a branch point
Node or intersection node, two or more at current node
Selection section 422 when the route section candidates of
Sends a score calculation command to the route evaluation unit 423. course
In the evaluation unit 423, a plurality of route sections related to the current node
For each of the candidates, i (5 in this embodiment)
Path selection by driver for each of the fixed items
A score Pi indicating the high probability of
A weight coefficient Wi representing the estimated importance is multiplied by each score Pi.
And the weighted score Wi / Pi for each judgment item is
Desired. And weighting all the judgment items
The sum of the scores ΣWi · Pi is the total
It is calculated as a score. In the present embodiment, “the route section candidate is
Number of passes "," Road width "of route section candidates," Road type
Others, 5 “road bending angle” and “one-way regulation”
One judgment item is set. The first judgment item "pass
The judgment rule (score map) pertaining to "number of times" is "3 times in the past.
The score P13 (for example, 1
00), and the number of past passes is 2, 1, or 0
Score points P12, P11 and P10 (for example,
For example, give the corresponding ones of 90, 80 and 0). "
It is said. Determination rule regarding the second determination item "road width"
"Gives a score according to the width of
The content of this determination rule is the vehicle width
Depends on. For example, for a large car with a large body width
"If the road width of the route section candidate exceeds 25m
For example, a score P25 (for example, 100) for the route section candidate
Given, road width is 25m or less, 20m or less, 15m or less, 1
If it is 0m or less or 6m or less,
Scores P24, P23, P22, P21 and P20 (for example, 9
5, 90, 80, 50 and 0)
Is determined. Medium and small cars
And the details of the judgment rules for each mini vehicle
However, for example, the judgment rule for mini vehicles is that the road width is small.
Give a relatively high score to a candidate course section
Is set to The contents of the judgment rules are changed according to the width of the vehicle.
Instead, the decision rules for large vehicles
While applying to the vehicle, the weighting coefficient described later varies according to the vehicle width.
You may make it do. The third judgment item “Road type
For "Alternate", "Road name of route section candidate is already selected
If it is the same as that of the course, score P31 (for example, 100)
If the name is different, give the score P30 (for example, 0)
Is determined. Regarding the fourth judgment item "road bending angle"
Indicates that the bending angle of the route section candidate with respect to the selected
If it exceeds 100 degrees, a score of P46 (for example, 0) is given.
Bending angle is 100 degrees or less, 80 degrees or less, 60 degrees or less, 4
If it is 0 degrees or less, 20 degrees or less, or 10 degrees or less,
Scores P45, P44, P43, P42, P41 for road section candidates
And P40 (eg, 20, 30, 40, 60, 80 and
100) The corresponding rule is given. "
Is provided. In addition, the fifth determination rule "one-way regulation"
For example, if the route section candidate is subject to one-way
A score P41 (for example, 0) is given to the route section candidate, and
Unless subject to one-way traffic regulation, score P40 (for example, 100)
A determination rule of “giving” is provided. Course evaluation department
At 423, a comprehensive evaluation of a plurality of route section candidates
Point (W1 · P1 +... + W5 · P5) is calculated
And the route section selection unit 422 selects the route having the highest overall score.
The section candidate is selected as the next section of the vehicle route. Referring now to FIG. 3, the course of this embodiment will be described.
The configuration of the evaluation unit 423 will be described. The first judgment item "pass
In relation to the “number of times”, the path evaluation unit 423 selects the path section
Each time the unit 422 selects a route section as described above,
Updates the stored value of the number of vehicles passed for the route section of
The current storage number from the number-of-times storage unit 501 and the route section selection unit 422
The storage contents of the storage unit 501 are referred to based on the load data.
To check the number of passes related to the current route section candidate.
No. that gives a score P1 according to the number of passes to the section candidate
1 rating unit 511 and a weighting coefficient W1 (for example,
For example, a first weighting coefficient multiplying unit 521 for multiplying by 0.8)
ing. In connection with the second judgment item "road width",
The evaluation unit 423 outputs the road map data relating to the current route section candidate.
Road width data input unit 502 for extracting road width data from data
And the road width data and the vehicle width data storage unit 522a.
According to the vehicle width data, the score map selection unit 522b
Course based on the selected score map (judgment rule)
Second scoring unit 512 that gives score P2 to the section candidate
Is multiplied by a weighting coefficient W2 (for example, 0.3).
