JP3580457B2 - Vehicle navigation system - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicular navigation device in which a trajectory is sequentially stored in a storage device every time the vehicle travels, and the stored data is used for route search.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, various route guidance devices for smoothly driving on unfamiliar roads have been proposed, and a route guidance device that guides a road to be traveled to the destination by inputting a destination. There is. In this route guidance device, road data such as intersection data and node data, map data, and the like are stored in a CD-ROM, and a route to a destination that can be reached by the shortest distance is searched, and the searched route is displayed on a screen. Display and guide.
[0003]
[Problems to be solved by the invention]
In the conventional route guidance device, a route search is performed based on the road data stored in the CD-ROM. However, the road stored in the CD-ROM used for the route search is a road having a predetermined width or more. Limited, narrow roads and the like are not targeted for route search. Further, even when there is a case where it is desired to obtain a search route utilizing a road on which the vehicle is traveling, it is not always the case that the road on which the vehicle is traveling is always included in the searched guidance route.
[0004]
The present invention has been made in view of such circumstances, and an object of the present invention is to provide a vehicle navigation device that can provide fine route guidance by utilizing data that is normally traveled.
[0005]
[Means for Solving the Problems]
According to the present invention, when two points on the route searched based on the data for route guidance stored in the information storage means are input, the route between the input two points is determined based on the trajectory data. It is characterized by replacing the searched route.
The data of the traveling locus is node data added when the angle of the azimuth change is greater than a predetermined value, generated and registered when the node is added, between nodes having length, number of times of travel, average vehicle speed data, and the like. And the intersection data having the data of the number of times of travel and the average time required for passage for each traveling link with respect to the incoming link, and the stored intersection required time and the required time between nodes. The shortest route search is performed based on
[0006]
[Action and effect of the invention]
The present invention replaces the input route between the two points with the route searched based on the trajectory data, thereby making it possible to perform a detailed route search and route guidance in consideration of the driver's preference. The effect is achieved.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating an example of a navigation device according to the present embodiment. As shown in FIG. 1, the navigation device according to the present embodiment includes an input / output device 1 that inputs and outputs information related to route guidance, a current position detection device 2 that detects information related to the current position of the vehicle, and a navigation device required for calculating a route. An information storage device 3 in which data for navigation and display guidance data necessary for guidance guidance are recorded; and a central processing unit 4 which performs route search processing and display guidance processing necessary for route guidance and controls the entire system. It is configured.
[0008]
The input / output device 1 instructs the central processing unit 4 to perform a navigation process according to the driver's will so that the driver can input a destination or output guidance information by voice and / or screen when necessary. It has a function to print out data after processing. As means for realizing the function, the input unit has a touch switch 11 and an operation switch for inputting a destination as a telephone number or coordinates on a map, and for requesting route guidance. The display 12 displays input data on a screen, automatically displays route guidance and the like on a screen in response to a driver's request, and displays data processed by the central processing unit 4 and data stored in the information storage device 3. A printer 13 for printing out and a speaker 16 for outputting route guidance and the like by voice are provided.
[0009]
Here, a voice recognition device for enabling voice input and a recording card reading device for reading data recorded on an IC card or a magnetic card can be added. In addition, an information center that stores data necessary for navigation and provides congestion information and the like via a communication line at the request of the driver, and driver-specific data such as map data and destination data are stored in advance. It is also possible to add a data communication device for exchanging data with an information source such as an electronic organizer.
[0010]
The display 12 is composed of a color CRT or a color liquid crystal display, and has a target name input screen based on map data and guidance data processed by the central processing unit 4, a route setting screen, a section map screen, an intersection map screen, an intersection. In addition to outputting all screens necessary for navigation such as color display, buttons for setting route guidance, performing guidance during route guidance, and switching screens are displayed on this screen. In particular, the passing intersection information such as the passing intersection name is displayed in color in a pop-up on the section map screen at any time.
[0011]
The display 12 is provided in the instrument panel near the driver's seat, and allows the driver to check the current position of the vehicle by looking at the section map and obtain information on the route from now on. The display 12 is provided with a touch panel 11 corresponding to the display of the function buttons, and is configured to execute the above-described 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.
