JP3429923B2 - Car navigation system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle navigation system.
Maps, especially those stored on CD-ROM, etc.
Using the data to automatically determine the best route between the starting point and the destination
In-vehicle that performs dynamic search and performs route guidance based on the search results
The present invention relates to a navigation device. [0002] 2. Description of the Related Art In-vehicle navigation systems use map data.
Map data such as CD-ROM or IC card with recorded data
Data storage device, display device, gyro, GPS
(Global Positioning System) and vehicles such as vehicle speed sensors
Vehicle movement detection device for detecting both current position and current direction
Map data including the current position of the vehicle
Data from the data storage device and the vehicle based on the map data.
Draw a map image around the location on the display device
At the same time, display the vehicle position mark (location)
A) Overlaid on the screen and displayed according to the movement of the vehicle
Scroll the image or pin the map image to the screen
By moving the vehicle position mark,
You can see at a glance if you are running. In addition,
The vehicle position mark is displayed at the center of the screen,
Displayed in the corner of the screen so that both directions of travel are displayed widely
There are times when you do. [0003] Recorded in a map data storage device such as a CD-ROM.
Remembered maps are 1/12500, 1/25000, 1/50000 and
And longitude of an appropriate size according to the scale level such as 1 / 10,000
It is divided into width and latitude width, and roads are longitude and latitude
Is stored as a coordinate set of vertices (nodes) represented by
ing. A road consists of a connection of two or more nodes.
The part connecting the two nodes is called a link. Ma
The map data is (1) road list, node table
, Intersection configuration node list, intersection netlist, etc.
Map matching, road layer for route search,
(2) Roads, buildings, facilities, parks, rivers, etc. on the map screen
Background layer to display, (3) row such as city name
Characters such as political division names, road names, intersection names, building names, etc., maps
Consists of character / symbol layers for displaying symbols, etc.
Have been. [0004] Normally, a navigation device for a vehicle is provided with an operation.
Easy for divers to get to the desired destination without making a mistake on the road
Is equipped with a route guidance function
You. According to this route guidance function, departure using map data
The shortest route from the ground to the destination is
Automatic search by performing simulation calculations such as the Ikustra method
Search, and the shortest route searched is used as guidance route data.
Remember and display the guidance route on the map image while driving.
The road is changed in color and drawn thick to display on the screen,
Within a certain distance of the intersection where the course on the guidance route should be changed
The intersection on the map image where the course should be changed.
By drawing an arrow indicating the road and displaying it on the screen,
Drivers can easily find the best route to the destination
I'm trying. [0005] By the way, a conventional vehicle-mounted vehicle
For navigation devices for navigation, wide roads such as national roads
When a road is parallel to a narrow road such as a municipal road
In addition, national roads are preferentially selected. this
Generally means that you can drive at higher speeds on national roads.
It is better to travel on a national road until you arrive at your destination
This is because the time required at the site is short. However, national roads pass through the center of the city.
If there are many traffic lights along the road,
Have to be stopped at these traffic lights
And traffic is also likely to occur. For this reason, national roads
If you are passing through the center of the city, rather go through the national road
It is better to go on a road that bypasses the city area
Often you can get there quickly. However, a conventional on-vehicle navigation device
In, whether national roads pass through the center of the city
The navigation route is searched without considering the
Follow the guidance route recommended by the navigation device
And I get into the center of the city and go through the city
You may spend a lot of time on Avoid this
In order for the driver to
I passed the road deviated from the guidance route
Return to the guidance route at
In addition, it is necessary to search for a route, which is complicated. From the aboveThe purpose of the present inventionStops at the traffic light
In the shortest time to the destination in consideration of being forced to
In-vehicle navigation that automatically searches for reachable routes
It is to provide an installation device. [0009] [0010][Means for Solving the Problems] The issues mentioned above are
Map data storage means for storing vehicle data, vehicle position and vehicle
Vehicle movement detecting means for detecting both positions, and the map data
To automatically search for a guidance route connecting the starting point and the destination using
Route search means for obtaining guidance route data by using
Guidance route storage means for storing data, and the map data
The map image around the vehicle position is shared with the vehicle position mark using
Map image drawing means for drawing on the guide route data
Displaying the guidance route on the map image based on the
A route guidance unit, wherein the route search unit includes a
For the distance of the road, go straight at the intersection existing on the road
Weights according to the number of traffic lights present at
For finding the shortest route after
It is solved by a navigation device. [0011] [0012] [0013]Invention of the present applicationIn, the distance of the road that passes
Of the intersection existing on the road,
Weighting is performed according to the number of traffic signals existing at the difference points. One
Road, depending on the number of traffic lights at the intersection
Multiply or add a certain value to the distance of the road to make it longer than it actually is
Distance and the weighted distance as the road distance.
