JP3860285B2 - Navigation device - Google Patents

Description

[0001]
[Field of the Invention]
The present invention relates to a navigation device that searches for a moving route of a ground moving body based on map information and transmits information about the moving route to a mobile driver. In particular, the present invention relates to a navigation apparatus having improved means for determining whether or not a moving object has deviated from a guide route during traveling on the searched optimum route to a destination.
[0002]
[Prior art]
In a conventional navigation device, a map or category information displayed on a display device is used for setting a destination desired by a user. When the destination is set, and the road information recorded in advance on the CD-ROM or the like is the optimum guide route connecting the set destination and the current position of the vehicle. Used and searched.
[0003]
The retrieved guide route is clearly shown on a map displayed on the display device. Note that information necessary for traveling is notified to the user as audio and visual information so that the vehicle can move along the guide route.
[0004]
In addition, the conventional navigation device is provided with an auto-reroute function. In other words, when the vehicle deviates from the guide route, when the “depart from the route” is recognized, a new route from the current position of the vehicle to the destination including the stopover point or the original guide route A peripheral re-search is performed in which only the path portion that returns quickly is automatically searched.
[0005]
By the way, such an auto reroute function is realized by constantly measuring the current position of the vehicle using a GPS or a distance sensor. That is, the road on which the vehicle is traveling is identified by comparing the current position of the vehicle measured using GPS or the like and the geographical position of the road on the map recorded in advance. Then, it is determined whether or not the detected road on which the vehicle is traveling is the guidance route searched earlier. If it is not a guide route, that is, if it is not a guide route, it is determined whether or not the current travel route is a guide target road. Then, when the vehicle is moving on the guidance target road, the auto reroute function is executed.
[0006]
[Problems to be solved by the invention]
However, the auto reroute function causes the following inconvenience. For example, when a searched highway is included in the searched guide route, and the vehicle stops on a service station or parking area while traveling on the highway, the auto reroute function may be activated to change the guide route. That is, the entry to the service station or the parking area is detected as a departure from the guide route. Furthermore, when an external general road is adjacent to the road in the service station or parking area, the current vehicle location detected using GPS may be mistaken for the general road. This is because an error is included in the current position of the detected vehicle using GPS.
[0007]
As described above, if the current position is detected by mistake, such as when the current position of the vehicle is misidentified as a general road, the route re-searched by the auto-reroute function starts from the general road beside the expressway. There is a case. In addition, there may be a general road such as an expressway (elevated road). Even in this case, if the route is re-searched by manual operation while traveling on the elevated road (such as an expressway), a guidance route starting from the lower general road may be searched. sell. Such a guide route cannot travel because the vehicle is actually in the parking area of the highway or on the upper road.
[0008]
In such a case, conventionally, it is necessary to wait for the guide route to be corrected by the action of the auto-reroute function again as the vehicle moves. That is, unless the vehicle is moved, a correct route that can be traveled is not displayed. Such a thing may occur even while traveling on a general road. For example, when two roads are approaching in parallel, the current position detection using GPS may be mistaken for the vehicle traveling on the adjacent road. In this case, if it is erroneously recognized that the vehicle is traveling on an adjacent road while traveling on one road, the auto reroute function is activated and a search for a new route is started.
[0009]
Even in this case, the vehicle must travel for a certain period of time until the current position of the vehicle is correctly detected. When such a current position of the vehicle is erroneously recognized, the route search is repeated until the correct current position is detected. In addition, while the route search is repeated, the displayed route is changed many times. That is, the interruption of information guidance is continued, and good route guidance processing cannot be expected.
[0010]
Furthermore, if the auto-reroute function based on erroneous current position detection is activated during traveling on the guide route, information on the travel locus from the departure point to the current position is lost. In this case, there arises a disadvantage that the relative position of the host vehicle with respect to the entire route from the departure place to the destination cannot be confirmed.
