JP3491867B2 - Route selection method and 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 route selection method and system, and more particularly to a method and system for selecting an optimum route complying with traffic regulations on map data.

2. Description of the Related Art As is well known, a car navigation system detects and displays the current position of a vehicle, automatically searches for an optimal route to a destination, and displays a vehicle along the optimal route with a display guidance. It is a system that guides and guides to a destination by and / or voice guidance. In such a car navigation system,
As a route for guiding and guiding, a practical route through which a vehicle can pass is always required. Therefore, a route search method that reflects regulatory information such as one-way regulation and right-and-left turn prohibition regulation has been actively studied and proposed.

[0002] Conventionally, as a vehicle route guidance device for selecting a route that complies with traffic regulations by using the above-mentioned regular regulation information, for example, Japanese Patent Laid-Open No. 62-82316.
There was one disclosed in the Japanese Patent Publication. In this publication, the following method is shown as a method of reflecting the regular regulation information.

FIG. 24 is a block diagram showing the configuration of the conventional vehicle route guidance device. In FIG. 24, this vehicle route guidance device considers traffic direction restrictions such as entry prohibition and right / left turn prohibition, and provides information such as the next reachable adjacent intersection and the required time correlation amount up to that point at each intersection. The shortest route from the departure intersection to the destination intersection under a certain condition with reference to the basic information storage unit 1 that stores the map data describing the above and the map data stored in the basic information storage unit 1 And a route search unit 2 for searching.

What is unique in the above conventional apparatus is a method of expressing the road network of the map data stored in the basic information storage unit 1. That is, in the conventional device, in consideration of traffic restrictions, only the roads to the reachable intersections are stored, so that the path search unit 2 does not perform complicated processing and searches for a path that complies with the restrictions. It is possible.

Here, the expression method of the road network adopted in the above conventional apparatus will be described. FIG. 25 is a diagram for explaining a method of expressing a road network in the above conventional device. For example, when there is an intersection as shown in FIG. 25 (a), that is, an intersection with a right turn prohibition regulation in each approach direction, on the map data, as shown in FIG. Express
That is, it is assumed that a node is assumed for each approaching direction of an intersection, and that there is a link only in a straight / left-turning direction in which traffic is possible.

As described above, by recording the map data using the road network reflecting the regulation information, it is possible to select the route reflecting the regular traffic regulation while applying the normal route search processing. .

[0007]

Generally, what a user expects in a route search in a car navigation system is a search for a practical route that can reach a destination, and it is required to realize this. There is. However, the above-mentioned conventional technology cannot deal with the traffic regulation whose contents change with time (hereinafter, referred to as time regulation) even though the regular traffic regulation can be dealt with. Therefore, there is a problem that the driver may be unable to pass due to time restrictions while traveling along the selected route, which imposes a psychological burden on the driver.

[0008] Therefore, an object of the present invention is to provide a route selection method and system capable of selecting an optimum route that can be safely traveled in consideration of not only regular traffic regulation but also time regulation. Is.

[0009]

[0010]

[0011]

[0012]

[0013]

[0014]

[0015]

[0016]

The first aspect of the present invention is that any two items on map data are used.
A method for selecting an optimum route between points, wherein map data includes at least node data and link data, and at least one of two points is selected as a reference point to determine a reference time at the reference point. The first step, the second step of calculating the estimated required time from the reference point to each node and each link on the map data, the reference time determined in the first step, and the estimation calculated in the second step Third, the estimated arrival time to each node and each link on the map data is calculated based on the required time
And the fourth step of acquiring time regulation information indicating presence or absence of time regulation (traffic regulation whose content changes with time) and its content for each node and each link on the map data, and Based on whether or not the estimated arrival time calculated in the step is included in the regulation time zone of the time regulation information acquired in the fourth step, whether or not each link and node existing between the two points can pass is determined. Based on the map data that reflects the determination step of the fifth step and the determination result of the fifth step for the links and nodes existing between the two points, the optimal route between the two points that can pass through in compliance with the time regulation is determined. A sixth step of searching by a bidirectional search method.

According to the first aspect of the invention, the estimated required time from the reference point to each node and each link on the map data is calculated, and the estimated required time is calculated based on the reference time of the reference point and the calculated estimated required time. Since the estimated arrival time to the node and each link is calculated, it is possible to select an appropriate route in consideration of the transition of time traveling on the route.

[0019] The second invention is the first invention, the first step is the departure point, the destination, stopover, of two points selected in any combination from the current position, at least one of The feature is that a point is selected as a reference point.

According to the second aspect of the invention, the reference point is selected from the starting point, the destination, the stopover point, and the current position. Therefore, the time regulation is relatively accurate regardless of the route search method. Can be reflected in.

A third invention is characterized in that, in the first invention, the first step determines the present time as a reference time.

According to the third aspect of the present invention, the user's input of the reference time is not required, so the burden on the user is reduced.

In a fourth aspect based on the first aspect , the second step is based on a straight line distance from the reference point to each node and each link on the map data, and based on the straight line distance, each node and each link from the reference point. It is characterized by calculating an estimated required time to

According to the fourth aspect , the estimated required time is calculated based on the straight line distance from the reference point to each node and each link. Therefore, the estimated required time can be calculated by a relatively simple process. it can.

In a fifth aspect based on the first aspect , the second step is based on a search result from the reference point to each node and each link on the map data, based on the reference point, each node and each link. It is characterized by calculating an estimated required time to

According to the fifth aspect , the estimated travel time on the route is calculated by using the search result from the reference point to each node and each link. The accuracy can be improved.

In a sixth aspect based on the first aspect , in the first step, when a point other than the departure point is selected as the reference point, the departure point is determined based on the straight line distance from the departure point to the reference point. A feature is that the reference time at the reference point is obtained by calculating an estimated required time to the reference point and adding it to the scheduled departure time at the departure point.

According to the sixth aspect, the estimated required time from the departure place to the reference point is calculated based on the straight line distance from the departure place to the reference point, and this is added to the scheduled departure time of the departure place. By doing so, the reference time at the reference point is obtained, so that the user does not need to input the reference time at the reference point, and the burden on the user is reduced.

A seventh invention is characterized in that, in the first invention, each time a predetermined timing arrives, the first to sixth steps are repeated with the current position as a new starting point.

According to the seventh aspect of the invention, the route search process considering the time regulation is repeated every time when the predetermined timing arrives, so that the time error occurring while traveling on the route increases and It is possible to re-select an appropriate route before a place where driving is impossible occurs.

In an eighth aspect based on the seventh aspect , in the first step, when a point other than the place of departure is selected as the reference point, the reference point is determined based on the search result obtained when the sixth step was executed last time. It is characterized by calculating the time.

According to the eighth aspect, since the reference time of the reference point is calculated by using the previous search result, the reference time can be accurately calculated as compared with the case of calculating the reference time based on the straight line distance. Can be calculated.

In a ninth aspect based on the seventh aspect , the first step selects the departure point as a reference point,
The fifth step is characterized in that the respective processes are executed only for nodes and links existing within a predetermined range from the departure place.

