JP3503703B2 - Vehicle 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 device that searches for a route to a destination and guides the route by the route.

[0002]

2. Description of the Related Art A vehicle navigation device searches a route from a current position or a designated starting point to a destination based on a point input such as a destination, and provides route guidance based on the searched route. This provides the driver with information on the route to the destination when the vehicle travels on an unguided road. Therefore, in the vehicular navigation device, a search function for searching a route from the current position to the destination by inputting the destination, a current position detection function for detecting the current position and the direction of the own vehicle, It has a guidance function that matches the current position with the guide route and guides the route to the destination according to the guide route. In the guidance function, the guidance route obtained by searching is displayed, for example, on a map, an intersection map, or the like, and the current position and the traveling direction of the vehicle are displayed on the map or the intersection map to provide route guidance. In addition, it provides information such as remaining distance, name, right and left turn regarding intersections that should turn, teaches characteristic features so that the guide route can be confirmed while driving, and it is not only displayed but also voiced There are things such as guidance.

[0003]

However, when the route search is performed only by inputting points such as the starting point and the destination, it is considered that the driver does not want to pass due to the road condition, environment, traffic congestion, or the like. It is not uncommon to find a route that includes a certain point. In this case, it is conceivable to perform a process of calculating another route for the searched route, but as a result even if this process is executed, the route may include a point that the user does not want to pass. Such processing may be performed until the route that the driver desires is searched, but since the route to the destination is calculated many times, it takes a lot of time until the desired route is searched, The operation is also very complicated.

[0004]

DISCLOSURE OF THE INVENTION The present invention is to solve the above problems, and when there is a point that one does not want to pass, the setting of that point and the search for a route not passing through that point can be performed easily. It is something to do.

To this end, the present invention is a vehicle navigation device that searches for a route to a destination and guides the route by the route. Information storage means for storing map information and detour point setting means for setting a detour point. And a route search means for searching a route to a destination based on the map information stored in the information storage means, wherein the route search means, when the detour point is set by the detour point setting means, As a point on the road corresponding to the set detour point, search for an intersection within a predetermined range based on the coordinate values of the detour point, and set a high search cost for the intersection,
The feature is that the route to the destination is searched.

Further, the set detour point is registered,
Characterized in that the search cost is obtained for each route search,
The search cost for the intersection is a search cost for a road having the intersection as a start point or an end point.

Further, in a vehicular navigation device that searches for a route to a destination and guides the route by the route, information storage means for storing map information, detour point setting means for setting a detour point, and the information. Route search means for searching a route to a destination based on the map information stored in the storage means, wherein the route search means, when the detour point is set by the detour point setting means, the set detour As a road corresponding to the point, a road within a predetermined range is searched based on the coordinate values of the detour point, the search cost for the road is set high, and the route to the destination is searched, and further, Register the set detour point,
The search cost is obtained for each route search.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an embodiment of a vehicular navigation device according to the present invention, and FIG. 2 is a diagram for explaining the overall processing flow as a navigation device.

In FIG. 1, the current position detecting device 2 has a G
The present position of the host vehicle is detected using various sensors such as PS. The information storage device 3 stores map information and other route information for route search and route guidance. The input device 1a inputs a destination or a detour point, searches for a route from the current position detected by the current position detection device 2 to the destination, inputs a guidance for executing route guidance, a touch panel, a remote controller, a joystick, etc. It consists of a pointing device. The output device 1b is composed of a display, a speaker and the like that outputs information for route guidance. The central processing unit 4 is
The input device 1a includes a route search means 4a, a detour information storage means 4b, a route storage means 4c, and a route guidance control means 4d.
Set destinations and detour points (point coordinates, directions, roads, intersections) according to the input instruction from, and increase the search cost of the route passing through the detour point based on the route information stored in the information storage device 3 and search. A process for searching a route to the destination with the lowest cost and performing route guidance by the output device 1b while detecting the current position based on the signal of the current position detection device 2 is executed. The route search means 4a
If the detour point is input, the roads and intersections near the detour point are searched and stored in the detour information storage means 4b, the search cost is changed to a high value, and the cost of searching the route from the current position to the destination is based on the route information. Is calculated and searched by. The route storage unit 4c temporarily stores the guide route searched by the route search unit 4a, and the route guidance control unit 4d performs route guidance based on the guide route stored in the route storage unit 4c. Output signal 1b
Is output to.

