JP3539022B2 - 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 vehicular navigation apparatus for guiding a route to a destination, and more particularly, when a guide route is re-searched, the re-search route is displayed on a map at a determined map scale. Function to perform re-search when the route deviates and to display the necessary route immediately in response to the user's re-search request, and to display road information for returning to the original route when the route deviates The present invention relates to a vehicle navigation device having a function of switching to a reduced scale and displaying the scale.

[0002]

2. Description of the Related Art In a conventional manual re-search system, when a vehicle deviates from an optimum route, a key for starting a re-search is displayed, and a key operation is performed when desired by a user. To perform a re-search. Also, in a system that automatically re-searches from the current position of the vehicle after the vehicle deviates from the optimal route, when the vehicle deviates from the optimal route and is determined to be traveling on a guideable road, it is automatically A search for a route connected to the original route by a peripheral search or a search for all routes to the destination is performed. In the manual re-search system described above, the user may deliberately deviate from the route and complete a small shopping or other business. Also, due to construction and traffic congestion, the route ahead may be crowded or unable to pass. In such a case, the search may not be performed again, but may partially return to the original route through another road. At this time, if the displayed map is a detailed map, it is difficult to obtain the positional relationship between the current position and the original route, and information for returning to the original route, and requires an operation such as switching the map scale, which is troublesome. . Further, even in a system that automatically performs a peripheral search, there is a problem that it is difficult to determine a new route connected to the original route on a detailed map. The object of the present invention is
It is an object of the present invention to provide a vehicular navigation device having a function of displaying a re-searched route on the determined map scale when the vehicle deviates from the route.

[0003]

According to one aspect of the present invention, there is provided a vehicle navigation apparatus for providing route guidance to a destination according to a searched route, comprising: Means for storing information necessary for performing the operation, a current position detection means for detecting the current position and the traveling direction of the vehicle, and a destination from the current position as the original route based on the information stored in the storage means. and route searching means for performing re-search for the guide route when off the search and guidance route guidance route to, the re-searched route
Map scale determining means for determining the largest scale on which all re-searched routes are displayed based on the coordinates to the connection point of the original route, display processing of the guide route searched by the route searching means, and re-search Route display processing means for performing display processing on the set route according to the map scale determined by the map scale determination means.

[0004] The invention of claim 2 is based on claim 1,
The map scale determining means connects the re-searched route to the original route.
The scale is determined in consideration of the path between two points.
I do.

According to a third aspect of the present invention, in the first or second aspect, the route display processing means has a current position center display function or a fixed map display function, and re-searches the route based on the map scale determined by the map scale determination means. Is output by the route display processing means.

According to a fourth aspect of the present invention, in the map display according to the first or second aspect, before outputting the route re-searched based on the map scale determined by the map scale determining means, the route display processing means performs processing during the map display. It is characterized by adding guidance information based on the re-searched route.

A fifth aspect of the present invention is characterized in that, in the fourth aspect of the present invention, the guidance information additionally displays the re-searched route on a map in a display form distinguishable from the original guide route. . The invention according to claim 6 is the invention according to claim 5,
The guide information is additionally displayed on the original guide route.

[0008]

According to the first aspect of the present invention, the re-searched route is displayed on the map at the map scale determined by the map scale determining means, so that the re-searched route can be easily understood. According to the second aspect of the present invention, the user can determine the current position of the vehicle and the route between the re-searched route and the two points connected to the original route.
The road can be recognized. According to the invention of claim 3,
The user can easily recognize the entire searched route.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a system configuration of a vehicle navigation device. The vehicle navigation device according to the present invention, when a deviation from the route is detected, a manual reroute function for instructing a re-search at the driver's will, and automatically starts the re-search, and based on the result, a previous guidance route is provided. It has an auto-reroute function that switches the route to a re-searched route and performs route guidance.In particular, the auto-reroute function stores the re-search result and auto-reroute on mode that immediately starts route guidance based on the re-search result. Each vehicle has an auto-reroute-off mode for displaying a re-search result stored based on a driver's re-search output instruction and starting route guidance.

In FIG. 1, a vehicle navigation device includes an input / output device 1 for inputting and outputting information related to route guidance.
A current position detection device 2 for detecting information on the current position of the vehicle, an information storage device 3 in which navigation data necessary for calculating a route and guidance data necessary for route guidance are recorded, route search processing and route guidance The central processing unit 4 executes a display / voice guidance process necessary for the system and controls the entire system.