According to the ninth aspect of the invention, since the time regulation information is reflected only within a predetermined range from the departure place,
The processing load for determining distant time regulation information that does not significantly affect the entire route can be reduced, and the search time can be shortened.

The invention of the first 0, in the first aspect of the present invention,
The method further comprises a seventh step of preliminarily searching for a route between two points without using time regulation information. The first step is the seventh step if a point other than the departure point is selected as the reference point. It is characterized in that the reference time of the reference point is calculated from the preliminary search result of.

According to the invention of the first 0, because it calculates the reference time of the reference point from the preliminary search results, as compared with the case of calculating the reference time based on the linear distance can be calculated accurately reference time .

According to a first invention, in the first invention,
The first step is characterized in that the time information input by the user is determined as the reference time at the reference point.

[0038] According to the first aspect of the invention, since any time the user can select, it is possible to elect the optimal route in the running time desired by the user.

[0039]

[0040]

The first and second invention is a system for selecting an optimal route between two arbitrary points on map data, a map data storage unit that stores map data including at least node data and link data , A reference time determining means for selecting at least one of the two points as a reference point, and determining a reference time at the reference point, and an estimated required time from the reference point to each node and each link on the map data, Estimated arrival time calculation means for calculating the estimated arrival time to each node and each link on the map data based on the reference time determined by the time determination means and the calculated estimated required time, and each estimated time on the map data For each node and each link, the time regulation information indicating the presence / absence of time regulation (traffic regulation whose content changes depending on time) and its content is acquired and estimated. Based on whether or not the estimated arrival time calculated by the time calculation means is included in the restricted time zone of the acquired time restriction information, it is determined whether or not each link and node existing between the two points are passable. Determination means,
A route search means for searching an optimal route between two points that is compliant with time regulations by a bidirectional search method based on map data in which the determination result of the determination means is reflected for links and nodes existing between the two points. It has and.

[0042] According to the first and second invention, to calculate the estimated time to each node and each link of the map data from the reference point, based on the estimated required time and calculated as the reference time of the reference point, Since the estimated arrival time to each node and each link is calculated, it is possible to select an appropriate route in consideration of the transition of time traveling on the route.

[0043]

Other Embodiments of the Invention The present invention also includes the following other embodiments. That is, a first aspect is a storage medium that stores a program that realizes a method for selecting an optimum route between two arbitrary points on map data, and the map data includes at least node data and link data. The program includes a first program step for deciding a scheduled time zone between two points, and presence / absence of time regulation (traffic regulation whose contents change with time) for each node and each link on the map data. And a second program step for acquiring time regulation information indicating the contents thereof, an estimated travel time zone determined in the first program step, and a regulation time zone for the time regulation information acquired in the second program step. A third program step for determining whether or not each link and node existing between the two points can pass based on the overlapping relation; Based on the map data with reference to the judgment result of the third program step,
And a fourth program step of searching for an optimal route between two passable points in compliance with time regulations.

A second aspect is a storage medium storing a program for realizing a method for selecting an optimum route between two arbitrary points on map data, wherein the map data includes at least node data and link data. Including the data, the program selects at least one of two points as a reference point and determines a reference time at the reference point, and a program step from the reference point to each node and each link on the map data. Based on the second program step for calculating the estimated required time, the reference time determined in the first program step, and the estimated required time calculated in the second program step, For the third program step of calculating the estimated arrival time and each node and each link on the map data, The fourth program step of acquiring the time regulation information indicating the presence or absence of regulation (traffic regulation whose content changes depending on time) and its content, and the estimated arrival time calculated in the third program step is the fourth program step. Fifth program step for determining whether or not each link and node existing between the two points are passable based on whether or not the time regulation information acquired in step 4 is included in the regulation time zone, and a fifth program A sixth program step of searching for an optimal route between two points that can pass through in compliance with time regulations based on the map data while referring to the determination result of the step.

[0045]

DETAILED DESCRIPTION OF THE INVENTION

(First Embodiment) FIG. 1 is a block diagram showing a configuration of a car navigation system according to a first embodiment of the present invention. In FIG. 1, the car navigation system according to the present embodiment includes a current position detection unit 101, a current date and time acquisition unit 102, a road network storage unit 103, an input unit 104, a time regulation correspondence search unit 105, and a guidance unit 10.
6 and.

The current position detecting unit 101 includes a GPS, a vehicle speed sensor, an angular velocity sensor, an absolute direction sensor, etc., and calculates the current position of the vehicle using the map matching method or the like. The current date and time acquisition unit 102 acquires the current date and time from GPS, a vehicle clock, and the like. The road network storage unit 103 stores information about road networks such as intersections, road connection statuses, coordinates / shapes / attributes / regulation information. The input unit 104 includes a remote controller, a touch sensor,
It includes a keyboard, a mouse, etc., and inputs spot information and the like according to the user's operation. The time regulation response search unit 105 displays C
PU and memory (program memory, working memory)
Basically, a function of determining a starting point and a destination of a route based on the current position detected by the current position detection unit 101 and position information input by the user through the input unit 104, and a map network storage A function of setting a search start point and a search end point on the road network stored in the unit 103, and a route from the set search start point to the search end point are reflected based on the road network while reflecting the time regulation information. It has the function of selecting. Guidance unit 10
Reference numeral 6 includes a display device (a liquid crystal display, a CRT display, etc.), a speaker, etc., and the current position of the vehicle detected by the current position detection unit 101 and the road network storage unit 103.
Using the map data stored in, the guidance route selected by the time regulation correspondence search unit 105 is guided by an image or voice.

Here, the map data recorded in the road network storage unit 103 will be described. FIG. 2 shows a configuration example of map data. As shown in FIG. 2, the map data is roughly divided into two components. The first component is node data that is information about intersections. The second component is link data that is information about roads that connect intersections. In this embodiment, each data includes time regulation information. Here, the time regulation information does not mean the traffic regulation which is always present, but the information whose regulation content is changed or invalidated with time. Examples of the time regulation information include the following contents. <Node time regulation> Prohibition of right turn during 7:00 to 9:00 <Link time regulation> Closing during 13:00 to 20:00 In the present embodiment, the stationary state conventionally recorded in the map data. The time regulation information is expressed by adding period information (start date / time, end date / time, etc.) in which the regulation is valid, to the node regulation information (right / left turn prohibition information) and the link regulation information (one-way information).

Here, the time regulation information may be collectively recorded as separate data, or a traffic information receiving unit for receiving traffic information may be added even if it is not necessarily stored in the map. The regulation information may be acquired from the outside by mobile communication.

The operation of the car navigation system configured as described above will be described below. First, in the input unit 104, the user sets a departure place and a destination. That is, the user uses the input unit 10
By operating 4, the image of the map displayed on the guide unit 106 is scrolled, and the desired point is input as the departure point and the destination. As the departure point, the current position of the vehicle detected by the current position detection unit 101 may be used.

Next, the time regulation correspondence search unit 105 determines the best place on the node or link on the map stored in the road network storage unit 103 based on the positions of the departure place and the destination set as described above. The close points are adopted as the search start point and the search end point. Further, the time regulation correspondence search unit 105 calculates the shortest cost route by using the well-known Dijkstra method or the like, converts the obtained route into a link sequence, a node sequence, or a coordinate sequence, and sets it as a guide route .