And a second weighting coefficient multiplying section 522. In relation to the third judgment item “road type”,
The route evaluation unit 423 calculates the road map data for the route section candidate.
Road type input unit 503 for extracting road type data from data
And a score P3 corresponding to the road type data for the route section candidate
A third rating unit 513 to be given, and a weight coefficient W3
(For example, 0.5) and a third weight coefficient multiplying unit 523
have. In connection with the fourth judgment item "road bending angle"
The route evaluation unit 423 determines the current node related to the route section candidate.
A straight line connecting this node and the node just before the selected path
And the current node and the next node next to the route section candidate
The angle between the straight line connecting the three nodes is the coordinates of these three nodes.
Based on the value, it is calculated as the road bending angle for the route section candidate.
Outgoing road bending angle calculation unit 504 and the calculated bending angle
4th grader giving grade P4 according to the route to route section candidates
Is multiplied by the weight coefficient W4 (for example, 0.1).
And a fourth weighting coefficient multiplying section 524. In connection with the fifth judgment item "one-way regulation"
In addition, the route evaluation unit 423 generates a road map related to the route section candidate.
One-way to extract one-way regulation data from data
One-way traffic regulation data input unit 505 and route section candidates
Fifth grader 51 that gives grade P5 according to the presence or absence of regulation
Is multiplied by the weight coefficient W5 (for example, 1.0).
A fifth weighting coefficient multiplying unit 525. The course evaluation unit 423 calculates the scores P1 to P5.
The total score (W1 · P1 +
... + W5 · P5)
And sequentially calculate the overall score for multiple route section candidates
I do. And, as mentioned above, the route with the highest overall score
The section candidate is sent to the course section selection unit 422 as the next course section.
More choice. In the node selecting section 424, in the vehicle traveling direction
Of the one or more nodes adjacent to the current node
Nodes that define the above selected route section are selected in cooperation with
Is done. In the course length determination section 425, the course section selection section 42
Selected, which is the sum of the route sections sequentially selected by 2
The path length is determined, and the selected path length
It is determined whether or not it exceeded. The predetermined road length is, for example, one key.
Meters. And the selected path length
Is longer than the predetermined road length, the route section selecting unit 422
Route sections and nodes sequentially selected by
Map data and node data related to the estimated route data
Output from the output unit 426 as estimated route data,
The estimation processing ends. After the estimation process is completed, the route estimation unit 42
Starts a new course estimation process. Therefore, the vehicle travels
As a result, the estimated course is updated. On the other hand, if the route is being guided, the current node
Regardless of whether it is a junction node or an intersection node,
The vehicle route section following the current node is the next section of the recommended route.
Will be composed. Therefore, during route guidance,
The section selection unit 422 sets the next section of the recommended route to the next route section.
Choose between. In the node selection unit 424, the recommended route
In, the node following the current node is selected. Path length format
In the setting part 425, as in the case of non-route guidance, it is already selected.
It is determined whether or not the course length exceeds a predetermined road length. So
If the selected path length exceeds the predetermined road length, the node
The estimated route data is output from the estimated route data output unit 426.
Output as data. The electronic control unit includes the above-mentioned course estimating unit 4
Function 2, road condition estimation unit (not shown), shift putter
My function that performs the functions of the
Microphone that can be configured by computer
Computer is a central processing unit, storage device, input / output
It has a surface and the like. Control unit with microphone
When configured with a computer, the control unit
System for implementing processing routines corresponding to various functions
Your program is implemented. Hereinafter, referring to FIG. 4 to FIG.
About the route estimation routine executed by the control unit
explain. A processing routine for estimating road conditions
Is the one described in Japanese Patent Application No. 9-213457.
For shift pattern selection and shift position determination
The processing routine may be a conventionally known one.
The description of the components is omitted. In the course estimation routine, the control unit
Is the current value from the position detector 62 of the navigation device 6.
Map related to the position data according to the vehicle position data
Enter the data to determine the current node corresponding to the current vehicle position.
Separate. The route guidance unit 66 of the navigation device 6
If the recommended route data is sent from the
No. 4 also inputs recommended route data (step S10). Next
In other words, whether the recommended route data has been input
It is determined whether the route is being guided (step S1).