You. In the present invention, the
Find the shortest route after weighting the distance
Therefore, there are many traffic lights like a road passing through the center of the city.
Well-established roads are difficult to select as guidance routes
Route automatically reach the destination in the shortest time
Can be searched. [0014] BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described.
This will be described with reference to the accompanying drawings. (First Embodiment) FIG. 1 shows an in-vehicle navigation device according to the present invention.
FIG. 2 is an overall configuration diagram showing a first embodiment of the device. 1 in the figure
Road layers, background layers, character / symbol layers, etc. by scale
CD-ROM storing map data composed of
Detects vehicle position, direction, and speed by satellite navigation
Vehicles such as GPS receivers, gyros and vehicle speed sensors
It is a motion detection unit. 3 is a cursor for map scrolling.
Keys, destination input keys, and areas to avoid traffic
Operation section having a traffic avoidance area selection mode key
Displays a map image with vehicle position marks, guidance routes, etc.
FIG. Numeral 10 denotes a microcomputer-structured navigation controller.
A map data stored in the CD-ROM 1
A map image containing the current position of the vehicle using the
And draw it on the screen of the display device 4.
Or when a destination is entered, it is output using map data.
Connects the current location, which is the place of departure, to the destination desired by the user
The shortest route is automatically searched by the horizontal search method, and the
And memorize it, then a different color from other roads on the map image
Draws a guidance route and displays it on the screen together with the vehicle position mark
Then, route guidance is performed. The navigation controller 10
Is an area where the user wants to avoid traffic in advance, as described later.
If you set a taxiway, except for roads in that area
Has a function of searching for. Navigation control
11 of the controllers 10 are read from the CD-ROM 1
Buffer memory for storing map data, and 12 an operation unit
Calculates the cursor position according to the operation of the 3 cursor keys
Cursor position calculator 13 is a destination input key of operation unit 3
The cursor position at the time when was pressed was set as the destination
Route search conditions to set areas to avoid traffic
And 14 are the conditions set by the route search condition setting unit 13
Buffer memo with necessary map data from CD-ROM1
To the location 11 and set the current position as the departure point.
Buffer memory for the shortest route from the origin to the destination
11 using a horizontal search method using the map data read
It is a route search processing unit to be searched. 15 is a route search processing unit
The node data constituting the route searched in 14 is sorted in route order
The node data sequence arranged in the route as guidance route data
This is a guidance route storage unit. As shown in FIG.
Data is longitude and latitude coordinate data and whether it is an intersection node
Is included. Reference numeral 16 denotes information input from the vehicle movement detector 2.
The vehicle position calculation unit that calculates the vehicle position based on
Vehicle position to be superimposed on the map based on the calculated vehicle position
This is a vehicle position mark drawing unit that generates a position mark. 18
Is the map image drawing unit, and when the route is not guided, the vehicle position
Based on the vehicle position and the vehicle direction calculated by the
Of the map data stored in the CD-ROM 1
The map data around both positions are read into the buffer memory 11.
And use the read map data to face north
Draw a map image. 19 is drawn by the map image drawing unit 18
The drawn image is output from the vehicle position mark drawing unit 17.