The entire processing of the vehicle navigation device is executed according to the steps shown in FIG. 2, for example.
First, the current position (departure point) required for route search is acquired by the current position detection device (step S1). Next, for example, the destination is set according to the point input from the input device on the destination setting screen (step S2), and further the detour point is set (step S3). For inputting a detour point, for example, when an intersection or a road point that the user does not want to pass on the map on the screen is designated, the designated point is converted into a coordinate value (x
₁ , y ₁ ), (x ₂ , y ₂ ), ... Then, when a search instruction is input, the route search means searches for roads and intersections near the detour points and stores them in the detour information storage means, and after changing the search costs of those roads and intersections to high values, A route search is executed and the searched guide route is stored in the route storage means (step S
4). When the guidance start instruction is input, the route guidance control means starts the route guidance, detects the current position of the own vehicle by the current position detection device and tracks the current position (step S5), and stores it in the route storage means. Based on the stored guidance route, guidance information is output to the output device by voice and / or display to provide route guidance (step S6). Then, the arrival of the destination is determined by referring to the current position as the destination (step S7), and when it is determined that the destination is reached, the route guidance is ended.

Next, the setting of the detour point and the route search processing based on the setting will be described. 3 is a diagram showing an example of a detour point list and a detour data list, FIG. 4 is a diagram for explaining a detour point setting process, FIG. 5 is a diagram for explaining a process for creating a detour data list, and FIG. 6 is a detour. FIG. 7 is a diagram for explaining the data search process, and FIG. 7 is a diagram for explaining the detour point approach notification process.

The present invention inputs the detour point as described above,
By setting, the route to the destination which does not pass through the detour point is searched and guided, and the detour information storage means has a detour point list shown in FIG. The detour data list shown in B) is registered. Then, when the coordinate value and direction information of each point that is input and set as a point that the user does not want to pass are stored in the detour point list, roads and intersections are searched and stored based on those points in the detour data list. .

In the point input setting process, that is, the process of step S3, when a detour point is set as shown in FIG. 4 (step S11), the point is registered as coordinate values in the detour point list (step S11). S12) Further, it is checked whether or not the approach direction for the detour point is set (step S13), and if the approach direction is set, the approach direction (direction and direction) is registered in the detour point list (step S1).
4).

Then, the detour data list creation process and the detour data search process are executed as pre-processes for the route search in step S4, the roads and intersections are registered from the detour points, and the search costs are changed. Perform the search up to. These processes are shown in FIGS. 5 and 6. The detour point is input, for example, by pointing the position of a road or an intersection on the map displayed on the screen, and by pointing the direction using a joystick, etc., the coordinate value of that position, the direction from the north. The angle is set in the detour list. Therefore, the coordinate values and azimuths in the detour list do not always match the coordinate values and directions on the map data, so search for nearby roads or intersections from the coordinate values.
It is necessary to perform a direction search process to create a detour data list.

In the detour data list creation process, as shown in FIG. 5, first, it is checked whether or not the detour data list in which the roads and intersections corresponding to the designated detour points are registered has been created (step S21). Bypass point, for example whether the direction of the shown in FIG. 3 (A), with the direction (x _1, y _1),
The coordinate values of (x ₂ , y ₂ ), ... Are input and set.
Here, the angle is an angle with respect to the north azimuth, and when there is a direction, it detours only in that direction and does not detour in the opposite direction. If the detour data list has already been created, this processing ends, but if the detour data list has not been created, a nearby road is searched based on the coordinate values of the detour point (step S22), and then the detour point is identified. It is checked whether or not the vehicle has a direction (step S23). If the vehicle has no direction, it is further checked whether the position on the road is closer to the intersection (step S24). If it is near an intersection, register the intersection number in the detour data list,
If it is not near the intersection, the road number (both directions) is registered in the detour data list (step S26). However, when the detour point is directional in step S23, a road close to the direction of the detour point is selected (step S27), and the road number (one direction) is registered in the detour data list (step S28).