The input / output device 1 can input information necessary for setting a destination such as a departure point, a destination, and a passing point, and can output voice information and / or display guidance information on a screen when necessary. In addition, a function is provided for instructing the central processing unit 4 to perform navigation processing according to the user's will, and for printing out data after processing and data for data communication. As a means to realize the function, the input unit uses an address, a telephone number,
The touch switch 11 is used to input coordinates and the like and to request route guidance. The output unit displays input data on the screen, or displays the driver's request or automatically displays the route guidance on the display 12, the data processed by the central processing unit 4, the data stored in the information storage device 3, and the communication data. It comprises a printer 13 for printing out and a speaker 14 for outputting route guidance by voice.

The display 12 is composed of a color CRT or a color liquid crystal display, and is required for navigation such as a destination setting screen, a section map screen, an intersection map screen based on map data and guidance data processed by the central processing unit 4. All the screens are output in color display, and on this screen are displayed keys for setting route guidance, guiding during route guidance, and switching screens. The display 12 is provided with a touch switch 11 corresponding to the display of a function key, and is configured to execute the above-described operation based on a signal input by key touch.

The current position detecting device 2 includes a GPS receiving device 21 using a satellite navigation system (GPS), a beacon receiving device 22, for example, a data transmitting / receiving device 23 that receives a GPS correction signal using a car phone or an FM multiplex signal,
Absolute azimuth sensor 2 composed of, for example, a geomagnetic sensor
4. A relative azimuth sensor 25 composed of, for example, a wheel sensor or a steering sensor, and a distance sensor 26 for detecting a traveling distance from the number of rotations of the wheel, and detects a traveling azimuth and a position coordinate of the vehicle.

The information storage device 3 stores, for example, a map data file storing map information, an intersection data file storing information on intersections, and information on roads such as road types and starting points and ending points of each road necessary for route guidance. Road data file, node data file storing east longitude and north latitude coordinates at one point on the road, position coordinates and features of facilities such as gas stations and convenience stores according to the purpose of use classified by genre It is composed of a guide point data file or the like that stores guide information and the like related to it.

The central processing unit 4 executes a program mounted thereon to realize the functions of the present system and executes a CPU 40, a program for performing a process such as a route search, a display control required for route guidance, and a voice. A first ROM 41 in which a program for performing voice output control necessary for guidance and data necessary for the program are stored, route storage means for storing road information (road sequence data) after route search or re-search, and route guidance information and calculation. A memory 42 composed of a RAM or a non-volatile memory as a storage means for temporarily storing data being processed, a second ROM 43 storing display data necessary for route guidance and map display, used for screen display on a display Memory 44 in which image data to be stored is stored in an image memory based on a display control signal from the CPU. It retrieves the image data, the image processor 45 to be output to the display by performing image processing, CP
A voice processor 46 that synthesizes voice data (phrases, a single sentence, sound, etc.) read from the information storage device 3 based on a voice output control command from U, converts the data into analog signals, and outputs the analog signals to a speaker; It comprises a communication interface 47 for exchanging input / output data by communication, a sensor input interface 48 for receiving a sensor signal of the current position detecting device 2, and a clock 49 for writing date and time in internal diagnostic information. . here,
The route guidance is configured so that the driver can select either screen display or voice output.

The present system calculates an estimated position based on various sensor signals of the current position detection and GPS data, and determines a position on the road by correlating the estimated position with the road on the map and the GPS data. Find the current position. The present system also has a function of illuminating the current position with a route to a destination and determining whether or not a position on the lane of the own vehicle is approaching a predetermined guide point.
That is, by the above function, the timing of a predetermined distance before the intersection on the guidance route, the automatic voice output after the intersection passing determination, and the timing of the intersection information display output such as the name of the passing intersection are determined. A guidance command is issued to the image processor and the audio processor based on the result of this determination. Further, when the request signal is input, it instructs the voice processor to provide voice guidance of the current position. In the voice guidance of the present system, voice data (phrases, a single sentence, sound, etc.) read from the information storage device 3 is synthesized, converted into an analog signal, and output from a voice output unit.