Finally, the guidance unit 106 detects the guidance route obtained by the time regulation correspondence search unit 105 and the current position detection unit 1.
Based on the current position obtained from 01 and the map data stored in the road network storage unit 103, the user is notified by voice or display which direction to proceed on the guide route. .

FIG. 3 is a time regulation compliance search unit 1 shown in FIG.
It is a functional block diagram which shows the structure of 05. In FIG. 3, the time regulation correspondence search unit 105 includes a search data storage unit 201, a route search unit 202, and a time regulation reflection unit 2
03 and.

The search data storage unit 201 specifies the search range from the results input by the current position detection unit 101 and the input unit 104, reads the map data of the search range from the road network storage unit 103, and stores it. The route search unit 202 determines a search start point and a search end point based on inputs from the current position detection unit 101 and the input unit 104. Here, the time regulation reflection unit 203 determines a scheduled travel time zone from the departure place to the destination based on the input from the current date and time acquisition unit 102 and the input unit 104, and stores the search data in the time zone. It is determined whether or not each node and link of the map data stored in the unit 201 is passable, and based on the result of the determination, the presence or absence of regulation is written on the map data. Next, the route search unit 202 selects a route from the search start point to the search end point based on the map data in which the presence or absence of the regulation is written by the time regulation reflection unit 203.

The operation of the time regulation compliance search unit 105 configured as described above will be described in detail below with reference to a flowchart. FIG. 4 is a flowchart showing the operation of the route search unit 202 (see FIG. 3) in the time regulation correspondence search unit 105.

First, in step S5001 of FIG. 4, the route searching unit 202, for example, detects the current position detecting unit 10.
With the current location of the vehicle detected in 1 as the departure location, the input unit 104
Set the position entered in to the destination. Next, the route search unit 202 controls the search data storage unit 201 to read and store the map data of the search range including the departure point and the destination from the road network storage unit 103 (step S5002). Next, the route searching unit 202 sets the point on the link closest to the departure point as the search start point on the map data stored in the search data storage unit 201, and on the link closest to the destination. The point is adopted as the search end point (step S5003).

Next, the route search unit 202 has a step S5.
In 004, the time regulation reflection unit 203 is caused to execute the time regulation reflection processing. In step S5004, the time regulation reflecting unit 203 acquires the traveling time zone and writes the traffic prohibition information in the nodes and links on the map data stored in the search data storage unit 201 based on the time regulation information.

FIG. 5 is a flow chart showing the details of the subroutine step S5004 (time regulation reflection processing) in FIG. Hereinafter, the operation of the time regulation reflecting unit 203 will be described in more detail with reference to FIG. First, in step S5101, the time regulation reflecting unit 203 inquires of the user about the time zone for moving from the departure place to the destination. For example, a display screen as shown in FIG. 6A may be displayed on the display of the guide unit 106 and the input unit 104 may cause the user to input the time zone numerically. Further, as shown in FIG. 6B, a bar graph of a time zone divided by a certain fixed time is displayed on the display of the guide unit 106,
The time zone may be selected by operating the input unit 104.
In addition, the estimated departure time obtained from the current date / time acquisition unit 102 or the input unit 104, the straight line distance between the departure place and the destination, and the previously assumed average travel speed (for example, the travel time is 100
60 km / in case of more than km and high speed priority use mode
h, otherwise, 30 km / h) may be used to calculate the moving time zone based on the calculated time required to reach the destination.

Next, the time regulation reflecting section 203 checks whether or not the validity of the time regulation of all nodes and links of the map data stored in the search data storage section 201 has been investigated (step S5102), If the investigation is not completed, the investigation is continued, and if the investigation is completed, the time regulation reflection processing is ended. When there is a node or link for which the validity of the time regulation has not been checked, the time regulation reflecting unit 203
It is determined whether or not there is a time restriction on the corresponding node and link, and whether the restriction time slot partially overlaps with the travel time slot acquired in step S5101 (step S510).
3) If they overlap, the process advances to step S5104; otherwise, the process returns to step S5102. Step S5104
Then, the time regulation reflection unit 203 regards the content of the time regulation information as a regular regulation and writes the passage prohibition information and the like on the map data. After that, the time regulation reflecting unit 203 returns to step S5102 and repeats the above processing.

Returning to FIG. 4 again, the route search unit 202 uses the well-known Dijkstra method or the like to perform a search process from the map data stored in the search data storage unit 201 in compliance with the traffic regulations, and the minimum cost The route is calculated (step S5005). Next, the route search unit 202 converts the obtained route into a link sequence, a node sequence, or a coordinate sequence,
Output to the guiding unit 106 as a guiding route (step S5)
006).

As described above, according to the first embodiment,
At each node and link on the map data read at the time of search, it is determined whether the time regulation is valid based on the traveling time zone, so it is possible to select the route that complies with the time regulation information without fail. . Further, since the user is made to input the time information regarding the traveling time zone, an appropriate route can be selected in any time zone desired by the user. Furthermore, when the user inputs the travel time zone, the time zone divided into certain fixed time is displayed on the display, and the time zone can be selected to simplify the input process of the travel time zone. Can reduce the burden. Finally, by calculating the travel time zone from the required time to the destination calculated based on the linear distance from the departure place to the destination and the scheduled departure time information, the input processing of the travel time zone can be simplified, The burden on the user can be further reduced.

In the first embodiment, the user input process regarding the moving time zone is performed after the search start point / search end point setting process. However, it is performed at the same time when the point of departure / destination is input. The search may be performed at any time before the search processing. In addition, in the first embodiment, the process of reflecting the time restriction on the map data is performed at the search start point /
Although it is performed after the search end point setting process, it is performed before the search start point / search end point setting process and even if the search start point / search end point setting process is performed using the map data that reflects the time regulation. I do not care. In the first embodiment, when the time regulation information is valid, the passage prohibition information is written on the map data. However, depending on the regulation content, the passage cost of the node and the link may be changed to a predetermined value. Processing may be performed.

(Second Embodiment) A car navigation system according to a second embodiment of the present invention will be described below. The configuration of the entire system is the same as that of the first embodiment shown in FIG.
1 is referred to in the following description, and the illustration of the entire system is omitted. Second
The embodiment of FIG.
Since the function of is different from that of the first embodiment, the second embodiment will be described below focusing on the function of the time regulation response searching unit 105.

FIG. 7 is a functional block diagram showing the configuration of the time regulation compliance search unit 105 used in the car navigation system according to the second embodiment of the present invention. In FIG. 7, the time regulation correspondence search unit 105 includes a search data storage unit 301, a route search unit 302, a reference date / time information determination unit 304, and a time regulation determination correction unit 305.