2). If this determination result is affirmative, the next on the recommended route
A node is selected (step S30 in FIG. 5) and selected
The number of the executed node is stored (step S32).
At this time, the node selected in step S30 is
Become the current node. Next, the node and the node determined in step S10 are
And the respective coordinates of the node selected in step S30
Find the position from the relevant node data, and from both coordinate positions
Calculate the distance l between both nodes, and further calculate the calculated distance l
The total distance L between nodes obtained in the control cycle (the initial value is
B) to obtain a new total distance L between nodes.
(Step S34). Then, the total distance L between nodes is
It is determined whether the length exceeds the fixed road length Lref (step S3).
6) If this determination result is negative, step S12 and thereafter
Is executed again. As described above, during route guidance
Is updated on the recommended route while updating the total distance L between nodes.
A series of nodes are sequentially selected. Thereafter, the total distance L between nodes is equal to the predetermined road length.
When Lref is exceeded, a series of selected node numbers sequentially selected
Is output as estimated route data (step S3).
8), the current course estimation processing cycle ends. This place
In this case, the control flow returns to step S10, and a new course
The constant processing cycle starts. If it is not "Route guidance"
If it is determined in step S12 of FIG.
Whether it is a junction node or an intersection node,
Whether there is a branch road is the node data related to the current node.
(Step S14). This decision
If the result is negative, that is, the current node is on one road and the current node
If there is no branch from the road, the next node on the road
Is selected (step S40 in FIG. 6). Then the route
Steps S32, S34, S described above performed during the guidance
Steps corresponding to S36 and S38 are sequentially performed.
It is. That is, of the node selected in step S40
The number is stored and the current node is updated (step
S42) Distance l between the previous node and the new current node
Is added to the total distance L between nodes up to the previous control cycle.
(Step S44), the new total node distance L is
It is determined whether the length exceeds the fixed road length Lref (step
S46). If the result of this determination is negative, the control
The flow returns to step S12. In step S12, it is determined that the route is not being guided.
After the determination, the current node is
And therefore one or more forks (path sections
If it is determined in step S14 that there is a
For the i-th fork, an index i (initial value is 1)
The score Pi relating to the i-th determination item is calculated (step
Step S16), the score Pi is multiplied by the weight coefficient Wi.
The score Wi · Pi weighted by calculation is calculated (step S
18) It is determined whether or not the index i is 5 (step).
S20). This judgment result is negative, that is, the last judgment
Weighted scores W5 and P5 related to fixed items are calculated.
If it is determined in step S20 that there is no
After adding the value 1 to the index i in S22, the process proceeds to step S16.
Return and the next score is calculated. Then, i = 5, that is, the last weight
It is determined in step S that the calculation of the obtained scores W5 and P5 has been completed.
If determined at 20, the first through fifth weighted
The sum of the scores (W1 · P1 + ... + W5 · P5) is the overall rating
Is calculated as a point (step S24), and the index i is an initial value
It is reset to 1 (step S26). Then another branch
It is determined whether there is a road (path section candidate) (see FIG. 6).
Step S28) If this determination result is affirmative, the next minute
Scores for the five judgment items for the crossroads are calculated sequentially.
These scores are added to calculate a total score. The calculation of the total score for all forks is
When the processing ends and the determination result in step S28 becomes negative,
Of all branch roads, the branch road with the highest overall score is the next
The route section (next node) is selected and the control flow is
The process moves to step S42. As described above,
While updating the total distance L between nodes, one
While selecting consecutive nodes, the total distance between nodes
It is determined in step S46 that L exceeds the predetermined road length Lref.
If it is determined by, the node of the node selected so far
Is output as estimated route data (step S
48). This completes the current course estimation processing cycle.
The control flow proceeds to step S10 and
The road estimation processing cycle starts. The present invention is not limited to the above embodiment, but
It can be variously deformed. In the above embodiment, the road map data
A branch point appears on the screen, and a plurality of route section candidates (branch roads)
At one time, the driver's path selection for each path section candidate
Scores that indicate the likelihood of
Number, road width, road type, road bend angle and
We asked for "one-way regulation",
The eyes are not limited to this. For example, the vehicle speed is included in the judgment item.
For example, the vehicle speed decreases from the highway to
Considering that there is a high probability that
The course may be estimated. In addition, natural environmental conditions and time conditions
Is included in the judgment items, and when driving in bad weather or driving at night
In some cases, roads with a good driving environment, such as national roads, are selected.