The functions of the present invention are realized by the following means. That is, the destination setting means includes a CPU 40 for executing a program relating to a destination setting process stored in the first ROM 41, a touch switch 11 and a display 12 of the input / output device 1 for inputting a destination and outputting a map display, etc. And an input / output processing unit including an interface 47 for inputting a destination input signal from the touch switch 11 to the central processing unit 4. The route deviation detecting means has a function of detecting that the vehicle has deviated from the guidance route based on the current position information of the vehicle and the guidance route information, and is constituted by the CPU 40 executing a program relating to the route deviation detection process stored in the first ROM 41. You. The route searching means has a function of searching for a route to be guided based on the set departure place (current position of the vehicle) and a destination and a function of re-searching for a guide route when a deviation from the route is detected. The CPU 40 executes a program related to the stored route search process. The display scale determining means has a function of determining a scale at which a re-searched route can be displayed based on the current position information of the vehicle when a deviation from the route is detected.
The CPU 40 executes a program related to the display scale determination process stored in the CPU 40. The output means has a function of outputting guidance based on the searched route and a route re-searched by a route output instruction when a deviation from the route is detected, and executes a program related to display / voice processing stored in the first ROM 41. It comprises a CPU 40, an image processor 45, an audio processor 46, the display 12, the speaker 14, and the like. The route output instructing means instructs the output of the stored re-searched route, and is constituted by a re-search switch composed of the touch switch 11. Here, the departure of the route is generally based on a map matching process, in which various matching conditions are calculated for the searched route, for example, the correlation between the traveling locus of the vehicle and the road shape is calculated, and the result exceeds a predetermined value. In such a case, it is determined whether or not the vehicle deviates from the route by regarding the vehicle as a deviation from the route.

Next, the road data structure relating to the auto reroute function will be described. The search road data (guide road data) has a data configuration as shown in FIG. The data stores information on roads connected to each road and information unique to each road. The start point and the end point (intersection, branch point, etc.) and the road numbers connected to the start point and the end point, respectively, are stored, and information on the connection relationship between the roads is stored. In addition, information such as the length of each road, road attributes (highway, national road, prefectural road, etc.), road width, and the like are provided as road-specific road characteristics and have a cost coefficient as a reference at the time of search. In addition, in connection with the connection information between roads, guidance-free road information (for example, a road for a road in the figure is a straight road and is a guidance-free road. If there is no guidance, the guidance is unnecessary), and the prohibition information (prohibition of entry) is stored as one of the costs for determining the optimal route at the time of searching. In addition to the information shown in the figure, determine the cost based on whether the vehicle is turning right or left (the coefficient is higher than the left because it is harder to drive right), or change the coefficient for the right or left depending on the size of the intersection (for large intersections). It may take some time to turn right or left.) In addition, as information specific to the road, in addition to the length, shape information may be stored, so that the cost of the winding road may be increased.

FIG. 3 shows an example of the road data structure of the guide road. The road data for guidance is defined for each road by the road number, length, road attribute data, shape data address and size, and guide data address and size. The shape data represents the shape of the road by the number of nodes, and each node is defined by east longitude and north latitude coordinates. Here, when the intersection angle of the intersecting road is used as the information of the next traveling road in the calculation of the display remaining distance to the guidance intersection, the next traveling road is compared with the currently traveling road. The shape data has data on the angle of intersection. The guidance data is defined by an intersection name, caution data, a road name, a road name voice data address and size, and a destination data address and size. The destination data is defined by a destination road number, a destination name, a destination name voice data address and size, destination direction data, and travel guidance data. Destination direction data is invalid, unnecessary, straight ahead, rightward,
It is defined as diagonally right direction, left direction, diagonally left direction, and direction returning to left.

When guidance is provided at a junction, an intersection, or the like, the destination data in the guide road data is searched, and the guidance content to be output based on the destination data (mainly a guidance expression added to a fixed guidance expression) To determine. This destination data is data to be added especially at a junction where it is difficult to determine the direction only by the angle of the exit direction from the intersection, for example, when a high-speed exit or the like, or when the angle difference between a plurality of roads exiting from the junction is small. It is. Various data constituting the guide road data will be described. Road attribute data is data representing the physical characteristics of the road, such as the number of overpasses, underpasses, and lanes.Elevation / underpass data includes information on the presence or absence of overpasses, next to underpasses, underpasses, underpasses, and data on the number of lanes. Indicates presence / absence information of three or more lanes, two lanes, one lane, and no center line. In addition, when the applicable road is a branch road with an overpass, it is referred to as “beside the overpass”. The same goes for tunnels.

The road name data is defined by a road type and a type number, and the road types are classified into (name) expressways, urban expressways, toll roads, and general roads such as national roads and prefectural roads. Especially at high speeds, city heights and tolls, it is defined by the main line and the installation. The attachment is a road connecting the main road and the main road and the main road. The attention point data is data for providing information for calling attention to a changing road condition, and defines, for example, a railroad crossing, a tunnel entrance, a tunnel exit, a width reduction point, and no attention point. Driving guidance data is information provided for driving safely and reliably for the next traveling guidance while traveling on a wide road or a road with two or more lanes. Information "from the right" and similarly "from the left" are given as guidance when changing. Also at the intersection,
In other words, the information of "from the center" or the information of "none" is given when guidance is unnecessary so as to continue straight traveling along the road as guidance when traveling straight. In addition, road data and intersection data are separately stored as map display data. The map display data may be stored separately for each scale, or a single data may be used to display a map on a plurality of scales.