[0012]
The current position detecting device 2 stores a GPS receiving device 21, a VICS receiving device 22, and data necessary for navigation using a satellite navigation system (GPS), and is provided via a communication line at the request of the driver. A data transmission / reception device 23 for exchanging data with the vehicle, an absolute azimuth sensor 24 including a geomagnetic sensor, a relative azimuth sensor 25 including a steering sensor, a gyro, and the like, and detecting a traveling distance from the number of rotations of wheels. A distance sensor 26 and the like are provided.
[0013]
The information storage device 3 includes map data, intersection data, node data, road data, photograph data, registered point data, guide point data, destination data, telephone number data, search programs, and the like required for route guidance. A CD-ROM 3a in which all data files and control programs necessary for the navigation device, such as a program for performing a search based on a running locus including the processing shown in the flowchart, a program for performing a search in accordance with the number of registrations, and the like, Each time the vehicle travels, a road locus is stored, and the memory card 3b stores locus data that can be used for route search. In the present embodiment, the various control programs are stored in the CD-ROM 3a, but may be stored in the first ROM provided in the central processing unit 4 described later.
[0014]
The central processing unit 4 includes a CPU 40 for executing various arithmetic processing, and a flash memory for reading and storing programs from a CD of an information storage device. This flash memory erases an existing program to enable rewriting even if the program of the CD is changed. Further, the first ROM 41 storing a program (program reading means) for performing a program check and update process of the flash memory, the searched route guidance information such as the set point coordinates of the destination and the road number, and data during the arithmetic processing are stored. RAM 42 for temporarily storing, second ROM 43 for storing display information data necessary for route guidance and map display, image memory 44 for storing image data used for screen display on a display, display output control signal from CPU 40 , An image processor 45 that extracts image data from the image memory 44, performs image processing and outputs the image data to the display, a voice read from the RAM 42 based on a voice output control signal from the CPU, a phrase, Sound is synthesized, converted to an analog signal, and output to the speaker 16. Processor 46, 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 detection device 2, a clock 49 for writing date and time in internal diagnostic information, and the like. It has. Here, route guidance is performed by screen display and voice output, and the presence or absence of voice output is configured so that the driver can select.
[0015]
FIG. 2 shows a configuration example of main data files stored on the CD-ROM 3a shown in FIG. FIG. 2A shows a guide road data file in which data necessary for calculating a route and performing route guidance by a route calculating means is stored. For each of the number n of roads, a road number, a length, a road It consists of address and size data of attribute data and shape data, and address and size of guidance data. The road number is set for each direction (outbound and return) for each road between the branch points. As shown in FIG. 2B, when each road is divided into a plurality of nodes (nodes), the shape data has coordinate data including east longitude and north latitude for each of the number m of nodes.
[0016]
As shown in FIG. 2 (C), the guide data includes intersection (or branch point) name, caution data, road name data, address of road name data, size, address of destination data, and size data. .
[0017]
The destination data includes a destination road number, a destination name, an address of destination name voice data, a size and a destination direction data, and travel guidance data as shown in FIG. The destination name includes a direction name. The destination direction data is invalid (do not use destination direction data), unnecessary (no guidance), straight ahead, rightward, diagonally rightward, rightward return, leftward, diagonally leftward, leftward return. This is data indicating information.
[0018]
Next, a processing flow of the vehicle navigation device based on the data stored in the information processing device 3 will be described with reference to FIG.
[0019]
When the program of the route guidance system is started by the CPU 51 of the central processing unit 4, the current position is detected by the current position detecting device 2, the data stored in the information storage device 3 is read out, and the current position is centered on the current position. A surrounding map is displayed, and the name of the current position is displayed (step S1). Next, a destination is set using a target name such as a place name or a facility name, a telephone number, an address, a registered point, and the like (step S2), and a route search from the current position to the destination is performed (step S3). When the route is determined, the route guidance / display is repeated until the vehicle arrives at the destination while tracking the current position by the current position detection device 2 (step S4).
Next, the locus data of the present invention stored in the memory card 3b of FIG. 1 will be described.
In the system of the present embodiment, a memory card for storing data relating to the road on which the vehicle has traveled is stored as trajectory data, and at the time of searching, trajectory data can be used in addition to the data stored in the CD-ROM 3a. I have.