The search data storage unit 301 specifies the search range from the results input by the current position detection unit 101 and the input unit 104, reads the map data of the corresponding search range from the road network storage unit 103, and stores it. The route search unit 302 determines a search start point and a search end point based on inputs from the current position detection unit 101 and the input unit 104. Here, the reference date / time information determination unit 304 outputs the reference date / time information for determining the reference time of the reference point for calculating the arrival time to each node and the link to the current date / time acquisition unit 102.
Alternatively, it is determined based on the input from the input unit 104. Next, the time regulation determination correction unit 305 obtains the reference time of the reference point calculated based on the reference date / time information determined by the reference date / time information determination unit 304 and the map data stored in the search data storage unit 301. The arrival time is estimated by the required time from the reference point calculated based on the distance between the reference point and each node and link where the time regulation exists. further,
At the arrival time, the time regulation determination correction unit 305
It is determined whether or not each node and link of the map data stored in the search data storage unit 301 is passable, and the determination result (presence or absence of regulation) is written in the map data. next,
The route search unit 302 selects a route from the search start point to the search end point based on the map data in which the presence or absence of the restriction is written by the time restriction determination correction unit 305.

The operation of the time regulation compliance search unit 105 in the second embodiment configured as described above will be described in detail below. FIG. 8 shows the route search unit 30 in FIG.
It is a flowchart which shows operation | movement of 2.

First, in step S5201 of FIG. 8, the route searching unit 302 determines, for example, the current position detecting unit 10.
With the current location of the vehicle detected in 1 as the departure location, the input unit 104
Set the position entered in to the destination. Next, the route search unit 302 controls the search data storage unit 301 so as to read and store the map data of the search range including the departure point and the destination from the road network storage unit 103 (step S5202). Next, the route search unit 302 sets the point on the link closest to the departure place as the search start point on the map data stored in the search data storage unit 301 and on the link closest to the destination. The point is adopted as the search end point (step S5203).

Next, the route searching section 302 carries out step S5.
At 204, the reference date / time information determination unit 304 is caused to execute the reference date / time information determination processing. In step S5204, the reference date / time information determination unit 304 determines the reference date / time at the reference point.

FIG. 9 is a flow chart showing details of the subroutine step S5204 (reference date / time information determination processing) in FIG. Hereinafter, the operation of the reference date / time information determining unit 304 will be described in more detail with reference to FIG. 9.

First, in step S5301, the reference date / time information determination unit 304 adopts the starting point as the reference point. Next, the reference date / time information determination unit 304 prompts the user to input the reference time at the reference point (step S530).
2). Next, the reference date / time information determination unit 304 determines whether or not there is an input of the reference time (step S5303), sets the time as the reference time if there is an input, and performs the process of step S5304 if there is no input. In step S5304, the reference date / time information determination unit 304 determines the current date / time acquisition unit 10
The current date and time acquired from 2 is used as the reference time. Thus, the reference date / time information determination unit 304 ends the reference date / time information determination process.

Returning to FIG. 8 again, the route search unit 302 causes the time regulation determination correction unit 305 to execute the time regulation determination correction processing (step S5205). As the time regulation determination correction processing, the time regulation determination correction unit 305 investigates the validity of the time regulation of all the nodes and links of the map data stored in the search data storage unit 301, and if valid, the regular regulation is performed. Correct the map data as.

FIG. 10 is a flow chart showing details of the subroutine step S5205 (time regulation determination correction processing) in FIG. Hereinafter, the operation of the time regulation determination correction unit 305 will be described in more detail with reference to FIG.

First, the time regulation determination / correction unit 305 checks whether or not the validity of the time regulation of all nodes and links of the map data stored in the search data storage unit 301 has been investigated (step S5041), If it has not been completed, the survey is continued, and if it has been surveyed, the time regulation determination correction process ends. At this time, if there is a node or link that has not been investigated, the time regulation determination correction unit 305
Is a linear distance from the reference point (departure point) to each node and link where the time regulation information is present, based on the map data stored in the search data storage unit 301, and presumed average moving speed ( For example, if the travel is 100 km or more and in the high-speed priority use mode, 60 km / h, otherwise 30 km / h) is used, and the reference point (departure point) is used.
To the respective nodes and links are calculated, and the estimated time of arrival at each node and link is calculated by adding this required time to the reference time obtained from the reference date / time information determination unit 304 (step S5402). ). Next, the time regulation determination correction unit 305 determines whether or not there is a time regulation on the corresponding node and link and the estimated arrival time calculated in step S5402 is included in the regulation time zone (step S5403), If included, step S540
4 and otherwise returns to step S5401. In step S5404, the time regulation determination correction unit 30.
5 regards the content of the time regulation information as a regular regulation,
Write prohibited information on the map data. Furthermore, the time regulation determination correction unit 305 returns to step S5401 and repeats the above processing.

Returning to FIG. 8 again, the route searching unit 302 uses the well-known Dijkstra's method or the like to perform a search process in compliance with the traffic regulations from the map data stored in the search data storage unit 301 to obtain the shortest cost route. Is calculated (step S
5206), the obtained route is converted into a link sequence, a node sequence, or a coordinate sequence, and is output to the guide unit 106 as a guide route (step S5207).

As described above, according to the second embodiment,
The arrival time at each point is calculated from the reference time of at least one reference point and the estimated travel time on the route from the reference point to each point, and the time regulation is performed based on the calculated arrival time. Since it is determined whether or not is valid, it is possible to select an appropriate route in consideration of the time transition due to movement on the route.

The estimated travel time on the route is an approximate calculation (for example, the starting point, the destination, and the stopover on the route are set as reference points, and the straight line distances from these reference points to respective points are presumed averages. It may be obtained by a calculation such as dividing by speed. Furthermore, by setting the reference time and date information to the current time, the user's input work becomes unnecessary and the burden on the user can be reduced. In the second embodiment, the departure point is adopted as the reference point, but a waypoint / destination may be adopted or the current vehicle position may be adopted. However, when the destination is adopted as the reference point, the process of calculating the arrival time at each point is obtained by subtracting the estimated travel time on the route from the reference time. Also, the determination of the reference time is
It may be based only on user input or only the current time. When based on the current time, the estimated travel time based on the distance from the current position of the vehicle to the reference point may be added. Also, if the time regulation information is valid,
I tried to write the prohibition information on the map data,
Depending on the content of the regulation, processing such as changing the passing cost of the node and the link to a predetermined value may be performed.

(Third Embodiment) A car navigation system according to a third embodiment of the present invention will be described below. The configuration of the entire system is the same as that of the first embodiment shown in FIG.
1 is referred to in the following description, and the illustration of the entire system is omitted. Third
The embodiment of FIG.
Since the function of is different from that of the first embodiment, the third embodiment will be described below focusing on the function of the time regulation correspondence search unit 105.

FIG. 11 is a functional block diagram showing the configuration of the time regulation compatible search unit 105 used in the car navigation system according to the third embodiment of the present invention. In FIG. 11, the time regulation correspondence search unit 105 includes a search data storage unit 401, a route search unit 402, a reference date / time information determination unit 404, and a time regulation determination unit 405.

The search data storage unit 401 specifies the search range from the results input by the current position detection unit 101 and the input unit 104, reads the map data of the relevant search range from the road network storage unit 103, and stores it. The route search unit 402 determines a search start point and a search end point based on inputs from the current position detection unit 101 and the input unit 104. Here, the reference date / time information determination unit 404 outputs the reference date / time information for determining the reference time of the reference point for calculating the arrival time to each node and the link to the current date / time acquisition unit 102.
Alternatively, it is determined based on the input from the input unit 104 or the search data storage unit 401. Furthermore, the route search unit 40
2 selects a route based on the map data stored in the search data storage unit 401. At that time, the time regulation determination unit 405 determines whether the map data stored in the search data storage unit 401 or the map data stored in the search data storage unit 401 is based on the time determined by the reference date / time information determination unit 404 during the route search processing by the route search unit 402. Based on the route search result, the arrival time at each node and link is calculated, and it is determined whether the regulation is effective.