Next, the concept of the automatic display scale switching function of the present invention will be described with reference to a display screen. Here, it is based on the current position center display. In the destination setting, automatic re-search (auto-reroute) is selected on a re-search condition setting screen (not shown). When ON is selected, the system automatically performs a peripheral search when detecting a deviation from the route, and recalculates and displays the route to the guide route. When OFF is selected, when a route departure is detected, a re-search switch 7 is displayed on the screen to notify the user of the departure of the route, a re-search is executed as an internal process, and the re-searched route is stored in the route. Store in the means. The route obtained by this internal processing is not immediately displayed. For example, when auto-reroute off is selected, if a deviation from the route is detected, a re-search switch 6 is displayed on the map display screen 5 shown in FIG. In this state, the re-search is executed by the re-search method (all route search, peripheral search) preset in the system.

If the re-search switch is not pressed, that is, if the vehicle travels away from the guide route 7, the guide route will disappear from the map if the scale at the time of departure from the route is detected. Therefore, the feature of the present invention is that, before the guide route 7 becomes a position where it is difficult to confirm, the vehicle is switched to a scale that allows the vehicle to return to the guide route from the current position based on the result of the re-search. This allows you to see at a glance which direction you are traveling. For example, map display screen 5
The vehicle 8 deviates from the guide route 7 and travels a predetermined distance.
Is displayed and the scale at that time is 1 / 40,000. If the vehicle continues to travel, the scale is determined from the result of the re-search. In this example, the scale is switched to 1 / 80,000 as shown in FIG. When the vehicle travels further, a new scale is determined from the result of the re-search, and the display process is performed at the new scale.

In this example, the scale is switched from 80,000 to 1 / 160,000, and the display is switched from FIG. 6 to FIG.
The scale is switched in this way, the display processing is executed,
The route searched again is stored in the route storage unit. For example,
When the re-searched route 8 shown by the dotted line shown in FIGS. 8 and 9 is obtained, the display processing of the re-searched route 8 is not executed.
In FIG. 8 or FIG. 9, when the re-search switch is pressed, display processing of the stored re-searched path indicated by the dotted line in the figure is performed. As a result, when the new search route 7A that is connected to the previous guide route through the route searched again from the current position is currently displayed, for example, when the re-search switch is pressed in the map display of FIG. Is displayed as follows. As described above, when the re-search switch is not pressed, the system performs a peripheral search, and stores the re-searched route in the route storage unit without performing the display process. This re-search is executed at regular intervals by an interrupt process until the re-search switch is pressed, and the re-searched route stored in the route storage means is updated based on each result. Therefore, when the re-search switch is pressed, the re-searched route is instantaneously displayed.

Next, processing of a system having a function of re-searching for an optimal route when a route deviates will be described. FIG.
FIG. 1 shows a flow of processing for performing route guidance from destination setting. The current position (departure point) required for the route search is acquired (S1), the destination setting condition is entered on the destination setting screen to set the destination (S2), and the route search is performed (S3). . At this time, it is set whether the re-search is performed automatically (auto reroute on) or performed by the user (auto reroute off). That is, ON or OFF of the auto reroute is set as the re-search condition.

After the route search, MODE = 2 is set to indicate the end of the process, and the distance from the guide route, which is the basis for detecting a deviation from the route, is set (S4). When the guidance start key is pressed on the searched route to start the route guidance, the position of the own vehicle is measured and the current position is tracked (S5). Next, the distance from the current position to the set route is obtained, and it is determined whether the route is off based on whether the distance exceeds the value (predetermined distance) set in step 4 (S6).
When the off-route is detected, the off-route processing is executed (S7). In the off-route processing when the auto reroute is off, a re-search route to the destination is always calculated and stored in the route storage means. In particular, when the automatic reroute is off, in the route deviation determination processing executed in step S6, the determination is not for the latest route that has been re-searched, but for the search route before the route departure.

When the route is not deviated, the traveling guidance is continuously performed according to the set route (S8). When the vehicle is on the route, MODE = 0 is set to indicate the distance, the remaining distance from the current position to the destination is determined (S9), and the arrival at the destination is determined based on whether the remaining distance is within a predetermined value. (S10) If the remaining distance is equal to or less than the predetermined value, it is determined that the vehicle has arrived at the destination, and the route guidance ends. On the other hand, if the remaining distance is not less than the predetermined value, the process returns to step 5 to track the current position. The off-route detection is performed by a timer interruption process.