With a video RAM that is stored by overlapping with the vehicle position mark
20 is for reading an image stored in the video RAM 19.
Output to the display device 4 after converting it into a predetermined video signal.
This is a video converter for outputting. For route guidance, a guidance route storage unit is further provided.
Guidance via the map image drawing area from 15
The road data is read out to the video RAM 19 and superimposed on the map image.
A guide route that is thickened with a specific color different from the normal road
Draw a road.Road layer The road layer in the map data has the configuration shown in FIG.
You. The road list RDLT includes a road type, a road for each road.
The number of nodes that make up the road, the nodes of the nodes that make up the road
Position on table NDTB and road to next node
It consists of data such as width. Intersection configuration node
The list CRLT is linked to each intersection on the map.
The other end of the linking node (called the intersection configuration node)
It is a set of positions on the node table NDTB. No
Table NDTB is a list of all nodes on the map.
Location information (longitude, latitude) for each node,
Intersection identification flag to determine whether it is a difference point, if it is an intersection
(If the intersection flag is "1")
Refers to the position (Qi) on the strike CRLT and must be at an intersection
(If the intersection flag is "0")
Pointer (Pn) indicating the position of the road to which the node belongs
And so on. The intersection netlist CRNL is shown in FIG.
4 and the fixed data area FDA
To (1) Intersection sequential number (specify the intersection
Information) (2) Map leaf number of the map including the intersection node (3) Data unit code Above, intersection node ID (4) Number of nodes constituting intersection (5) Sequential number of each adjacent intersection (6) Distance to each adjacent intersection (7) Attributes of roads to each adjacent intersection (road type, width
Member) Etc. One intersection netlist CRNL has the most
At most seven adjacent intersection data are stored. Also,
The intersection netlist CRNL is in the rewrite data area RD.
A, at the time of route search, the total distance and one before
The sequential number of the intersection (one less order)
The search order can be stored. The route search processing section 14 inputs a user's destination.
When the destination is set by the operation, the intersection netlist
Exit using the distance between intersections stored in CRNL as it is.
The shortest guidance route connecting the origin and destination is determined by the horizontal search method.
Search. 5 to 8 show navigation controllers.
9 is a flow chart showing the operation of FIG. 10, and FIGS.
FIG. 11 is a view illustrating a route search method using a horizontal search method.
FIG. 12 shows an example of a screen display on which a guidance route is displayed.
It is a figure, and it demonstrates according to these figures below. In addition,
9, 10, and 12, 21 is a destination and 22 is a vehicle.
Indicates a position mark. [0022]Route search When the power is turned on, the vehicle movement detection unit 2 performs satellite navigation,
Gyro and vehicle speed sensor periodically determine both vehicle position and vehicle
And vehicle speed. On the other hand,
The trawler 10 receives vehicle position data from the vehicle movement detection unit 2,
The vehicle direction data is input (step 101 in FIG. 5),
The figure image drawing unit 18 stores the map data around the vehicle position on a CD.
Reading from the ROM 1 to the buffer memory 11;
Using the output map data, for example, centering on the vehicle position
Draws a map image with the north facing upward in the video RAM 19
You. On the other hand, the vehicle position mark drawing unit 17
A vehicle position mark indicating the direction is output to the video RAM 19.
And superimposed on the map image. Video RA
The image drawn on M19 is read by the video converter 20.
After being converted to a predetermined video signal,
It is output to the device 4 and displayed on the screen (step 102). Thereafter, the navigation controller 10
Indicates whether the map scroll operation was performed using the cursor keys
Check (step 103), if NO, step
101, a new vehicle position data is
Data and vehicle orientation data to center on the new vehicle position
Map image with the vehicle position mark
Display. Hereinafter, the same processing is repeated to
The vehicle position is fixed at the center on the screen following both runs
The map scrolls. The user sets the current position as the departure point, and
When you want to drive along the optimal route to the destination,
Use the keys to scroll the map and search for the destination.