The operation of the time regulation compliance search unit 105 in the third embodiment configured as described above will be described in detail below. FIG. 12 is a flowchart showing the operation of the route search unit 402 in FIG.

First, in step S5501 of FIG. 12, the route searching unit 402, for example, detects the current position detecting unit 10.
With the current location of the vehicle detected in 1 as the departure location, the input unit 104
Set the position entered in to the destination. Next, the route search unit 402 controls the search data storage unit 401 to read and store the map data of the search range including the departure point and the destination from the road network storage unit 103 (step S5502). Next, the route search unit 402 adopts the point on the link closest to the departure point on the map data stored in the search data storage unit 401 as the search start point, and also determines the link closest to the destination. The upper point is adopted as another search start point (step S5503).

Next, the route search section 402 carries out step S5.
At 504, the reference date / time information determination unit 404 is caused to execute the reference date / time information determination processing. In step S5504, the reference date / time information determination unit 404 determines the reference date / time at the reference point.

FIG. 13 shows the above-mentioned subroutine step S5.
It is a flowchart which shows the detail of 504. Below, Figure 1
The operation of the reference date / time information determination unit 404 will be described in more detail with reference to FIG.

First, in step S5601, the reference date and time information determination unit 404 adopts the starting point and the destination as reference points. Next, the reference date / time information determination unit 404 prompts the user to input the reference time on the departure side (step S5).
602). Next, the reference date / time information determination unit 404 determines whether or not the reference time is input (step S560).
3) If there is an input, the time is set as the reference time on the departure side, and if there is no input, the process of step S5604 is performed.
In step S5604, the reference date / time information determination unit 404
Uses the current date and time acquired from the current date and time acquisition unit 102 as the reference time on the departure side. Next, the reference date / time information determination unit 40
Reference numeral 4 indicates a straight line distance from the starting point to the destination based on the map data stored in the search data storage section 401, and an average travel speed that has been assumed in advance (for example, if the travel is 100 km or more and the high speed priority use mode is selected). In the case of 60 km / h, in other cases, 30 km / h) is used to estimate the time required to move from the departure place to the destination, and by adding to the reference time of the departure place, the reference time of the destination is calculated. Obtained (step S5605). The reference date / time information determination unit 404 thus ends the reference date / time information determination process.

Returning to FIG. 12 again, the route searching unit 402
Based on the map data stored in the search data storage unit 401, the shortest route from the search start point to the search end point is selected using, for example, a well-known bidirectional search method (step S5505, step S5506).

Here, the bidirectional search method will be described with reference to FIG. FIG. 14A is a conceptual diagram of the one-way search method based on the departure point, and FIG. 14B is a conceptual diagram of the bidirectional search method. In this way, the bidirectional search method is to perform one-way search starting from the departure side and one-direction search starting from the destination, and combine both routes to form one route. To reduce the search range,
This is intended to reduce the search time. In this method, the search range based on the departure place is called the departure side search range, and the search range based on the destination is called the destination side search range.

Here, the search processing corresponding to the time regulation in the search range on the departure side is referred to as the search processing corresponding to the time regulation on the departure side in order to distinguish it from the destination side. First, the starting point side time regulation correspondence search process (step S5505) will be described.

FIG. 15 is a flowchart showing details of the subroutine step S5505 (departure side time regulation correspondence search processing) in FIG. Although this processing is composed of steps S5701 to S5710, most of the processing is processing for selecting the shortest cost route and is a known Dijkstra's method itself, and therefore description thereof will be omitted. What is important in this process is step S570.
6, the process of step S5707. Route search unit 40
2 selects a search target node as a reference for expanding the search (step S5703), and based on the calculated arrival time to the search target node when expanding the search process for each link connected to the search target node. Departure-side time regulation determination processing for determining whether the time regulation is valid (step S57)
06) is executed by the time regulation determination unit 405, and based on the result, it is determined whether or not the search process is performed on the corresponding link (step S5707). As a result, if the time regulation is valid, the search process does not spread in that direction, and the selected route is only the route that complies with the regulation.

FIG. 16 is a flow chart showing details of the subroutine step S5706 (departure side time regulation determination processing executed by the time regulation determination unit 405) in FIG. Hereinafter, the departure side time regulation determination processing will be described with reference to FIG. 16.

First, in step S5801, the time regulation determining unit 405 adds the cost on the route from the departure place to the search target node to the reference time on the departure place side to arrive at the search target node or link. Ask for. However, this is a case where the cost of searching is expressed in travel time, and when the cost is expressed in distance, for example, a process of converting into travel time, such as dividing by the average speed, is required. Next, the time regulation determination unit 405
It is determined whether or not there is a time restriction on the corresponding node and link, and the estimated arrival time calculated in step S5801 is included in the restriction time zone (step S5802). If it is included, the process proceeds to step S5803, and otherwise. In this case, this process ends and the process returns to step 5707 in FIG. In step S5803, the time regulation determination unit 405 determines that the vehicle cannot pass because the time regulation is valid at the arrival time. Then, this process ends, and the route search unit 402
Returns to step 5707 of FIG. As described above, the search processing for the time of departure side compliance with the time regulation (step S550 in FIG. 12)
The description of 5) ends.

Next, the destination side time regulation correspondence search process (subroutine step S5506 of FIG. 12) will be described. FIG. 17 is a flow chart showing details of the subroutine step S5606 in FIG. FIG.
Is a subroutine step S5906 in FIG.
9 is a flowchart showing details of (destination-side time regulation determination processing executed by the time regulation determination unit 405). Since these processes are almost the same as the search process corresponding to the time regulation on the departure side except that the search start point is the destination, detailed description thereof will be omitted. In particular, the point different from the departure side is the method of calculating the arrival time to the search target node and the link in step S6001 of FIG. That is, on the destination side, the arrival time to the search target node and the link is obtained by subtracting the cost on the route from the destination to the search target node from the reference time of the destination. However, this is a case where the cost of searching is expressed in travel time, and when the cost is expressed in distance, for example, a process of converting into travel time, such as dividing by the average speed, is required. This is the end of the description of the destination time regulation correspondence search process (step S5506 in FIG. 12).

Finally, returning to FIG. 12, the route search unit 402
Converts the route obtained in step S5505 and step S5506 into a link sequence, a node sequence, or a coordinate sequence, and outputs it as a guide route to the guide unit 106 (step S5507).