When the road number and the intersection number are registered in the detour data list, the detour data search process is executed next. In this processing, as shown in FIG. 6, the detour data list is referred to for each road number and intersection number (step S3).
1), it is determined whether or not the road number and the intersection number are registered in the detour data list (step S32).
If it is registered, a predetermined value is added to the search cost of the road number and the search cost of the road number having the intersection number as the start point or the end point (step S33). Usually, the search cost is set for the road (number) by the required transit time and distance, easiness of running (road width), charge, and the like. Therefore, if the search cost is set, for example, by distance, the ease of travel due to differences in road width, road type, etc. is converted into distance. Converted distances are shortened on expressways, while converted distances are set longer on branch roads.
In the case of roads registered in the detour data list, the distance is further added to the converted distances by a constant value, a ratio, or a multiplication factor, so that the distance to the destination is the shortest due to the converted distances. If a route is searched for, the route including the road registered in the detour data list is apparently longer than the others, so that it will be excluded from the targets as the route of the search result. The same applies when the search cost is set for an intersection (number) by turning right, turning left, or going straight.

Even if the search cost is changed as described above, if a route that does not pass through the detour road or the intersection cannot be found, even if the search cost becomes high, the guide route that finally passes through the detour point will be displayed. Because it will be searched, you have to go through a detour point to reach your destination. That is,
When the detour road and the intersection are excluded from the route search targets at all, unless there is a route that does not pass even one detour point for a plurality of detour points, the search route to the destination cannot be obtained. However, if the search cost is increased, if there is no route that does not pass through the detour point, the route that passes through the detour point is searched as the only route. Also,
Even if the guide route is searched so as not to pass through the detour point, there is a case where the vehicle deviates from the guide route and passes through the detour point when the vehicle actually travels, either intentionally or due to a wrong passing intersection. In such a case, by displaying the set detour point on the route guidance map with, for example, a special mark, it is possible to teach where the detour point is with respect to the guide route. When approaching the point,
For example, by issuing a beep sound, it is possible to notify the driver of the approach to the detour point.
FIG. 7 shows an example of the processing.

In the detour point approach processing, as shown in FIG. 7, the current position is calculated from the detection signal from the current position detecting device (step S41). Then, it is checked whether or not the current position is within the predetermined range of the detour point (step S42), and if it is within the predetermined range of the detour point, it is further checked whether the detour point is directional (step S43). . Here, in the case of the direction, it is checked whether or not the current position is within the predetermined range of the detour point direction (step S44), and if the current position is within the predetermined range, a beep sound is output (step S45). A beep sound is immediately output (step S45). Since the driver can know that the detour point is approaching by this beep sound, the driver can re-recognize traffic congestion, road conditions, environment, etc. when passing the detour point.

FIG. 8 shows a detour road from a set detour point,
FIG. 9 is a diagram for explaining a search for an intersection, and FIG. 9 is a diagram for explaining a search setting process for a detour road and an intersection from setting a detour point.

When a detour road or an intersection is searched after the detour point is set by the coordinates, as shown in FIG.
This is done while setting an area with a predetermined radius for the set point. For example, as the first step, an area having a radius of 50 m from that point is set, and it is first searched whether or not there is an intersection in the area. If there is an intersection, register the intersection as a detour intersection. If there is no intersection, search whether there is a road and register it as a bypass road. When a plurality of roads are searched in the area, the one having the closer distance between the coordinates of each node and the set point is selected and registered. Road data consists of a node sequence having coordinates.
The road search is determined by calculating the distance between each of these nodes and the point and determining whether the radius is smaller than the set radius. If there are no intersections or roads, add a radius of 50
Perform a similar search for the enlarged area. Of course, such a search may be performed only at the intersection or only at the road.

The detour data list may be created when the detour point is set without dividing the setting of the detour point (FIG. 4) and the creation of the detour data list (FIG. 5). That is, when the detour point is set as shown in FIG. 9 (step S51), the point is registered in the detour point list (step S52), and it is further checked whether or not the approach direction to the detour point is set (step S52). S53) If the approach direction is set, the approach direction (direction presence and direction) is registered in the detour point list (step S54). Next, search for the closest intersection / road to the set point / direction and search for the detour intersection /
The road is set as a road (step S55), and the detour intersection / road is registered in the detour data list (step S56).