At this time, when the operation of the cursor key is started,
The cursor position calculator 12 is detected by the vehicle movement detector 2.
The current vehicle position as the initial cursor position.
After setting (Steps 103 and 104), use the cursor keys
The cursor position continuously according to the operation of
(Steps 105, 106, 107). Also, map images
The drawing unit 18 reads a location including a cursor position from the CD-ROM 1.
The figure data is read out to the buffer memory 11 and
For example, with the cursor position as the center using the map data
Draws a map image with the north facing upward in the video RAM 19
Then, draw a cursor mark on the map image. Video R
The image of AM 19 is read out by the video converter 20 and
Is converted to a fixed video signal and output to the display device 4.
(Step 105). As a result, the map image on the screen
Scroll according to the operation of the cursor key and
A sol mark is displayed. When the cursor mark matches the destination
When the destination input key is pressed (YES in step 108),
The route search condition setting unit 13 looks at the cursor position at that time.
Is set as the destination, and the destination data is
Is output (step 109). Enter destination data
The route search processing unit 14 that has been input is detected by the vehicle movement detection unit 2.
Set the current location as the departure point (Step 1)
10). Next, an area where the user wants to avoid traffic is set.
If you want to set the
push. For example, the area indicated by reference numeral 23 in FIG.
If traffic is expected and you want to avoid traffic,
By pressing the avoidance area selection mode key, FIG.
A rectangular cursor 24 is displayed on the screen as shown
(Steps 111 and 112). This rectangular cursor 24
Depends on the scale of the map as shown in FIG. 9 (c).
10 (steps 113 and 114) and FIG.
As shown in FIG.
It is also possible to make further changes (steps 115, 116).
Next, the cursor 24 is moved, as shown in FIG.
As shown, move the cursor 24 to the road where
You. At this time, an area to be avoided is displayed on the screen.
If not, move the cursor 24 to the edge of the screen.
Screen will scroll, so that the desired road is
The movement of the cursor 24 is repeated until displayed on the
117, 118). Curso on the road to avoid traffic
After setting the rule 24, press the select key (step 11).
9), the route search condition setting unit 13
Route search processing by setting the enclosed area as a traffic avoidance area
Output to the section 14 as traffic avoidance area data (step
119, 120). When there are multiple traffic avoidance areas
Returns from step 121 to step 113
Repeat the operation. When not setting the traffic avoidance area
Goes from step 111 to step 122,
The bypass avoidance area setting operation is bypassed. Thereafter, the route search processing section 14 starts from the departure place.
Map data in the range where the destination can be entered is stored in CD-ROM1
To the buffer memory 11 and read out the read map data.
From the starting point to the destination using the road layer in the data
Is searched by the horizontal search method. However,
When a traffic avoidance area is set,
For the road that passes, it is outside the set area and
There is no road between the two closest intersections across the area
Route search. For example, in FIG.
Route search assuming that there is no road between intersections N and M
I do. A specific search processing method will be described with reference to FIG.
Will be explained. Here, for simplicity,
The intersection netlist CRNL also has the first to fourth four
It is assumed that adjacent intersections are included, and
The neighbor is the first adjacent intersection, the right is the second adjacent intersection, and the upper neighbor is the
3 adjacent intersections, 4th adjacent intersection on the left
And First, the route search processing section 14 crosses the departure place.
Check whether it is a point (step 201 in FIG. 7),
If this is the case, the departure point intersection STP is set (step 202).
Step 204 and subsequent steps are performed.
Intersection as the departure point intersection STP (step 20).
3) Perform the processing after step 204. Departure intersection
If the STP is determined, the route search processing unit 14 crosses the destination
Check if it is a point (step 204).
Target intersection DSP (step 205), step 2
Perform the processing after 07, and if it is not an intersection, the nearest intersection
The difference is set as the destination intersection DSP (step 206).
The processing after step 207 is performed. Next, the departure point intersection STP and the destination intersection
When the point DSP is determined, the route search processing unit 14 first departs.