[0011]
[Means for Solving the Problems]
Claim 1 In the navigation device of the invention, in the navigation device that outputs guidance information based on a preset route, storage means for storing facility data and road data, current position detection means for detecting the current position of the moving body, Deviation detection means for detecting whether or not the current position of the moving object has deviated from the route, and a route to the destination when the deviation detection means detects that the current position of the moving object has deviated from the route Based on the road data, it is determined whether or not the road where the current position of the mobile body is an introduction path to a service station or a parking area attached to the expressway. And a route re-search means that attaches the road where the current position of the moving body is attached to the highway by the determination means. To prohibit the re-search of the route when it is determined that the service station or introducing path into a parking area that Ruko And features.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
1. Summary of Examples
The navigation device described below searches for a guide route, detects the current position (step SB2 in FIG. 6), deviates from the guide route, and the current position returns to the guide route. It is determined whether or not there is (step SB16 in FIG. 6), and the search for the guide route is prohibited (steps SB16 and SB18 in FIG. 6) according to the determination result.
[0013]
The navigation device described below detects the current position (step SB2 in FIG. 6), and generates a plurality of candidates for which the detected current position may correspond on the map information (step SC2 in FIG. 7). ), A candidate having the highest possibility as the current position is selected from the plurality of generated current position candidates (step SC4 in FIG. 7), and switching of the selected candidate is determined in this selection (FIG. 7). Step SC10), and the guide route search is prohibited for a predetermined time according to the determination result.
[0014]
The navigation device described below is a navigation device that outputs guidance information based on a preset route, and a current position detecting means for detecting the current position of the moving body (absolute direction sensor difference 21, relative direction sensor in FIG. 1). 22, distance sensor 23 or GPS receiver 25 and step SB6 in FIG. 6, detection means for detecting whether or not the current position of the moving object has deviated from the path (step SB12 in FIG. 6), and the detection means When it is detected that the current position of the moving body is out of the path, route re-search means (step SB18 in FIG. 6, step SD4 in FIG. 8) for re-searching the route to the destination, and the current position of the moving body Judgment means (step SC4 in FIG. 7) for judging whether or not there is a facility or a facility-attached road having a matching position according to a predetermined matching condition. The route re-search means comprises command means (reroute permission flag) for instructing prohibition of route re-search when there is a matching facility or facility-attached road by the determining means. And
[0015]
The navigation device described below is a navigation device that outputs guidance information based on a preset route, and a current position detecting means for detecting the current position of the moving body (absolute direction sensor difference 21, relative direction sensor in FIG. 1). 22, distance sensor 23 or GPS receiver 25 and step SB6) in FIG. 6, detection means for detecting whether or not the current position of the moving body has deviated from the path (step SB12 in FIG. 6), and the detection means When it is detected that the current position of the moving body is out of the path, route re-search means (step SB18 in FIG. 6, step SD4 in FIG. 8) for re-searching the route to the destination, and the current position of the moving body Judgment means (step SB16 in FIG. 6) for judging where on the road where the position is matched, and information relating to the road is stored as a travel locus. Storage means (step SC16 in FIG. 7, current travel locus LKT), and the route re-search means when the determination means matches the current position of the moving body with the road indicated by the travel locus more than a predetermined number of times. Only a command means (step SC12 in FIG. 7) for commanding permission to re-search the guidance route.
[0016]
The navigation device described below is a navigation device that outputs guidance information based on a preset route, and a current position detecting means for detecting the current position of the moving body (absolute direction sensor difference 21, relative direction sensor in FIG. 1). 22, distance sensor 23 or GPS receiver 25 and step SB6) in FIG. 6, detection means for detecting whether or not the current position of the moving body has deviated from the path (step SB12 in FIG. 6), and the detection means When it is detected that the current position of the moving body is out of the path, route re-search means (step SB18 in FIG. 6, step SD4 in FIG. 8) for re-searching the route to the destination, and the current position of the moving body Determination means (step SB16 in FIG. 6) for determining where on the road where the position matches, and information on the road Storage means (step SC16 in FIG. 7, current travel locus LKT) and a road for determining whether the current position of the moving body determined by the determination means coincides with the road indicated by the travel locus more than a predetermined number of times. Determination means (step SC10 in FIG. 7), and the route re-search means outputs a command for prohibiting re-search when the road determined by the road determination means is a facility-attached road ( Step SB16 and Step SB18) of FIG. 6 are provided.