If a deviation from the route is detected in step 6, the deviation processing shown in FIGS. 12 and 13 is executed. First, the selection of the auto reroute mode is determined (S
11), when it is ON, re-search processing is executed (S12),
A display process is performed for the route searched again and displayed (S1).
3). When it is OFF, a re-search process is executed (S14),
Thereafter, it is determined whether or not the current position is on the re-searched route (newest route) (S15). Further, when the vehicle travels after changing the route, that is, when the vehicle is not on the latest route, a new search is executed (S14). When it is on the latest route, the operation of the re-search switch is determined (S16), and when it is not pressed, the map scale change processing described later (FIG. 24)
Perform (S17) and return to step S15. When the re-search switch is turned on, it is determined whether the currently traveling road is a guideable road (S18). If the road is not a guideable road, map scale change processing is performed, and the process returns to step S15. If it is a guideable road, a route display process is performed and displayed (S19). By performing such processing, if the map scale is not changed, the re-searched route and the original route are displayed at the currently displayed map scale, and
When the map scale change processing is performed, the re-searched route and the original route are displayed based on the determined map scale. Here, a guideable road is a road on which a route can be searched, and this road is provided as data separate from display roads (local roads and the like).

Next, the re-search processing will be described. The route display process is immediately executed when the automatic reroute is turned on, and the result of the re-search process is displayed on the map screen. On the other hand, when auto reroute is off, the route is stored in the route storage as internal processing, and when the user presses the re-search switch, the process of displaying the route stored in the route storage is performed. FIG. 14 shows the flow of the re-search processing. When the re-search process is executed, it is first determined whether or not the current position is on a guideable road (S20). If the current position is outside the guideable road, it indicates that the vehicle is traveling outside the guide road. MODE = 1
Is set, and the search is performed again when the vehicle returns to the guideable road (S21). On the other hand, MODE = 1 has been set in the re-search processing when traveling outside the guide road, but when traveling on a road that can be guided thereafter, on the route (MOD
(E = 0) or outside the guide road (MODE = 1) is determined (S22). MODE = 0 or MODE =
If it is 1, the re-search start position is set (S24).

If MODE = 0 or MODE = 1, the re-search processing is terminated (MODE = 2), and it is determined whether the vehicle is traveling a predetermined distance on a guideable road (S23). If MODE = 2 and the vehicle has traveled a predetermined distance, the search start position is set (S24). Here, the determination of NO in step S23 is, for example, a case where, after a route search, the vehicle travels on a road that can be guided in a direction opposite to a certain direction of the route. Thus, even when the vehicle travels in the reverse direction, re-search is started after traveling a predetermined distance.

In the re-search start position setting process, for example, the position on the map at which the re-search starts to be executed is located a predetermined distance in the traveling direction of the vehicle. This takes into account that the vehicle is running and that the re-search process takes some time. For example, the route obtained by re-searching may be a route that requires a right or left turn immediately, or a route that cannot be responded to suddenly may be extracted after the driver presses the re-search switch to display the route. If the current position is just before the intersection at the start of the re-search, but the vehicle has gone straight ahead of the intersection at the end of the re-search, the search result turns right and left at the crossed intersection This reduces the number of situations such as a route and the need to immediately execute a re-search.

When the re-search start position is set, route recalculation is executed (S25), and the result is determined (S2).
6). When the route is obtained by the route recalculation (the determination of the success of the route output is YES), MODE = 2 is set, a predetermined distance is set (S27), and the process ends. When the route is not obtained by the route recalculation (the determination of the success of the route output is NO), MODE = 3 indicating the search failure is set (S28), and the process ends. If the route is not output, it depends on the search program installed in the system.
For example, if the program is set so that the U-turn route is not output, the search is performed with priority given to the traveling direction of the vehicle at the time when the departure from the route is detected, but if the currently running road has a dead end, the search is performed again. Judge that there is no route.
When the distance from the current position to the destination on the re-searched route is larger than a value obtained by multiplying the distance from the current position to the destination by returning to the original route by a predetermined value, the output of the re-searched route is output. It may be impossible. That is, if the result of the re-search does not satisfy the preset condition, the output is disabled.

FIG. 15 shows another embodiment of the re-search processing. In the present embodiment, the re-search is executed, and the re-searched route (the dotted line portion shown in FIG. 8 or 9) is additionally displayed as the guide information before the re-search switch is pressed by the driver. . 14 is different from the re-search processing in FIG. 14 in that the route searched again is displayed when MODE = 2 and the vehicle is traveling a predetermined distance in step S23. Is omitted. Since the search has been completed with MODE = 2,
When the vehicle has traveled on a guideable road for a predetermined distance, the previous route, that is, the guide route that was traveling before the deviation of the route is detected is deleted from the map (S29), and the result of the re-search is displayed (S30). ). Here, as a condition for starting the re-search, if it is determined that the vehicle deviates from the route by the matching process, the above-described example is based on a condition that the vehicle has traveled on a guideable road and has traveled a predetermined distance. ,
Alternatively, the re-search may be started not on the guide road (from the point on the guide road closest to the current position).