Here, with reference to FIG. 19, the time regulation compliance search processing (step S5505 or step S5506) will be briefly described. Route search unit 40
In the search process of No. 2, when expanding the search range from the node A to another node B, the route to the node A is stored in the search data storage unit 401 as the search result (for example, the route to the node A). The previous node above is node C
And the arrival cost is 500 seconds, etc.)
Using the route information up to, the required time on the route to the node A is calculated. If the unit of the evaluation cost for selecting the route is the required time, the arrival cost to the node A can be used as it is. If the unit is the distance, the accumulated distance for each road type is calculated in advance, The required time on the route can be calculated using the assumed average speed for each road type. Therefore, in the route search unit 402, when the search range is expanded from the node A to the node B, the arrival time at the node A is calculated from the reference time at the reference point and the time required on the route from the reference point to the node A. To calculate. However, in the departure side search range, the time required on the route to the node A is added to the reference time of the departure place, and in the destination side search range, the route from the reference time of the destination to the node A is added. Subtract the time required. Based on the arrival time at the node A calculated in this way, the search data storage unit 40
Node A and node A from the map data stored in 1
-The time regulation information existing in the link between B is read and it is judged whether or not it can be passed. If it can be passed, the search to node B is expanded. If it cannot be passed, node B is passed.
Do not broaden your search for. As a result, if the time regulation is valid, the search does not spread in that direction, so the selected route is only the route that complies with the regulation.

As described above, according to the third embodiment,
Since the search start point is used as the reference point, the estimated required time on the route from the reference point to each point is calculated based on the route information to each point that is the search result during the search process.
The estimation accuracy can be greatly improved. If the reference point is other than the departure point, calculate the travel time required to move to the reference point from the linear distance from the departure point to the reference point, and add it to the reference time of the departure point to calculate the reference time of the reference point. Since it is set, the user's input work becomes unnecessary and the user's burden can be reduced.

In the third embodiment, the bidirectional search is performed during the route search. However, the unidirectional search from the departure side or the destination side is performed. Is also good. Further, although the starting point and the destination are adopted as the reference points, the current vehicle position, the transit point, etc. may be used as the reference points. In that case, the reference time at the reference point may be calculated by estimating the required travel time in the order of travel in consideration of the positional relationship among the current vehicle position, the place of departure, the waypoint, and the destination. Further, when determining the validity of the time regulation information of the link, it may be determined whether or not the link can be passed by considering not only the time when the link is entered, but also the time when the link is completely passed. Further, the determination of the reference time may be based on only the user input or only the current time. When based on the current time, the estimated travel time based on the distance from the current position of the vehicle to the reference point may be added.
Further, when the time regulation information is valid, the passage prohibition information is written on the map data, but depending on the regulation contents, processing such as changing the passage cost of the node and the link to a predetermined value may be performed.

(Fourth Embodiment) A car navigation system according to a fourth embodiment of the present invention will be described below. The configuration of the entire system is the same as that of the first embodiment shown in FIG.
1 is referred to in the following description, and the illustration of the entire system is omitted. Fourth
The embodiment of FIG.
Since the function of is different from that of the first embodiment, the description of the fourth embodiment will be made below centering on the function of the time regulation correspondence search unit 105.

FIG. 20 is a functional block diagram showing the configuration of the time regulation compatible search unit 105 used in the car navigation system according to the fourth embodiment of the present invention. 20, the time regulation correspondence search unit 105 includes a search data storage unit 501, a route search unit 502, a reference date / time information determination unit 504, a time regulation determination unit 505, and a search activation unit 506. There is.

The search data storage unit 501 specifies the search range from the results input by the current position detection unit 101 and the input unit 104, reads the map data of the corresponding search range from the road network storage unit 103, and stores it. The route search unit 502 determines a search start point and a search end point based on inputs from the current position detection unit 101 and the input unit 104. Here, the reference date / time information determination unit 504 outputs the reference date / time information for determining the reference time of the reference point for calculating the arrival time to each node and the link to the current date / time acquisition unit 102.
Alternatively, it is determined based on the input from the input unit 104 or the search data storage unit 501. Furthermore, the route search unit 50
2 selects a route based on the map data stored in the search data storage unit 501. At that time, the time regulation determination unit 505, during the route search processing by the route search unit 502, the time determined by the reference date and time information determination unit 504, the map data stored in the search data storage unit 501, the route search result. Based on, calculate the arrival time to each node and link,
Determine if the regulations are valid. The search activation unit 506
The current position detection unit 101 and the current date and time acquisition unit 1 during the guidance guidance.
From the information obtained in 02, the search from the current position to the destination is started at a predetermined timing.

The operation of the time regulation compliance search unit 105 in the fourth embodiment configured as described above will be described in detail below. Since the difference between the third embodiment and this embodiment is only the processing of the search and start unit 506 and the processing of the reference date / time information determination unit 504 that accompanies it, the difference will be described according to the flowchart. FIG. 21 is a flow chart showing the operation of the search and start unit 506 in FIG.

According to the explanation of the third embodiment, after obtaining the route to the destination, the processing shown in FIG. 21 is carried out during the guidance. First, in step S6101, the search activation unit 506 acquires the current position of the vehicle from the current position detection unit 101 and the current date and time from the current date and time acquisition unit 102. Next, the search activation unit 506 determines whether the vehicle has arrived at the destination from the acquired current position of the vehicle (step S6).
102), the process is terminated if it has arrived, and proceeds to step S6103 if it has not arrived. Step S6103
At, the search activation unit 506 determines whether the condition of the search activation timing is satisfied from the current date and time and the current position of the vehicle. Here, the condition of the search start timing is
It is assumed to be predetermined based on the moving distance and the elapsed time of the vehicle from the time of the previous search calculated using the current position of the vehicle and the current date and time acquired in step S6101 (for example, 20 minutes have elapsed since the time of the previous search). , Or 10
(When moving km). The search activation unit 506 executes step S
As a result of the determination in 6103, if the search timing condition is not satisfied, the process returns to step S6101, and the process is repeated. If the condition is satisfied, the process proceeds to step S6104.

In step S6104, the search starting unit 506 calculates the estimated arrival time at the destination from the route information obtained by the previous search, and stores it in the search data storage unit 501 as the reference time of the destination. Here, if the unit of the evaluation cost for selecting the route is travel time, the arrival cost to the destination can be used as it is, and if the unit is distance, the accumulated distance for each road type can be calculated. As a result, the required time on the route can be calculated by using the average speed estimated for each road type in advance. Next, the search activation unit 506 stores the current position in the search data storage unit 501 with the current location as the departure time and the current date and time as the departure time reference time (step S6105). Then, the time regulation compliance search processing (described in FIG. 12) described in the third embodiment is activated. However, the position information of the starting point and the destination, the reference time information, and the like use the values already set above. When the time regulation compliant search process ends, the search activation unit 506 returns to step S6101, and repeats the above process until the destination is reached.

As described above, according to the fourth embodiment,
Before the error between the estimated arrival time and the actual arrival time greatly increases, the route search process is repeated at a predetermined timing and the route that complies with the time regulation is re-determined to guide the passengers through the route. It is possible to prevent the phenomenon that a point on the route cannot actually pass due to the estimation error of the arrival time. Further, by estimating the arrival time to the destination from the result of the search in advance and calculating the reference time of the destination, the estimation accuracy is improved as compared with the case of estimating the reference time of the destination from the straight line distance and the like. Therefore, it is possible to accurately reflect the time regulation of the search range on the destination side.