[0017]
2. Overall circuit
FIG. 1 shows an entire circuit of a navigation apparatus according to an embodiment of the present invention. The central processing unit 1 controls the operation of the entire navigation device. The central processing unit 1 includes a CPU (Central Processing Unit) 2, a flash memory 3, a ROM (Read Only Memory) 4, a RAM (Random Access Memory) 5, a sensor input interface 7, a communication interface 8, an image processor 9, and an image memory. 10, an audio processor 11 and a clock 14. The CPUs 2 to 14 are connected to each other by a CPU local bus 15. Under the control of the CPU 2, various information data is exchanged between devices such as the flash memory 3.
[0018]
The flash memory 3 includes a memory (EEPROM) that can be electrically erased and written. In this flash memory 3 (internal storage medium / means), a computer program 38b stored in an information storage section 37 (external storage medium / means) such as an optical disk or a magneto-optical disk is copied and stored (installation). / Transferred). The flash memory 3 can also store a program 38b transmitted from an external device such as a main information processing device via the data transmitting / receiving device 27.
[0019]
That is, an externally stored program is transferred and stored in the flash memory 3. Therefore, if the program stored in the flash memory 3 is changed, processing by a new routine becomes possible. The program 38b is a program corresponding to each flowchart described later, and includes various processes executed by the CPU 2. For example, information display control and voice guidance control.
[0020]
The installation (transfer / copying) is automatically executed when the information storage unit 37 is set in the navigation device or when the navigation device is turned on. Alternatively, it may be installed by an operation by an operator. The information storage unit 37 stores disk management information 38a including a label or a file identifier, and the updated version of the program in the information storage unit 37 is determined based on the disk management information 38a. In addition, the information storage unit 37 can be replaced with another information storage unit 37. Therefore, whether or not a new information storage unit 37 has been set is determined based on the information content of the disk management information 38a.
[0021]
For example, the flash memory 3 stores a program and management information related to the program. Therefore, when a new information storage unit 37 is set, the management information of the flash memory 3 and the disk management information 38a are compared. Is done. When it is determined that the information storage unit 37 including a new program has been set, the program in the information storage unit 37 is installed in the flash memory 3. As a result, the latest program and data are always stored in the flash memory 3. As a result, the latest navigation device is realized by exchanging the information storage unit 37.
[0022]
The information stored in the flash memory 3 includes various parameters used for navigation operations. The ROM 4 stores display graphic data and various general-purpose data. The display graphic data is each data necessary for route guidance and map display displayed on the display 33. Various types of general-purpose data are each data used at the time of navigation such as voice waveform data obtained by synthesizing guidance voice or recording real voice.
[0023]
The RAM 5 stores data input from the outside, various parameters used for calculation, calculation results, a navigation program, and the like. That is, the RAM 5 is also used as a cache memory and a working memory. The timepiece 14 includes a counter and a battery backup RAM or EEPROM. Time information is output from the clock 14.
[0024]
The sensor input interface 7 includes an A / D conversion circuit or a buffer circuit. Each sensor of the current position detection device 20 is connected to the sensor input interface 7. From each sensor of the current position detecting device 20, sensor data of an analog signal or a digital signal is input to the sensor input interface 7. The sensors of the current position detection device 20 include an absolute azimuth sensor 21, a relative azimuth sensor 22, a distance sensor 23, a vehicle speed sensor 24, and the like.
[0025]
The absolute direction sensor 21 is a geomagnetic sensor, for example, and detects geomagnetism. The absolute azimuth sensor 21 outputs data indicating the north-south direction as an absolute azimuth. The relative orientation sensor 22 is a steering angle sensor using a gyro device such as an optical fiber gyroscope or a piezoelectric vibration gyroscope, for example. The steering angle of the wheel is detected by this steering angle sensor. Then, a relative angle in the traveling direction of the host vehicle with respect to the absolute direction detected by the absolute direction sensor 21 is output from the relative direction sensor 22.