By storing the detour points and the detour roads / intersections as a list in this way, it is possible to save the trouble of inputting and setting the detour points for each route search. Moreover, when you do a route search, the route is always searched so that it does not pass through the set detour point, so by setting a point you think that you do not want to run from the next time, From the next time, you can surely bypass that point. Also,
By registering the detour road / intersection with the detour data list, the search time can be shortened without searching the road corresponding to the detour point at the time of route search. If the coordinates of the detour point are registered in the detour point list, the detour point can be used as it is even if the map data is exchanged and the road number and the intersection number are changed.

FIG. 10 is a diagram showing the configuration of one embodiment of a vehicle navigation device according to the present invention. An input / output device 1 for inputting / outputting information regarding route guidance, a current position for detecting information regarding the current position of the vehicle. The detection device 2, the information storage device 3 in which navigation data necessary for route calculation, guidance data necessary for guidance, etc. are stored, and display guidance processing necessary for route search processing and route guidance is performed, and It is composed of a central processing unit 4 for controlling. First, each configuration will be described.

The input / output device 1 instructs the central processing unit 4 to perform navigation processing according to the driver's intention so that the driver can input the destination and output the guidance information by voice and / or screen when the driver needs it. In addition, it has a function of printing out the processed data. As a means for realizing the function, the input unit has a touch switch 11 and an operation switch for inputting a destination by a telephone number, coordinates on a map, or requesting route guidance. Of course, an input device such as a remote controller may be used. In the output unit, input data is displayed on the screen, or a display 12 that automatically displays route guidance on the screen in response to a driver's request, data processed by the central processing unit 4, and stored in the information storage device 3 are stored. A printer 13 that prints out the data and a speaker 16 that outputs the route guidance by voice are provided.

Here, a voice recognition device for enabling voice input or a recording card reading device for reading data recorded in an IC card or a magnetic card can be added. In addition, an information center that stores data necessary for navigation and is provided via a communication line at the driver's request, an electronic notebook in which driver-specific data such as map data and destination data is stored in advance. It is also possible to add a data communication device for exchanging data with the information source.

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

The display 12 is provided in the instrument panel near the driver's seat, and the driver can confirm the current position of the vehicle by looking at the section map and obtain information on the route from now on. it can. Further, the display 12 is provided with a touch switch 11 corresponding to the display of the function buttons, and is configured to execute the above-mentioned operation based on a signal input by touching the button. The input signal generating means including the button and the touch switch constitutes an input section, but a detailed description thereof will be omitted here.

The current position detecting device 2 is a GPS receiving device 21 using a satellite navigation system (GPS), a beacon receiving device 22, for example, a cellular phone (car phone) or F.
A data transmitter / receiver 23 for receiving a GPS correction signal using an M multiplex signal, an absolute direction sensor 24 including a geomagnetic sensor, a relative direction sensor 25 including a wheel sensor, a steering sensor, a gyro, and the like, rotation of wheels. A distance sensor 26 for detecting the traveling distance from the number is provided.

The information storage device 3 stores map data, intersection data, node data, road data, photo data, registration point data, destination data, guide road data, detailed destination data, destination reading data necessary for route guidance. It is a database consisting of files of telephone number data, address data, and other data in which all data necessary for the navigation device is recorded.