It is also possible to consider that the probability of occurrence is high. In the embodiment, the evaluation related to the judgment item “road width” is performed.
Only the map (judgment rule) used for calculating the point P2 is set as the road width.
Change according to the related parameter, body width
However, other judgment items are also related to this item.
Change the judgment rule according to the parameter
Is also good. Alternatively, the weighting factor for multiplying each judgment item is
You may make it change according to a parameter. In the embodiment, each judgment item is
The overall score was obtained by adding the weighted scores for
However, the total score can be variously calculated. For example, each judgment item
If the setting of the rating map (judgment rule) related to is appropriate,
Omit the weighting of the score of each judgment item,
The scores may simply be added. Also, without relying on numerical operations
Proceed for each route section candidate by fuzzy inference
It is also possible to evaluate the probability of road selection. [0045] In the embodiment, the route estimation device of the present invention is used.
The route estimation result by the position is provided for the shift map selection.
However, the target of the estimated route is not limited to this.
It is not possible to determine
It is. [0047] The route estimation device of the present inventionNavigation
Navigation when route guidance is being performed
Route estimation based on recommended route data input from the navigation device
The vehicle is normally driven based on the recommended route
During route guidance, route estimation can be performed accurately. Also, route guidance
If not doneRoads appearing on road map data
Traffic for each of a plurality of route section candidates related to the road junction
Multiple judgment items including regulation conditions, driving history and road conditions
For each of the three
Scores, and the overall score obtained from these scores is the highest
The route section candidates are selected as estimated route sections.
Common to all drivers or specific to individual drivers
In accordance with the route selection criteria,
Highly probable roads can be accurately estimated.That is,
According to Ming, route guidance is provided by a navigation device
Accurate path estimation whether or not
Can be.In addition, setting of judgment items and calculation of total score
The route is more appropriate,
Flexible. For example, driving history, traffic regulation conditions and roads
In addition to the judgment items related to road conditions,
For rolling operation conditions, body conditions, natural environment conditions, time conditions, etc.
Select appropriate ones from various corresponding judgment items,
Map used for calculating the score and weight used for calculating the overall score
The appropriate coefficient, and furthermore, the score calculation map and weight
The coefficient can be set variably according to the related parameters.
Thus, it is possible to further optimize the route estimation.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a navigation device of a route estimation device according to an embodiment of the present invention. FIG. 2 is a block diagram of a route estimation unit of the route estimation device. FIG. 3 is a block diagram showing in detail a course evaluation unit of the course estimation unit in FIG. 2; FIG. 4 is a flowchart showing a part of a course estimation routine executed by an electronic control unit constituted by a microcomputer. FIG. 5 is a flowchart of a portion following the route estimation routine of FIG. 4; FIG. 6 is a flowchart showing the rest of the course estimation routine. [Description of Signs] 6 Navigation device 42 Route estimation unit 44 Road condition estimation unit 62 CD-ROM 64 Vehicle position detection unit 66 Route guidance unit 421 Map data input unit 422 Route section selection unit 423 Route evaluation unit 424 Node selection unit 425 Route Length determination unit 426 Estimated route data output unit

Continuation of the front page (56) References JP-A-5-118866 (JP, A) JP-A-7-55494 (JP, A) JP-A-8-261717 (JP, A) JP-A-7-156815 (JP) JP-A-7-83865 (JP, A) JP-A-7-160194 (JP, A) JP-A-8-285626 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB Name) G08G 1/0969 G01C 21/00

Claims (1)

(57) [Claim 1] A vehicle position detection unit for detecting a current vehicle position, and a map data input unit for inputting the detected current vehicle position and road map data corresponding thereto. , When route guidance is being performed by a navigation device
Indicates that the map data input unit is
While estimating the route based on the input recommended route data,
Route guidance by the navigation device is not performed
In this case, for each of the forks at the road fork on the road map data input by the map data input unit, it is involved in the probability of the route selection by the driver and includes traffic regulation conditions, travel history and road conditions. For each of the plurality of judgment items, a score representing the high probability of the path selection is obtained, and the route for which the total score obtained from the scores relating to each of the plurality of judgment items is the highest is selected to perform the route estimation. A route estimating device for a vehicle, comprising: an estimating unit.