[0026]
The distance sensor 23 is composed of, for example, a counter linked to a travel distance meter. The distance sensor 23 outputs data indicating the travel distance of the host vehicle. The speed sensor 24 is composed of a counter or the like connected to a speed meter. The speed sensor 24 outputs data proportional to the traveling speed of the host vehicle.
[0027]
An I / O data bus 28 is connected to the communication interface 8 of the central processing unit 1. The I / O data bus 28 is connected to a GPS receiver 25, a beacon receiver 26, a data transmitter / receiver 27, and the like of the current position detector 20. Further, the I / O data bus 28 is connected to a touch switch 34 of the input / output device 30, a printer 35, and a data transmission / reception unit 39 that reads data from the information storage unit 37. That is, the communication interface 8 exchanges various data between each accessory device and the CPU local bus 15.
[0028]
As described above, the current position detection device 20 outputs data for detecting the current position of the host vehicle. That is, the absolute azimuth sensor 21 detects the absolute azimuth. The relative azimuth sensor 22 detects the relative azimuth relative to the absolute azimuth. Further, the travel distance is detected by the distance sensor 23. The traveling speed of the host vehicle is detected by the speed sensor 24. On the other hand, the GPS receiving device 25 receives GPS (Global Positioning System) signals (microwaves from a plurality of earth-orbiting satellites) and detects geographical position data such as latitude and longitude of the vehicle.
[0029]
The beacon receiver 26 receives a beacon wave transmitted by a road information station such as a VICS (road traffic information communication system). The beacon receiving device 26 outputs information (VICS data) on neighboring roads or GPS correction data to the I / O data bus 28. The beacon wave includes a radio wave beacon, an optical beacon, and the like, but the beacon wave used in VICS can be received only within a relatively narrow range. Therefore, the reception of VICS data is not performed unless the host vehicle loaded with the navigation device of the present invention passes through the vicinity of an information transmission device (transmission antenna or the like) that transmits a beacon wave.
[0030]
In addition, the information transmission device is installed in the vicinity of road facilities (above the road or on the road surface) such as intersections at certain distances on the main road. The VICS data transmitted as a beacon wave from each information transmission device represents the traffic state of the vicinity of the information transmission device that transmits this beacon wave, for example, each road within a radius of 10 kilometers centered on the information transmission device. Contains data. The data representing the traffic state includes comprehensive information such as traffic restriction information such as traffic closure due to congestion, congestion, traffic prohibition, and the degree of congestion due to traffic volume. Each information transmission device is controlled by a road information station such as VICS.
[0031]
As the data transmitter / receiver 27, an FM multiple radio wave receiver, cellular phone, telephone line or the like is used. The ATIS (traffic information service) performs two-way communication such as a telephone line. In addition, when information is received from the VICS center by the FM multiplex radio wave receiver, only reception is performed. In addition, when two-way communication such as a telephone line is performed with the ATIS or VICS center, an area for requesting information on road traffic information or a parking lot can be selected. For example, it is possible to receive traffic information such as only the road conditions in the vicinity of the destination or the congestion status of each road over a wide range from the departure place to the destination. These pieces of information are used as operation assistance information. Note that the beacon receiving device 26 and the data transmitting / receiving device 27 may include only one or both. The data transmitter / receiver 27 may be a radio receiver, a television receiver, a mobile phone, a pager, or other wireless communication device.
[0032]
The input / output device 30 includes a display 33, a touch switch 34, a printer 35, and a speaker 13. The display 33 displays route guidance information during the navigation operation. The touch switch 34 is attached on the screen of the display 33, and a plurality of transparent touch switches are arranged in a planar matrix. A transparent touch switch is comprised by the contact switch comprised by the transparent electrode, or a piezoelectric switch etc., for example. From the touch switch 34, information necessary for destination setting such as a departure point, a destination, and a passing point is selected and input to the navigation device.
[0033]
The printer 35 prints various information such as maps and facility guides that are output via the communication interface 8. Each information is transmitted from the speaker 13 to the user by voice. The printer 35 may not be provided.