The central processing unit 4 is a C for executing arithmetic processing.
The PU 40, a program for performing processing such as route search, a display output control required for route guidance, a program for performing voice output control required for voice guidance, and the first ROM 41 storing the data required for it are set. Destination coordinates, road surface code No. RAM 4 for temporarily storing route guidance information searched for, etc., and data being processed.
2. Second ROM 43 storing display information data necessary for route guidance and map display, image memory 44 storing image data used for screen display on display, CP
The image memory 4 based on the display output control signal from U40.
4, the image processor 45 that takes out image data from the image data, processes the image data, and outputs the image data to the display. A voice, a phrase, a sentence, a sound, etc. read from the information storage device 3 based on a voice output control signal from the CPU A voice processor 46 for synthesizing and converting into an analog signal and outputting to the speaker 16, a communication interface 47 for exchanging input / output data by communication, and a sensor input interface 48 for taking in a sensor signal of the current position detecting device 2, It is provided with a clock 49 for entering the date and time in the diagnostic information. In the central processing unit 4, when the data acquired by each sensor of the current position detection device 2 is fetched from the sensor input interface 48, the CPU 40 calculates the current position coordinates at regular intervals based on the data, and temporarily. Write to RAM 42.
The current position coordinates are obtained by performing map matching processing in consideration of detection errors of various data. Further, the output values of various sensors are constantly corrected. here,
The route guidance is configured so that the driver can select either screen display or voice output.

11 to 13 are diagrams showing an example of the structure of main data files stored in the information storage device. FIG. 11A shows the guide road data file stored as the data required for the route guidance obtained by the route search, and FIG. 11A shows the road number, length, and It is composed of road attribute data, shape data address, size and guidance data address, and size data.

The road number is set for each road between the junctions (outgoing or returning). The road attribute data is road guidance auxiliary information data, and as shown in FIG. 12 (A), information about an elevated road / underpass and lanes in which the road is elevated, next to the elevated road, underpass, or next to the underpass. It is data showing information on the number. As shown in FIG. 11B, the shape data has coordinate data consisting of east longitude and north latitude for each of the number m of nodes when divided by a plurality of nodes (sections) on each road. The guidance data is shown in FIG. 11 (C).
As shown in FIG. 5, it is composed of intersection (or branch point) name, caution point data, road name data, road name voice data address, size and destination data address, and size data.

Among the guide data, the caution data is shown in FIG.
As shown in 3 (A), this is data indicating information such as railroad crossings, tunnel entrances, tunnel exits, width phenomenon points, and nothing. Attention should be paid to the driver at railroad crossings and tunnels other than branch points. This is data for prompting. As shown in FIG. 12 (B), the road name data includes information on highways, urban highways, toll roads, road types of general roads (national roads, prefectural roads, etc.) and highways, urban highways, and toll roads. It is data of information indicating whether it is a main line or an installation road, and is composed of road type data and an in-type number which is individual number data for each road type. Destination data is shown in Figure 11.
As shown in (D), the destination road number, the destination name, the address of the destination name voice data, the size and the destination direction data, and the travel guidance data.

Among the destination data, the destination direction data is invalid (does not use the destination direction data), unnecessary (does not guide), straight ahead, rightward, diagonally rightward, rightward as shown in FIG. 11 (E). Back direction, left direction, diagonal left direction,
This is data indicating information on the direction of returning to the left. As shown in FIG. 13 (B), the driving guidance data stores data for guiding which lane to drive when there are multiple lanes, such as rightward, leftward, or central. This is data indicating information about the item.

The present invention is not limited to the above embodiment, but various modifications can be made. For example, in the above-described embodiment, the input detour point is registered in the detour point list, and if the detour data list does not exist when performing the route search, the road or intersection near the detour point is searched to create the detour data list. Alternatively, the detour data list may be created each time as a pre-process when performing route search so that the detour point list can be appropriately added or deleted and updated, or the detour data can be input or updated when the detour point is input. You may make it create a list. In addition, the detour data list may be added or deleted and updated when the detour point list is added or deleted and updated, and the road or intersection registered in the detour data list regarding the detour point is added or deleted. Furthermore, although the beep sound is issued when the vehicle approaches the detour point, the message may be output by voice or display.

[0036]

According to the invention described in claim 1, in a vehicle navigation device that searches for a route to a destination and guides the route by the route, an information storage unit for storing map information and a detour point are provided. Detour point setting means to set,
A route search means for searching a route to a destination based on the map information stored in the information storage means, and the route search means, when the detour point is set by the detour point setting means, the set detour point As a point on the road corresponding to, the intersection within a predetermined range is searched based on the coordinate values of the detour point, the search cost for the intersection is set high, and the route to the destination is searched, so that it is close to the detour point. It is possible to search for a route that does not pass through the intersection, and to guide the route that the driver desires.