[0020]
FIG. 4 is a diagram showing a configuration example of node data stored as trajectory data. In order to represent a traveled trajectory, points where the azimuth changes by a predetermined angle or more are sequentially numbered as their east longitude and north latitude coordinates. Is stored as a node. The intersection number is an identification number for identifying a node having a branch as an intersection. For example, a node having no branch is “0”, and a node having a branch is “1”.
[0021]
FIG. 5 is a diagram showing a configuration example of link data stored as trajectory data, in which lines connecting the nodes are registered as links. The link has a starting node number and an ending node number, and therefore has a direction. Even if a line between the same nodes has the opposite direction, the starting node and the ending node are switched. The running number is the number of times the vehicle has actually run, and is updated each time the vehicle runs. The number of registrations by the user operation is not only the number of times the vehicle has actually been run but also the number of times the user has given a particular instruction, and is used for calculating the search cost and the like. The link length is the distance between the nodes, and the average vehicle speed is a value obtained from the accumulation of each speed since the number of times of running is known. The run date and time data is the date and time of the last run or the data of the run history. The road identification is an identification code for associating with the road data stored in the CD-ROM 3a. The roads registered in the CD-ROM 3a include a road as a guidance target and guidance for a thin road or the like. There are some roads that are not targeted, and this identification code is used to identify whether the road is a guide target or a road that is not registered in the CD-ROM 3a. If the data can be guided by CD-ROM data in the road identification, the road number in the map data of the CD-ROM is registered, and this is linked with the search result by the CD-ROM data. Since the link is sufficiently shorter than the road registered in the CD-ROM, the start position and the end position of the road in the map data indicate where the link exists in one road by a distance.
[0022]
FIG. 6 is a diagram showing a configuration example of intersection data stored as trajectory data, in which a node having a branch is registered as an intersection node. The number of entrance links indicates how many links are included in one intersection, and the traveling links are links that can proceed with respect to the entrance links. Referring to FIG. 7A showing the relationship between nodes and links, and FIG. 7B showing the relationship between links and intersection nodes, for example, at an intersection node on a four-way road, the number of approach links is 4, and one approach link Is three. Each traveling link number is assigned to each approach link number, the number of travels in the direction of approach → travel, the average time required for passing such as signal waiting and right / left turn times, and the date and time of travel (the date and time of the last pass or History data) is registered.
[0023]
Next, the route search processing of the present invention using CD-ROM data and locus data will be described.
FIG. 8 shows a search method selection process. At the start of a search, a menu screen can be used to select a route search using CD-ROM data or a route search using trajectory data.
[0024]
Next, a route search process using CD-ROM data and locus data will be described with reference to FIGS.
In FIG. 9, when a route search based on CD-ROM data is selected on the menu screen and a destination is set (step 101), the CPU 51 of the central processing unit 4 starts a program of the route guidance system. Next, a route search is performed by reading the CD-ROM data (step 102). For example, as shown in FIG. 10A, a route R1 from a point A to a destination B is searched. For example, when it is desired to perform a route search based on the trajectory data between the point C and the point D on this route, the route search based on the trajectory data is selected and the point D on the route R1 is set as the destination (step 103, Step 104), the trajectory data is read, a peripheral link search is performed using the departure point node (point C) as a search start point, and the search is performed until the point D on the route R1 is reached (steps 105 to 107). When the search based on the trajectory data is completed and the route R2 is searched, the current position is recognized (step 108), and while the traveling trajectory is registered (step 109), the guidance along the route R2 is performed until the arrival at the point D. After arriving at the point D, guidance along the route R1 is performed (steps 110 and 111).
[0025]
In the above description, a part of the search route based on the CD-ROM data is replaced by the search based on the trajectory data. However, the search based on the CD-ROM data is P1, P2,. When Q2 is set as shown in FIG. 10 (b), the respective searches may be joined in a time-series manner as P1, Q1, P2, Q2,. May be performed independently.
[0026]
Next, the registration processing of the trajectory data will be described with reference to FIG.
FIG. 11 is a diagram illustrating updating of the data shown in FIGS. 4 to 6.