In the fourth embodiment, the bidirectional search is performed during the route search, but the unidirectional search may be performed from the departure side or the destination side. In addition, although the starting point and destination were adopted as the reference points,
A transit point may be used as a reference point. In that case, the reference time at the reference point may be calculated by estimating the required travel time in the order of travel in consideration of the positional relationship among the current vehicle position, the place of departure, the waypoint, and the destination. Further, when determining the validity of the time regulation information of the link, it may be determined whether or not the link can be passed by considering not only the time to enter the link but also the time to completely pass through the link. Further, the determination of the reference time may be based on only the user input or only the current time. When based on the current time, the estimated travel time based on the distance from the current position of the vehicle to the reference point may be added. Further, the timing for performing the re-search is determined by the moving distance and the time, but any timing may be used as long as the estimation error of the arrival time is not increased. In addition, at the time of the first search, the estimation of the reference time on the destination side was calculated based on the straight line distance from the departure point, but a preliminary search (search that does not reflect time restrictions) to the destination is performed to find a candidate route. The main search may be performed after selecting and calculating the arrival time.

(Fifth Embodiment) A car navigation system according to a fifth embodiment of the present invention will be described below. The configuration of the entire system is the same as that of the first embodiment shown in FIG.
1 is referred to in the following description, and the illustration of the entire system is omitted. Fifth
The embodiment of FIG.
Since the function of is different from that of the first embodiment, the fifth embodiment will be described below focusing on the function of the time regulation response searching unit 105.

FIG. 22 is a functional block diagram showing the configuration of the time regulation compatible search unit 105 used in the car navigation system according to the fifth embodiment of the present invention. In FIG. 22, the time regulation correspondence search unit 105 includes a search data storage unit 601, a route search unit 602, a reference date / time information determination unit 604, and an applicable range limited time regulation determination unit 605.
And a search activation unit 606.

The search data storage unit 601 specifies the search range from the results input by the current position detection unit 101 and the input unit 104, reads the map data of the corresponding search range from the road network storage unit 103, and stores it. The route search unit 602 determines a search start point and a search end point based on inputs from the current position detection unit 101 and the input unit 104. Here, the reference date / time information determination unit 604 provides the reference date / time information for determining the reference time of the reference point for calculating the arrival time to each node and the link to the current date / time acquisition unit 102.
Alternatively, it is determined based on the input from the input unit 104 or the search data storage unit 201. Furthermore, the route search unit 60
2 selects a route based on the map data stored in the search data storage unit 601. At this time, the applicable range limited time regulation determination unit 605 is determined by the reference date / time information determination unit 604 during the route search processing by the route search unit 602 for each node and link within a certain range from the departure place. Based on the time, the map data stored in the search data storage unit 601, and the route search result, the arrival time at each node and the link is calculated, and it is determined whether the regulation is valid. The search activation unit 606 is configured to detect the current position detection unit 101 during the guidance and guidance.
A search from the current position to the destination is started at a predetermined timing based on the information obtained by the current date / time acquisition unit 102.

The operation of the time regulation compliance search unit 105 in the fifth embodiment configured as described above will be described in detail below. The difference between the fourth embodiment and this embodiment is only the processing of the applicable range limited time regulation determination unit 605, and the difference will be described according to the flowchart.
FIG. 23 is a flowchart showing the operation of the applicable range limited time regulation determination unit 605 in FIG.

The flowchart of FIG. 23 is different from the operation of the time regulation determination unit 505 of the fourth embodiment (substantially the same as FIG. 16 showing the operation of the time regulation determination unit 405 of the third embodiment). The point is that step S6201 was added first. In Step S6201
The applicable range limited time regulation determination unit 605 determines whether the destination is within a predetermined range from the departure place (for example, within 60 minutes from the departure place), and if it is within the range, proceeds to step S6202. Then, the processing for determining the validity of the time regulation is continued, but if it is outside the predetermined range from the departure place, the processing for determining the validity of the time regulation is interrupted. Note that, here, the search range on the side of the departure place is sufficiently wider than a predetermined range reflecting the time regulation, and the flowchart of FIG. 23 is shown only when the departure place is used as the reference point. As a result, the time regulation information is reflected only within the predetermined range, and the time regulation is not judged in other ranges. Then, the search activation unit 606
The search processing is started at a certain timing during the route guidance (which is sufficiently shorter than the time for traveling in the predetermined range described above), and the route search unit 602 reselects the route to the destination.

As described above, according to the fifth embodiment,
By reflecting the time regulation information only in a predetermined range from the departure place in the route search, the processing load at the time of the search can be reduced and the search time can be shortened. In addition,
In the fifth embodiment, the predetermined range for determining the time regulation is determined by the fixed time from the departure place, but it may be a range that is not too wide and may be limited by the distance or the map recording. You may limit by the range. Further, the search range on the side of the departure place is sufficiently wider than the predetermined range reflecting the time regulation, and the flowchart of FIG. 23 shows only the case where the departure place is the reference point. Even when it is set as a point, it can be similarly applied by making the method of calculating the arrival time at the search target node and the link for the destination side.

In all the embodiments described above, the functional blocks described above may be configured by hardware or may be configured as a result of program processing such as multitasking of a microcomputer. .

Further, a hierarchical map is recorded in the road network storage unit 103, and the time regulation response search unit 105 is a detailed map around the departure point and the destination, and the long distance route between them is a distance map. Accordingly, the search may be performed using maps having different levels of detail. In addition, the route search unit 20
The route search processing in 2 to 602 is not limited to the one-way search from the departure side, but may be one-way search from the destination side or bidirectional search. In addition, the current position detection unit 101
May have any configuration as long as the current position can be detected. Further, the current date and time acquisition unit 102 obtains the current time using the GPS time information and the information from the vehicle clock, but the current time may be calculated by integrating the clocks of the computer. Any configuration may be used as long as the current time can be obtained. Further, the input unit 104 is the guiding unit 10.
The position is specified by scrolling the image of the map displayed in 6, but the position may be specified by a method of selecting the latitude and longitude stored in advance, and in principle, the position can be specified. . Further, the time regulation correspondence search unit 10
In the case of 5 in the first search, points near the starting point and the destination are respectively set as the search start point or the search end point, but a plurality of points may be set respectively. Although the Dijkstra method has been taken as an example of the search method, any method may be used as long as it is a method of finding the shortest cost route between a plurality of points based on cost information for each link. In addition, although guidance is provided in the guidance unit 106 by display or voice, for example, an automatic piloting unit may be added to give the selected route to the driving system of the automobile. Furthermore, a traffic information acquisition unit may be added to acquire the time regulation information provided as traffic information, and the time regulation information may be reflected in the route search result in the same manner as the above embodiment. Also,
When calculating the estimated required time on the route from the straight line distance, the average traveling speed is set to "60 km / h when the travel is 100 km or more and in the high-speed priority use mode, and 30 km / h otherwise". However, other conditions such as terrain may be included in the constituent elements, and any appropriate value may be used.

Further, the present invention is realized by a program, recorded on a recording medium such as a floppy disk, and transferred, so that it can be easily implemented by another independent computer system. In this case, the recording medium is not limited to a floppy disk, but an optical disk or IC.
Any program capable of recording a program such as a card or a ROM cassette can be similarly implemented.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a car navigation system according to a first embodiment of the present invention.