With the intersection STP at the center, the departure intersection STP
The radius is slightly longer than the target intersection DSP
Intersection netlist C of all intersections included in the circle
The RNL is read from the map data on the CD-ROM 1, and the
The data is read out to a buffer memory (step 207). Thereafter, at step 208, the traffic
If a refuge area is set, the roads within that area
Explore. Then, for the road passing through the area,
The nearest 2 that is outside the region and sandwiches the region
Data as if there was no road between two intersections
Change. Then, the search order i is set to 0 (step 2).
09). Next, the i-th order recorded in the buffer memory 11
Referring to the netlist CRNL related to the intersection,
Check whether an intersection adjacent to the i-th intersection remains (
Step 210). The 0th intersection is the departure intersection STP
You. In step 210, the j-th intersection
The points (j = 0, 1,..., I) are excluded. Here, four adjacent intersections remain.
At the first first adjacent intersection A₁About the departure intersection
Starting point in the intersection netlist CRNL for STP
Intersection STP to first adjacent intersection A₁Distance d to_TwoTo
Refer to departure point intersection STP to adjacent intersection A₁Until
Is calculated (step 211). D leaves
The total distance from the ground intersection STP to the i-th intersection is d₁
Then d₁+ D_Two→ D Is determined by D when i = 0 at first₁= 0, so D =
d_TwoBecomes Next, the data stored in the buffer memory 11 is stored.
Intersection A₁Of the intersection netlist CRNL related to
With reference to the data area RDA,₁Search for
Whether the order is (i + 1), in other words, already,
Intersection A₁, The total distance on different routes and one hand
Check whether the information that identifies the previous intersection has been registered.
Step 213) Since the answer is NO here, the adjacent intersection
Point A₁Intersection A₁Crossing pertaining to
In the point netlist CRNL, (a)
Sequential number of the 0th intersection STP, (b) output
From the departure intersection STP to the adjacent intersection A₁Cumulative distance up to
Separation D (= Ad₁) Is stored in the rewrite data area RDA.
(C) the adjacent intersection A₁(I) as the search order of
+1) = 1 is stored in the rewrite data area RDA.
Step 213). Then, returning to step 210, the departure
Intersection netlist CRNL for difference STP
Refer to the intersection adjacent to the 0th intersection of interest
Is still remaining, and if it remains, repeat the same process
You. As a result, the intersection netlist of the departure point intersection STP
Intersection A adjacent to₁~ A_FourThese remain because
Are the primary intersections and are related to these primary intersections.
In each data rewrite area of intersection netlist CRNL
Is the cumulative distance Ad₁~ Ad_FourAnd each adjacent intersection A₁~ A
_FourTo identify the previous intersection STP corresponding to
The central number is registered. At the intersection of the departure point intersection STP
All adjacent intersections included in the
When the processing is completed, the route search processing unit 14
It is determined whether there is a zero-order intersection other than the point STP (see FIG. 7).
Step 210 of FIG. 8, step 301 of FIG.
There is no destination intersection DSP
In other words, the destination intersection is set as the (i + 1) th intersection
It is determined whether a DSP is included (step 302).
If not, increment i to 1 (step
303). Then, the process proceeds to step 210 in FIG.
One of the primary intersection A₁Focus on the buff
Intersection A stored in the memory 11₁The intersection net
The 0th intersection STP is removed with reference to the tourist list CRNL.
Then, it is determined whether the adjacent intersection remains. Here, B₁₁, B₁₂, B₁₄Exists
First of all, the first adjacent intersection B₁₁About
Point A₁While referring to the intersection netlist CRNL
From the departure point intersection STP to the adjacent adjacent intersection B₁₁For up to
The total distance D is calculated (step 211). Departure intersection
The primary intersection A currently focused on from the point STP₁For up to
Cumulative distance d₁Indicates the intersection A in the buffer memory 11₁In charge of
In the RDA of the intersection netlist CRNL₁As
First intersection A₁From the adjacent intersection
B₁₁Distance d to_TwoIs the intersection A₁Intersection netries pertaining to
Since it is stored in the strike CRNL, Ad₁+ D_Two→ D First intersection A from departure point intersection STP₁Via
The adjacent intersection B₁₁The total distance D up to is obtained. Next, the data stored in the buffer memory 11 is stored.