The current position is recognized and compared with road data registered as locus data or road data stored in a CD-ROM (step 201). Since the node data has coordinates, it is determined whether or not the vehicle is currently running on the road data by comparing with the coordinates (step 202). If the current location is on the road data, it is determined whether or not the previous current location (previous node) is on the road data (step 203). The number of runs of the link (between the previous node and the passing node) (see FIG. 5) is added (steps 204 and 205), and if the passed node is an intersection node, the number of runs in the traveling direction at the intersection is added. (Step 206, Step 207). If the current location is not on the registered track in the previous step 203, it means that the vehicle has entered the registered node, and the node is registered as an intersection (step 208). In step 202, if the current position is not on the registered locus, it is determined whether or not the previous current position is on the registered locus (step 209). If the previous current position is not on the registered locus, the vehicle is running on a new road. A node addition process is performed (step 210). In step 209, if the current location is on the registered locus last time, it means that the road has diverged from a registered node to an unregistered road, so that intersection registration processing is performed (step 211).
[0027]
Next, the intersection registration processing will be described with reference to FIG.
FIG. 12 is a process flow showing an example of an intersection registration process (step 211 in FIG. 11) when a registered road departs from an unregistered road.
It is determined whether or not the point deviating from the registered road is a node (step 301). If the deviated point is the node B as shown in FIG. Is added (step 302), and a new link number is generated for an unregistered road (step 303). If the node B at the deviated point is not registered as an intersection node, the node B is set as an intersection node (steps 304 and 305), and at the same time, the traveling direction information at the intersection node is registered with the link number generated in step 303. (Step 306). If the point C deviated in step 301 is not a node, the link L between the nodes AJ and B is divided into L1 and L2 as shown in FIG. The link divided at this time has inherited the number of times of travel. A new node C is registered (step 307), and the number of travels of the passed link L1 among the divided links is added (step 308). A new link number is generated for an unregistered road (step 309), node C is set as an intersection node (step 310), and traveling direction information at the intersection node is registered with the link number generated at step 309 (step 309). 311).
[0028]
FIG. 14 is a process flow illustrating an example of the intersection registration process (step 208 in FIG. 11) when the unregistered road merges with a registered road or a stored road.
It is determined whether the merged point with the registered or memorized road is a node (step 401). If the merged point is a node as shown in FIG. A new link number is generated (step 402). If the junction is not set as an intersection node, the node is set as an intersection node (step 404), and entry link information at the intersection node is registered with the generated link number. If the merged point in step 401 is not a node, the link L including the merged point is divided into links L1 and L2, as shown in FIG. The link divided at this time has inherited the number of times of travel. A new node is registered (step 406), and the number of travels of the passed link L2 among the divided links is added (step 407). A new link number is generated for an unregistered road (step 408), the node is set as an intersection node (step 409), and entry link information at the intersection node is registered with the generated link number (step 410).
[0029]
Next, the node addition processing will be described with reference to FIG.
As described with reference to FIG. 11, the node addition process is a process performed when the vehicle is running on a new road, and determines whether the azimuth change angle is equal to or larger than a predetermined value (step 501). As shown, the previous position at which the azimuth change angle has changed by a predetermined value or more is registered as a node (step 502), and a new link number is generated for an unregistered road (step 503). On the other hand, when the azimuth change angle is small as shown in FIG. 17B, there is no need to add even a long distance from the previous node, so no node addition processing is performed.
[0030]
Next, a peripheral search process using the required time as a search cost will be described with reference to FIG.
First, the search cost of the search start node nd is set to v (step 601). The search cost v is a variable for weighting each link connected to one intersection and calculating the cost. It is determined whether or not the node nd is an intersection node (step 602). If the node is an intersection node, the number of traveling links for the search entry link of the node nd is set to nout (step 603), and if the processing for nout is not completed (step 603) 604), the number of travels in the direction of entry → traveling link is extracted from the intersection data (step 605). If the number of travels at the intersection is not 0 (step 606), the time required to pass through the intersection is determined by the variable v The average time) is added (step 607), and the required time between nodes (link) (the value obtained by dividing the link distance by the average vehicle speed) is added (step 608), and the result is set as the search cost of the traveling link. The above processing is performed until the processing for nout is completed. If the number of times of travel is zero in step 606, no search is performed because there is a possibility that entry is prohibited. In step 602, if the node nd is not an intersection node, a link starting from the node nd is searched from the link data and the number of travels is extracted (steps 610 and 611). (Step 612), the required time between nodes is added to the variable v, and this is searched for (Steps 613 and 614). In Step 612, if the number of times the link travels is zero, the possibility of one-way traffic is high. Do not search because there is. When the search is completed, the search start node is updated. At this time, the node with the lowest cost is selected from the nodes under search, and such processing is performed until the destination node is reached. By this processing, a route search with the shortest required time is performed.