In the route recalculation performed in step S25, the peripheral search and the entire route search in the case where the traveling direction of the vehicle is prioritized are performed. FIG. 16 shows an example of the peripheral search processing. The search data (road data, intersection data, etc.) around the vehicle is read from the information storage device 3 (S40). Then, road sequence data of the guide route before deviating from the route (hereinafter referred to as the previous guide route) is obtained from the route storage means constituted by the memory 42 in the central processing unit 4 (S41). A route is defined by a road sequence obtained by connecting roads between intersections. Here, “acquisition” means taking in data from the route storage unit into the work area of the route search unit. Then, the traveling direction and the penalty at each intersection are calculated in the direction of returning to the previous guide route (S42). The penalty is a coefficient determined based on the road type, road length, road width, right / left turn, presence / absence of traffic light, traffic regulation, and the like. In addition, the penalty is set to “∞” when the route is not connected due to entry prohibited, one-way traffic, etc., or during a U-turn. In this peripheral search, a penalty is added in the direction to return to the previous guide route, and the optimum route is searched.

The current road and traveling direction of the vehicle are obtained based on the current position information from the current position detecting device and the map information from the information storage device (S43). Subsequently, an intersection to which the current location road is connected is selected in the traveling direction, and a route returning to the previous guide route is determined based on the traveling direction and the penalty to each intersection (S44). The searched train route and the preceding guide route are created as the guide route from now on, and the road sequence is created (S45). FIG. 17 shows the all route recalculation processing giving priority to the traveling direction. Based on the current position information from the current position detecting device and the map information from the information storage device, the current road and the traveling direction of the own vehicle are obtained (S50), and the destination road is obtained (S51). The search data between them is read (S52). Subsequently, an intersection to which the current road is connected is selected in the traveling direction, a route to the destination is determined based on the traveling direction to each intersection and a penalty (S53), and the road sequence is re-created using the route as a guide route (S54). ).

In practicing the present invention, the re-search can be applied to either a peripheral search or a whole route search. For example, in the case of manually instructing the peripheral search or the entire route search in advance, a separate mode switching routine is provided, and the re-search program is used depending on the mode at the time of the re-search. In addition, as a method of switching between the peripheral search and the entire route search, for example, when the re-search switch is operated after detecting a deviation from the route, the first output is the peripheral searched route, and after this operation, a predetermined distance is output. The entire route search may be executed by running or operating the re-search switch again within a predetermined time. In this case, both the route for the peripheral search and the route for the entire route search are searched and stored in the route storage means, or only the route for the peripheral search is calculated and stored, and the second re-search switch is used. All routes may be calculated when an operation is performed.

Next, the display processing by the fixed map display will be described. First, the concept of the display process will be described using a display screen. After the deviation from the route is detected, the vehicle continues to travel on the map display shown in FIGS. 18 and 19, and when leaving the guide route, the current position is obtained when the guide route becomes difficult to confirm at the scale.
The scale is switched to a scale at which the positional relationship of the guide route with respect to the traveling direction can be confirmed, for example, from FIG. When the user presses the detail switch in order to confirm the direction to take when approaching the branch point while traveling at this scale, a detailed map around the current position is displayed. As a method of switching to the detailed map, for example, the switching from FIG. 20 to FIG. 21 may be automatically switched to the detailed map when approaching the intersection. Furthermore, the scale after passing through the intersection can be appropriately selected, such as keeping the scale after switching or automatically switching to the original scale.

The map scale is determined based on the relationship between the initial search route, the current position, and the surrounding search route. In FIG. 22, when the route deviates from the initial search route indicated by the thick solid line and the current position is at the coordinates (X, Y) and the search is performed again, the peripheral search route indicated by the dotted line is obtained. When the area including the position and the peripheral search route is represented by coordinates, the X direction is the minimum value Emin and the maximum value Emax of the east longitude coordinate, and the Y direction is the minimum value Nmin of the north latitude coordinate and the maximum value Nmax of the north latitude coordinate.
It becomes. When this area is displayed on the screen, Xmax,
Ymax is set slightly smaller than the display screen area as shown in FIG.