According to the second aspect of the present invention, the set detour point is registered and the search cost is calculated for each route search. Therefore, if the detour point is set once, the detour point is set automatically from the next time. It is possible to search a route that does not pass through the intersection that is close to the detour point, and guide the route that the driver desires.

According to the invention of claim 3, the search cost for an intersection is a search cost for a road having the intersection as a start point or an end point. 1 without setting a point
It can be easily set at the point.

[0039]

According to the fourth aspect of the invention, in the vehicular navigation device that searches for a route to a destination and guides the route by the route, an information storage unit that stores map information and a detour point are set. Detour point setting means,
A route search means for searching a route to a destination based on the map information stored in the information storage means, and the route search means, when the detour point is set by the detour point setting means, the set detour point As a road corresponding to, the road within the predetermined range is searched based on the coordinate values of the detour point, the search cost for the road is set high, and the route to the destination is searched. It is possible to search for a route that does not exist, and to guide a route that the driver desires.

According to the invention of claim 5, since the set detour point is registered and the search cost is obtained for each route search, if the detour point is set once, even if the setting is not performed from the next time, the detour point is automatically set. It is possible to search for a route that does not pass the road that is close to the detour point, and to guide the route that the driver desires.

[0042]

[Brief description of drawings]

FIG. 1 is a diagram showing one embodiment of a vehicle navigation device according to the invention.

FIG. 2 is a diagram for explaining an overall processing flow as a navigation device.

FIG. 3 is a diagram showing an example of a detour point list and a detour data list.

FIG. 4 is a diagram for explaining detour point setting processing.

FIG. 5 is a diagram for explaining processing for creating a bypass data list.

FIG. 6 is a diagram for explaining a bypass data search process.

FIG. 7 is a diagram for explaining detour point approach notification processing.

FIG. 8 is a diagram for explaining a search for a detour road and an intersection from a set detour point.

FIG. 9 is a diagram for explaining a search setting process from a detour point to a detour road and an intersection.

FIG. 10 is a diagram showing the configuration of one embodiment of a vehicle navigation device according to the present invention.

FIG. 11 is a diagram showing a configuration example of a main data file stored in an information storage device.

FIG. 12 is a diagram showing a configuration example of main data files stored in an information storage device.

FIG. 13 is a diagram showing a configuration example of main data files stored in an information storage device.

[Explanation of symbols]

1a ... Input device, 1b ... Output device, 2 ... Current position detection device, 3 ... Information storage device, 4 ... Central processing unit, 4a ... Route search means, 4b ... Detour information storage means, 4c ... Route storage means, 4d ... Route guidance control means

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G01C 21/00 G08G 1/0969 G09B 29/10

Claims (5)

(57) [Claims] 1. A vehicle navigation device that searches for a route to a destination and guides the route by the route, an information storage unit that stores map information, a detour point setting unit that sets a detour point, and the information. A route search means for searching a route to a destination based on the map information stored in the storage means, wherein the route search means, when the detour point is set by the detour point setting means, the set detour As a point on the road corresponding to the point, an intersection within a predetermined range is searched based on the coordinate values of the detour point, the search cost for the intersection is set high, and the route to the destination is searched. Vehicle navigation system. 2. The vehicle navigation device according to claim 1, wherein the set detour point is registered and the search cost is calculated for each route search. 3. The vehicle navigation device according to claim 1, wherein the search cost for the intersection is a search cost for a road having the intersection as a start point or an end point. 4. A vehicle navigation device that searches for a route to a destination and guides the route according to the route, information storage means for storing map information, detour point setting means for setting a detour point, and the information. A route search means for searching a route to a destination based on the map information stored in the storage means, wherein the route search means, when the detour point is set by the detour point setting means, the set detour As a road corresponding to a point, a vehicle navigation characterized by searching for a road within a predetermined range based on the coordinate values of a detour point, setting a high search cost for the road, and searching a route to a destination. apparatus. 5. The vehicle navigation device according to claim 4 , wherein the set detour point is registered and the search cost is calculated for each route search.