[0031]
Since the number of registrations by a user operation is set in the link data, it is possible to perform a route search in consideration of the user's preference by reducing the required time between nodes according to the number of user operations.
According to the present invention, in addition to the map data, the intersection data, the node data, and the destination data stored in advance in the information storage means for performing the route guidance, the trajectory data at the time of traveling is sequentially acquired and accumulated. Since the traveling locus data includes data that has been traveled normally, the time required between nodes, the time required to pass an intersection, and the like can be known, and this information is input in advance by utilizing this for route search. Route search can be performed from a viewpoint different from data stored in the information storage means. For example, in the data of the information storage means, the shortest distance is normally searched, but in the search based on the traveling locus data, the shortest time search is also possible. It is possible to perform detailed route search and route guidance in consideration of preferences.
[Brief description of the drawings]
FIG. 1 is a diagram showing an example of a navigation device according to the present invention.
FIG. 2 is a diagram showing a configuration example of a main data file stored in a CD-ROM.
FIG. 3 is a flowchart for explaining the flow of the entire system.
FIG. 4 is a diagram showing a configuration example of node data.
FIG. 5 is a diagram illustrating a configuration example of link data.
FIG. 6 is a diagram illustrating a configuration example of intersection data.
FIG. 7 is a diagram illustrating the relationship between nodes and links and the relationship between links and intersection nodes.
FIG. 8 is a diagram illustrating selection of a search processing method.
FIG. 9 is a diagram showing a flow of a route search process of the present invention.
FIG. 10 is a diagram illustrating an example of a route search according to the present invention.
FIG. 11 is a diagram illustrating a registration processing flow of locus data.
FIG. 12 is a diagram illustrating an intersection registration processing flow.
FIG. 13 is a diagram illustrating an intersection registration process.
FIG. 14 is a diagram illustrating an intersection registration processing flow.
FIG. 15 is a diagram illustrating an intersection registration process.
FIG. 16 is a diagram illustrating a node addition processing flow.
FIG. 17 is a diagram illustrating a node addition process.
FIG. 18 is a diagram illustrating a peripheral link search processing flow.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Input-output device, 2 ... Current position detection device, 3 ... Information storage device, 4 ... Central processing unit, 11 ... Touch switch, 12 ... Display, 13 ... Printer, 16 ... Speaker, 21 ... GPS receiving device, 22 ... Beacon receiving device, 23 data transmitting / receiving device, 40 CPU, 41 first ROM, 42 RAM, 43 second ROM, 44 image memory, 45 image processor, 46 audio processor, 47 communication interface, 48 ... Sensor input interface, 49 ... Clock

Claims (5)

Current position detecting means for detecting the current position of the vehicle,
An input unit for inputting information necessary for calculating a destination and a route;
Information storage means for storing data necessary for performing route guidance;
Trajectory data storage means for storing the traveling trajectory as trajectory data,
Route calculation means for calculating a route to the destination input by the input means based on the data stored in the information storage means,
When two points on the searched route are input by the input unit, the route searching unit replaces a route between the input two points with a route searched based on the trajectory data. Vehicle navigation device. 2. The vehicular navigation device according to claim 1, wherein the trajectory data is a time required for passing through an intersection or a link, and the route searching means searches for a route based on the time required for the intersection or the link . 2. The vehicular navigation device according to claim 1, wherein the trajectory data is the number of travels at an intersection or a link, and the route search means searches for a route based on the number of travels at the intersection or a link . 2. The vehicular navigation device according to claim 1, wherein the trajectory data is the number of travels at an intersection or a link, and the route search means searches for a route using an intersection or a link at which the number of travels is not zero. . The traveling locus data includes node data added when the angle of the azimuth change is larger than a predetermined value, and node data generated and registered when a node is added, between nodes having length, registration count, average vehicle speed data, and the like. 5. The system according to claim 1, comprising link data to be connected, and intersection data having data of the number of times of travel and the average time required for passage for each traveling link with respect to the incoming link. The vehicle navigation device according to any one of the preceding claims.

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