In FIG. 24, when the map scale change processing is executed, the result of the search (up to the connection point of the original route) is obtained.
The route data is acquired (S60), and the maximum value and the minimum value (Emax, Emin,
Nmax, Nmin) are acquired (S61). From the coordinates (X, Y) of the current position and the maximum value / minimum value of the route data, the map scale at which all routes searched around are determined (S62). A map is displayed on the determined scale (S
63). The map scale determination processing in step S62 will be described with reference to FIG. 25. First, | X-Emin | and | X-Ema
The larger value of x | is obtained (E) (S70).
The larger of | Y-Nmin | and | Y-Nmax | is obtained (N) (S71). E ≦ Xmax and N ≦
The maximum scale is selected in Ymax (S72).

Another embodiment of the route departure process will be described with reference to FIGS. 26 and 27. In FIG. 26, when a deviation from the route is detected, a peripheral search is executed (S80), and it is determined whether the current position of the vehicle is on the re-searched route (newest route) (S81), and the vehicle is not on the latest route. In such a case, the process returns to step S80 to perform the peripheral search again. When it is on the latest route, the operation of the re-search switch is determined (S82),
When it is turned on, a route display process is performed based on the latest route (S83), and a guide route is displayed. When the re-search switch is not pressed, that is, when the vehicle is traveling on the latest route, the vehicle may gradually move away from the original route. In consideration of such a situation, when the re-search switch is not pressed, map scale change processing is executed (S8).
4). Thereafter, it is determined whether the vehicle is on the latest route (S8).
1). By repeating this process until the re-search switch is pressed, the entire route searched around is displayed when the re-search switch is pressed.

The map scale change processing will be described with reference to FIG. 27. Route data (to the connection point of the original route) is obtained according to the search result (S85), and east longitude / north latitude coordinates of the node data of this route data are obtained (S85). S86). Based on the coordinate data, it is determined whether all the coordinates are within the area of the currently displayed map (S87). If it is not satisfied that all the coordinates are within the area, that is, if there is at least one coordinate outside the area, the map scale determination processing shown in FIG. 25 is executed (S88). When the map scale is determined by YES in step S87 (the coordinates are all within the area) and execution of the map scale determination processing, the process exits from this routine and returns to FIG.
The process continues to step S81 of FIG.

FIG. 28 shows another embodiment of the map scale change processing. In this example, it is determined whether or not the node coordinates of the re-search route are in the currently displayed map, and if not, the map scale is increased in order. The map is displayed at the most detailed map scale at which all four coordinates can be entered.
First, the route data (up to the connection point of the original route) is obtained according to the search result (S90), the map scale currently displayed is obtained (S91), and the maximum value and the maximum
The minimum value (Emax, Emin, Nmax, Nmin) is obtained (S92). It is determined whether all Emax, Emin, Nmax, and Nmin are within the screen based on the map scale currently displayed (S93). If YES, map display processing is performed at the current scale (S94). On the other hand, in the case of NO, the map scale is switched to the one-step wide area map scale, and step S9
The processing from 1 to S3 is performed. This processing is called Emax, Emi
By repeating this process until all of n, Nmax, and Nmin enter the screen, a detailed map can be displayed on a scale including four coordinates. If the map scale is determined based only on the re-searched route, the original guide route may protrude from the screen as shown in FIG. 29. For example, between the re-searched route and two points connected to the original route. By determining the map scale in consideration of the route, the route searched again and the original route fit on the screen as shown in FIG.

As another embodiment of the present invention, any one of the following configurations or a combination thereof can be adopted. (1) As an additional display of the guide information, as shown in FIG. 31, the connection point between the re-searched route (not displayed) and the original route is displayed in an easy-to-understand manner, or as shown in FIG. An arrow indicating the direction of the destination on the displayed route on the map is displayed. (2) As another example of the additional display of the guidance information, the re-searched route (dotted line portion) shown in FIGS. 8 and 9 is displayed as a dotted line (no route guidance such as voice guidance is performed) or searched again. An arrow is displayed on the route to provide simple guidance. (3) A caution sound is generated to alert the user when the scale is automatically switched. (4) In FIG. 18 and FIG. 19, the display is switched from the current position center display to the map fixed display, but the map scale may be switched while the current position center is displayed. (5) The re-search is executed after the route deviates, and the re-searched route (the dotted line portion shown in FIG. 8 or 9) may be displayed as a reference route before the driver presses the re-search switch. good. However, route guidance based on the route indicated by the dotted line is not performed while the original route is displayed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a system configuration of a vehicle navigation device according to the present invention.

FIG. 2 is an explanatory diagram of search (guidance) road data.

FIG. 3 is an explanatory diagram of guide road data.