Adjacent intersection B₁₁Of intersection netlist CRNL pertaining to
Referring to the replacement data area RDA, the adjacent intersection B₁₁of
Check whether the search order is (i + 1) (step 21)
2) Since the answer is NO here, the adjacent intersection B₁₁To
At the intersection B₁₁Intersection net pertaining to
In the list CRNL, (a) the primary currently focused
Intersection A₁Sequential number of (b) departure intersection
From STP to the adjacent intersection B₁₁Distance D (= B
d₁) Is stored in the rewrite data area RDA, and (c)
The adjacent intersection B₁₁(I + 1) = 2 as the search order of
Is stored in the rewrite data area RDA (step 21).
3). Then, returning to step 210, the buffer
Primary intersection A stored in memory 11₁Intersection related to
With reference to the netlist CRNL,
Primary intersection A₁Check if the intersection adjacent to
If it remains, the same processing is repeated. Route search processing unit
14 returns to step 210 and the adjacent intersection B₁₂, B₁₄But
It is determined as YES because it exists. And this
C, the second adjacent intersection B₁₂About the departure intersection STP
Intersection B from₁₂After calculating the total distance D up to
(Step 211), stored in the buffer memory 11
Adjacent intersection B₁₂Intersection netlist CRNL corresponding to
The search order has already been determined with reference to the data rewrite area RDA of
2 is checked (step 212), NO
Therefore, the first intersection A is stored in the data rewriting area RDA.₁
Number and cumulative distance D = Bd₁₂, Search order
2 is registered (step 213). And step 2
Returning to FIG. 10, the intersection A₁Intersection
Remaining adjacent intersection B stored in netlist CRNL
₁₄To process. B₁₄When the process for
The processing unit 14 checks whether another primary intersection exists.
(Step 301 in FIG. 8), and here A_Two,
A_Three, A_FourExists, so A_TwoThe new primary
The processing after step 210 in FIG. 6 is performed as an intersection.
(Step 304). Intersection A_TwoIntersection netlist
First to fourth adjacent intersection B at CRNL_{twenty one}~ B_{twenty four}Exists
But B_{twenty four}= Because departure intersection STP, 4th adjacent intersection
Point B_{twenty four}Is removed in step 211 and processed. And
First B_{twenty one}, The route search processing unit 14 determines that the intersection A_Two
Departure intersection with reference to the intersection netlist CRNL
From STP to primary adjacent intersection A_TwoAdjacent intersection via
B_{twenty one}(Steps 210 and 2)
11). Subsequently, the route search processing unit 14
Adjacent intersection B stored in the memory 11_{twenty one}Intersection Netry
Intersection B with reference to strike CRNL_{twenty one}Of degree 2
(Step 212), but B_{twenty one}= B₁₂And
Adjacent intersection B₁₂YES because the order of has already been 2
Becomes This is the first intersection A₁Intersection adjacent to
Point B₁₂(The data of (a) to (c) is
Stored), but in this case,
Intersection B₁₂The intersection netlist CRNL according to
Departure intersection ST stored in the replacement data area RDA
Cumulative distance from P * D = Bd₁₂And this time at step 211
The magnitude of the obtained distance D is compared (step 214). If D <* D, the adjacent intersection B
₁₂(= B_{twenty one}Rewrite intersection netlist CRNL
The ith intersection A stored in the data area RDA₁No
The i-th intersection A that is currently focusing on the sequential number_Two
With the sequential number of
* D is D = Bd_{twenty one}(Step 215). D
If ≧ * D, the RDA is not rewritten. Thereafter, returning to step 210, the first
Intersection A_TwoSimilar processing for the next adjacent intersection according to
I do. However, if a traffic avoidance road is set,
As described above, it is assumed that the road does not exist. Less than,
The same processing is sequentially repeated, and step 30 in FIG.