FIG. 2 is an illustrative view showing one configuration example of map data.

FIG. 3 is a functional block diagram showing a more detailed configuration of a time regulation compliance search unit used in the first embodiment.

FIG. 4 is a flowchart showing an operation of the route search unit 202 shown in FIG.

FIG. 5 is a time regulation reflection process shown in FIG. 4 (step S50).
It is a flowchart which shows the detail of (04).

FIG. 6 is an illustrative view showing an example of a method of inputting time information in an input unit 104.

FIG. 7 is a functional block diagram showing a configuration of a time regulation compliance search unit used in the car navigation system according to the second embodiment of the present invention.

8 is a flowchart showing an operation of the route search unit 302 shown in FIG.

FIG. 9 is a reference date / time information determination process (step S shown in FIG. 8).
5204) is a flowchart showing the details.

10 is a flowchart showing details of the time regulation determination correction process (step S5205) shown in FIG.

FIG. 11 is a functional block diagram showing a configuration of a time regulation compliance search unit used in the car navigation system according to the third embodiment of the present invention.

12 is a flowchart showing the operation of the route search unit 402 shown in FIG.

13 is a flowchart showing the operation of the reference date / time information determination unit 404 shown in FIG.

FIG. 14 is an explanatory diagram of a one-way search method and a two-way search method.

FIG. 15 is a flowchart showing details of the departure-point side time regulation correspondence search process (step S5505) shown in FIG.

FIG. 16 is a flowchart showing details of the departure side time regulation determination process (step S5706) shown in FIG.

FIG. 17 is a flowchart showing details of the destination-side time regulation correspondence search process (step S5507) shown in FIG.

FIG. 18 is a flowchart showing details of destination side time regulation determination processing (step S5906) shown in FIG.

19 is a diagram illustrating a route search unit 402 in the embodiment of FIG.
9 is an illustrative view for explaining an operation of a time regulation determination unit 405. FIG.

FIG. 20 is a functional block diagram showing a configuration of a time regulation compatible search unit used in a car navigation system according to a fourth embodiment of the present invention.

FIG. 21 is a flowchart showing an operation of search / start unit 506 shown in FIG. 20.

FIG. 22 is a functional block diagram showing a configuration of a time regulation compatible search unit used in the car navigation system according to the fifth embodiment of the present invention.

FIG. 23 is an application range limited time regulation determination unit 6 shown in FIG. 22.
It is a flowchart which shows operation | movement of 05.

FIG. 24 is a block diagram showing a configuration of a conventional vehicle route guidance device.

FIG. 25 is a diagram for explaining an example of expression of a road network adopted in a conventional vehicle route guidance device.

[Explanation of symbols]

Reference numeral 101 ... Current position detection unit 102 ... Current date / time acquisition unit 103 ... Road network storage unit 104 ... Input unit 105 ... Time regulation correspondence search unit 106 ... Guidance unit 201, 301, 401, 501, 601 ... Search data storage unit 202 302, 402, 502, 602 ... Route search section 203 ... Time regulation reflection section 304, 404, 504, 604 ... Reference date / time information determination section 305 ... Time regulation determination correction section 405, 505 ... Time regulation determination section 506 ... Search start section 605 ... Applicable range limited time regulation determination unit

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Yoshiki Ueyama               1006 Kadoma, Kadoma-shi, Osaka Matsushitaden               Instrument industry Co., Ltd.                (56) References JP-A-8-292053 (JP, A)                 JP-A-5-81597 (JP, A)

Claims (12)

(57) [Claims] 1. A method for selecting an optimum route between two arbitrary points on map data, wherein the map data includes at least node data and link data, and at least one of the two points is used as a reference. A first step of selecting a point and determining a reference time at the reference point; a second step of calculating an estimated required time from the reference point to each node and each link on the map data; And the reference time determined in the step of
Based on the estimated required time calculated in the step of, the third step of calculating the estimated arrival time to each node and each link on the map data, and each node and each link on the map data,
The fourth step of acquiring time regulation information indicating the presence or absence of time regulation (traffic regulation whose content changes depending on time) and its content, and the estimated arrival time calculated in the third step is the fourth step. A fifth step of determining whether or not each link and node existing between the two points is passable based on whether or not the time regulation information acquired in step 3 is included in the time zone, and between the two points Sixth, based on the map data in which the determination result of the fifth step is reflected for the links and nodes existing in And a step of selecting a route. 2. The first step is to select at least one of two points selected from an arbitrary combination of a starting point, a destination, a waypoint, and a current position as a reference point. wherein the path selection method according to claim 1. 3. The route selection method according to claim 1 , wherein the first step determines a current time as the reference time. 4. The second step calculates an estimated required time from the reference point to each node and each link based on a straight line distance from the reference point to each node and each link on the map data. The route selection method according to claim 1 , wherein: 5. The second step calculates an estimated required time from the reference point to each node and each link based on a search result from the reference point to each node and each link on the map data. characterized in that, according to claim 1
Route selection method described in. 6. The first step, when a point other than the departure point is selected as a reference point, calculates an estimated required time from the departure point to the reference point based on a straight line distance from the departure point to the reference point. and, by adding this to the scheduled departure time of the departure point, and obtains the reference time at the reference point, the path selection method according to claim 1. 7. The route selection method according to claim 1 , wherein the first to sixth steps are repeated with the current position as a new starting point each time a predetermined timing arrives. 8. The first step calculates a reference time of the reference point from a search result at the time of executing the sixth step last time, when a point other than the departure place is selected as the reference point. The route selection method according to claim 7 . 9. The first step selects a departure place as a reference point, and the second to fifth steps respectively only for nodes and links existing within a predetermined range from the departure place. The route selecting method according to claim 7 , wherein the process of (1) is executed. 10. The method further comprises a seventh step of preliminarily searching for a route between the two points without using the time regulation information, wherein the first step uses a point other than a departure point as a reference point. If selected, and calculates the reference time of the reference point from the preliminary search result of the seventh step, the path selecting method according to claim 1. 11. The route selection method according to claim 1 , wherein in the first step, time information input by a user is determined as a reference time at the reference point. 12. A system for selecting an optimum route between two arbitrary points on map data, comprising: map data storing means for storing map data including at least node data and link data; Reference time determining means for selecting at least one of the reference points and determining a reference time at the reference point, and calculating an estimated required time from the reference point to each node and each link on the map data, the reference time Estimated arrival time calculating means for calculating the estimated arrival time to each node and each link on the map data based on the reference time determined by the determining means and the calculated estimated required time, and each on the map data For nodes and each link,
The estimated arrival time calculated by the estimated time calculating means by obtaining the time regulation information indicating the presence or absence of time regulation (traffic regulation whose content changes depending on time) and the content thereof is the regulation time zone of the obtained time regulation information. Determination means for determining whether or not each link and node existing between the two points are passable, and determination of the link and node existing between the two points by the determination means. A route selection system, comprising route search means for searching an optimal route between two points that can pass through in accordance with a time regulation by a bidirectional search method based on the map data reflecting the result.