FIG. 4 is an explanatory diagram of a route deviation on a map display screen during route guidance.

FIG. 5 is an explanatory diagram of a map display after the map scale is changed on the screen following FIG. 4;

FIG. 6 is an explanatory diagram of a map display when the user further moves away from the original route on the screen following FIG. 5;

FIG. 7 is an explanatory diagram of a map display after the map scale is changed on the screen following FIG. 6;

FIG. 8 is an explanatory diagram of a re-search result.

FIG. 9 is an explanatory diagram of a re-search result after the map scale is changed on the screen following FIG. 8;

FIG. 10 is an explanatory diagram of a map display when a re-search switch is pressed.

FIG. 11 is a diagram showing a main flow of a route guidance process from a departure place to a destination.

FIG. 12 is a flowchart of a route departure process.

FIG. 13 is a flowchart following FIG. 12;

FIG. 14 is a flowchart of a re-search process.

FIG. 15 is a flowchart of another embodiment of the re-search processing.

FIG. 16 is a flowchart of a route recalculation process of a peripheral search.

FIG. 17 is a flowchart of a route recalculation process of an all route search.

FIG. 18 is a diagram showing a map display screen when a route deviates.

FIG. 19 is a diagram showing a map display screen after the map scale is changed.

FIG. 20 is a diagram showing a map display screen when approaching an intersection (junction point) after changing the map scale.

FIG. 21 is a diagram showing an intersection diagram on the screen following FIG. 20;

FIG. 22 is an explanatory diagram of a method of determining a map scale at which a re-searched route can be displayed.

FIG. 23 is an explanatory diagram of an area displayed on the determined map scale.

FIG. 24 is a flowchart of a map scale change process.

FIG. 25 is a flowchart of a map scale determination process.

FIG. 26 is a flowchart for explaining another embodiment of the route departure process.

FIG. 27 is a flowchart for explaining another embodiment of the map scale change processing.

FIG. 28 is a flowchart for explaining another embodiment of the map scale change processing.

FIG. 29 is an explanatory diagram in the case where the original route protrudes from the screen after the map scale is changed.

30 is a diagram showing a map display screen in which the map display position of FIG. 29 is shifted and the original route is corrected so as to enter the screen.

FIG. 31 is a diagram showing a map display screen displaying a position where a re-searched route connects to an original route.

FIG. 32 is a diagram showing a map display screen on which a display indicating the destination direction of the original route is displayed during the map display by changing the map scale after the re-search.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Input-output device, 2 ... Current position detection device, 3 ... Information storage device, 4 ... Central processing unit, 5 ... Map display screen, 6 ... Re-search switch, 7 ... Guide route, 8 ... Vehicle position

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-7-129888 (JP, A) JP-A-6-44490 (JP, A) JP-A-6-68382 (JP, A) JP-A-7-129 103775 (JP, A) JP-A-5-313574 (JP, A) JP-A-6-137882 (JP, A) JP-A-5-45170 (JP, A) (58) Fields investigated (Int. ⁷ , DB name) G01C 21/00-21/36 G08G 1/0969 G09B 29/00-29/10

Claims (6)

(57) [Claims] 1. A vehicular navigation apparatus for providing route guidance to a destination according to a searched route, comprising: storage means for storing map information and information necessary for performing navigation; A current position detecting means for detecting a traveling direction; and an original route based on information stored in the storage means.
Route search means for searching for a guide route from the current position to the destination and re-searching for a guide route when deviating from the guide route; and determining a position of the re-searched route up to a connection point of the original route.
The largest that all re-searched routes are displayed based on the target
Map scale determining means for determining a critical scale; display processing of a guidance route searched by the route searching means; and route display for performing display processing of the re-searched route based on the map scale determined by the map scale determining means. A navigation device for a vehicle, comprising: processing means. 2. The map scale determination means according to claim 1 , wherein
The path between two points connected to the original path and the original path.
The vehicle length according to claim 1, wherein the length is determined.
Navigation device. 3. The route display processing means includes a current position center display function or a fixed map display function, and outputs a route re-searched on the map scale determined by the map scale determination means. vehicle navigation apparatus according to claim 1 or 2, characterized in that the display process. 4. In a map display before outputting a route re-searched based on the map scale determined by the map scale determining means, the route display processing means adds guidance information based on the re-searched route during the map display. The vehicle navigation device according to claim 1 or 2, wherein: 5. The vehicular navigation device according to claim 4 , wherein the guidance information additionally displays the re-searched route on a map in a display form distinguishable from the original guidance route. 6. The vehicle navigation device according to claim 5 , wherein the guidance information is additionally displayed on the original guidance route.