All of the (i + 1) th order in the check of 2
Destination intersection DSP is included in the intersection of
When determined to be ES, first, the data is stored in the buffer memory 11.
Intersection netlist related to the remembered destination intersection DSP
In CRNL, store in the rewrite data area RDA
At a certain destination intersection DSP (assume the m-th intersection)
(M-1) next intersection before the corresponding one, (m-1)
In the intersection netlist CRNL related to the next intersection,
At the intersection stored in the rewrite data area RDA
(M-2) next intersection before the corresponding one, ..., secondary
In the intersection netlist CRNL pertaining to the intersection of
The primary intersection and outgoing information stored in the replacement data area RDA
The shortest distance from the departure intersection STP connected in the reverse order
The best route is determined, and the destination intersection from the departure intersection STP
The intersection node sequence that constitutes the optimal route to the difference DSP
This is a basic guidance route. And the road layer in the map data
Simple node between intersection nodes in basic taxiway
(Nodes that are not intersections)
Stored in the guidance route storage unit 15 as final guidance route data
(Step 305). At this time, the intersection on the guidance route
An intersection identification flag is set for a point node. FIG. 12A shows a case where a traffic avoidance area is set.
FIG. 12 (b) shows the navigation route GR
Guide route GR searched when no line avoidance area is set
Is shown. After the guidance route is set, the user
May be set to a traffic avoidance area. This place
In this case, for example, the above-described steps are repeated from step 111.
Return and search for a new guidance route. [0044]Route guidance When the navigation route search is completed, the navigation control
LA 10 is the vehicle position data from the vehicle movement detection unit 2 and both the vehicle
Position data and vehicle speed data (step 30).
6), the map image drawing unit 18 stores the data including the vehicle position in C
Read from the D-ROM 1 to the buffer memory 11,
Upward north including the vehicle position using the map data
The rendered map image is drawn on the video RAM 19. next,
In the guidance route data stored in the guidance route storage unit 15
From the drawing area of the map image
Overlaid on the map image and emphasized with a different color from the normal road
Draw the guidance route. Then, the vehicle direction is displayed on the map image.
Draw a vehicle position mark that points in the direction. In this case,
For example, as shown in FIG.
Place the vehicle mark in the corner of the screen so that it is drawn
You. The image drawn on the video RAM 19 is stored in the video conversion unit 2.
0, is converted to a predetermined video signal, and
It is output to the spray device 4 and displayed on the screen (step
307). As a result, the screen shows the vehicle as shown in FIG.
The map image MP including the position is the guidance route GR and the vehicle position marker.
Is displayed together with the click 22. After this, navigation
The controller 10 returns to step 306 to detect the vehicle movement.
New vehicle position data, vehicle direction data, vehicle
Enter both speed data and invite a map image including the vehicle position.
Draw along with the guide route and vehicle position mark and display on the screen
(Step 307). Hereinafter, the same processing is repeated. A guidance route is represented according to the running of the vehicle.
The map scrolls. The driver follows the guidance route
You can reach your destination by traveling. this
In the form, the area or traffic where traffic congestion is expected in advance
If there is an area to be avoided, the user specifies that area
By doing so, the navigation device is included in that area
Exclude a road and search for a guidance route. This allows you
The user follows the guidance route recommended by the navigation device.
Just reach the destination in the shortest time
Can be. (Second Embodiment) Hereinafter, a second embodiment of the present invention will be described.
Will be described. This embodiment is different from the first embodiment.
For points, instead of not setting a traffic avoidance area, route search processing
Weight for the distance of the road when searching for a guidance route in the
Other components are basically the first
Since it is the same as the embodiment, the description will be made with reference to FIG. In this embodiment, the route search processing unit 14
After the starting point and destination are set, the route search process
When searching for a guidance route using the horizontal search method in the unit 14
At the intersection of existing roads
Constant depending on the number of traffic lights at the intersection
, And the value is used as the distance of the road. Previous
The constant is, for example, the probability of stopping at a traffic light and the stop at a traffic light.
It is determined according to the stop time when stopping. Also the road
The distance of the signal and the presence or absence of a traffic light are buffered from CD-ROM1.
Included in the map data read into the memory 11
The route search processing unit 14 uses these data to determine the distance.
Weighting for separation is performed. For example, in FIG. 13, between intersections C and D
The actual distance between the two paths E and F connecting
On route F, five traffic lights S are set, and on route E,
Assume that two units are installed. In this case, this form
In navigation systems, the navigation method is
When searching for a route, the distance of route E is longer than that of route F.
It is determined that the route is short, and the route E is set as a guidance route. Generally, there is a signal in the center of the city.
Since there are many intersections, the average speed is low. Book form
In the navigation device in the state of the
It automatically searches for a guidance route so as to avoid traffic
The user follows the guidance route indicated on the screen
You can reach your destination in the shortest time
You. In the first and second embodiments described above,
Roads included in the set traffic avoidance area
Navigation device with a function to search for routes
Weights for the traffic roads according to the number of traffic lights.
Navigation device with a function to search for routes after
Has been described, but these two functions are provided simultaneously.
The user can switch between these functions at will.
You may. [0052] [0053]【The invention's effect】 As explained above, The invention according to the present invention
According to the navigation device, the distance to the road
Of the existing intersection on the road
Weighting is performed according to the number of existing traffic signals to minimize
A road with few traffic lights and high average speed because it searches for a road
Is preferentially searched. This allows the user to navigate
Follow the guidance route recommended by the device
Only in the shortest time can reach the destination.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall configuration diagram of an in-vehicle navigation device according to a first embodiment of the present invention. FIG. 2 is an explanatory diagram of data stored in a guidance route storage unit. FIG. 3 is an explanatory diagram showing a data structure of a road layer. FIG. 4 is an explanatory diagram of an intersection net list. FIG. 5 is a first diagram showing the operation of the navigation controller.
It is a flowchart of. FIG. 6 shows a second operation of the navigation controller.
It is a flowchart of. FIG. 7 shows the third operation of the navigation controller.
It is a flowchart of. FIG. 8 is a fourth diagram illustrating the operation of the navigation controller;
It is a flowchart of. FIG. 9 is an explanatory diagram showing a screen display example. FIG. 10 is an explanatory diagram showing a screen display example. FIG. 11 is an explanatory diagram showing a route search method. FIG. 12 is an explanatory diagram showing an example of a screen display on which a guidance route is displayed. FIG. 13 is an explanatory diagram illustrating an operation principle of the navigation device according to the second embodiment of the present invention. [Description of Signs] 1 CD-ROM 2 Vehicle movement detection unit 3 Operation unit 4 Display device 10 Navigation controller 11 Buffer memory 12 Cursor position calculation unit 13 Route search condition setting unit 14 Route search processing unit 15 Guide route storage unit 16 Vehicle position Calculation unit 17 Vehicle position mark drawing unit 18 Map image drawing unit 19 Video RAM 20 Video conversion unit

Claims (1)

(57) [Claims] 1. A map data storage means for storing map data, a vehicle movement detection means for detecting a vehicle position and a vehicle orientation, and a departure place and a destination using the map data. A route search means for automatically searching for a guide route connecting to the vehicle and obtaining guide route data; a guide route storage means for storing the guide route data; and a map image around a vehicle position using the map data together with a vehicle position mark. Map image drawing means for drawing, and route guidance means for displaying the guidance route on the map image based on the guidance route data, wherein the route search means determines the distance of The number of traffic lights present at the intersection going straight out of the existing intersections, the probability of stopping at the traffic light and stopping at the traffic light
An in-vehicle navigation device characterized in that a shortest route is searched after weighting is performed by multiplying by a constant according to a stop time in a case where the vehicle is stopped .