[0034]
As the display 33, a display capable of displaying image information such as a CRT, a liquid crystal display or a plasma display is used. However, a liquid crystal display with low power consumption, high visibility, and light weight is preferable as the display 33. The display 33 may be a wide liquid crystal display with a wider screen, or may be a structure in which two or more separable liquid crystal displays are arranged in parallel. In addition, independent information may be displayed on each liquid crystal display, or continuous map information over a plurality of liquid crystal displays may be displayed.
[0035]
An image memory 10 such as a DRAM (Dynamic RAM) or a dual port DRAM is connected to the image processor 9 connected to the display 33. Then, the image processor 9 controls the writing of image data to the image memory 10. Further, under the control of the image processor 9, data is read from the image memory 10 and an image is displayed on the display 33.
[0036]
The image processor 9 converts map data and character data into display image data according to a drawing command from the CPU 2 and writes the image data to the image memory 10. At this time, an image around the screen displayed on the display 33 is also formed for scrolling the screen, and is simultaneously written in the image memory 10.
[0037]
An audio processor 11 is connected to the speaker 13. The audio processor 11 is connected to the CPU 2 and the ROM 4 via the CPU local bus 15. Then, the voice waveform data for the guidance voice read from the ROM 4 is input to the voice processor 11 by the CPU 2. The voice waveform data is converted into an analog signal by the voice processor 11 and output from the speaker 13. The audio processor 11 and the image processor 9 may be constituted by a general-purpose DSP (digital signal processor) or the like.
[0038]
An information storage unit 37 is connected to the I / O data bus 28 via a data transmission / reception unit 39. The information storage unit 37 stores disk management information 38a, a program 38b for controlling each navigation operation described above, and data 38c such as map information. In the disk management information 38a, information related to data and programs stored in the information storage unit 37 is stored. For example, the version information of the program 38b. In the data 38c, data necessary for a navigation operation such as road map data is recorded in a nonvolatile manner. The information storage unit 37 is connected to a data transmission / reception unit 39 that performs data read control with the I / O data bus 28.
[0039]
In addition, as the information storage unit 37 in the embodiment of the present invention, not only an optical memory such as a CD-ROM but also the following device may be used. For example, the recording medium may be a semiconductor memory such as an IC memory or an IC memory card, or a magnetic memory such as a magneto-optical disk, a hard disk, or a flexible disk. Note that, when the recording medium of the information recording unit 37 is changed, the data transmission / reception unit 39 includes a data pickup suitable for the changed recording medium. For example, if the recording medium is a hard disk, the data transmission / reception unit 39 includes a magnetic signal writing / reading device such as a core head.
[0040]
The data 38c of the information storage unit 37 includes map data, intersection data, node data, road data, photograph data, destination point data, guidance point data, detailed destination data, destination reading data, house necessary for navigation operation. Shape data and other data are included. Further, the navigation operation is executed by using the road map data of the data 38c by the program 38b stored in the information storage unit 37. The navigation program is read from the information storage unit 37 by the data transmission / reception unit 39 and written in the flash memory 3. Other data includes display guidance data, voice guidance data, simplified guidance route image data, and the like.
[0041]
The data 38c in the information storage unit 37 includes map data having different scale ratios, map data having one scale ratio, or map data combining map data having different scale ratios and map data having one scale ratio. It is remembered. That is, the data 38c is a map of the same region and is recorded with different scale ratios, or only one scale map data is recorded in the data 38c. When map data of one scale ratio is recorded, the scale ratio is determined so that detailed information can be displayed when the map is most enlarged and displayed on the display 33.
[0042]
In the case where only one map data is recorded in the data 38c, when a small scale map, that is, a map representing a wide geographical area (wide area map) is displayed on the display 33, the map recorded in the data 38c. Information is thinned out and displayed. In the thinning-out display of the map data of the data 38c, not only the geographical distance of each road and the like is reduced, but also the display symbol information of the facility etc. is thinned out. That is, the information is thinned out so that the display about the large facility or the main facility is mainly performed.
[0043]
3. Data file of data 38c in information storage unit 37
FIG. 2 shows the contents of each data file stored in the data 38 c of the information storage unit 37. The map data file F1 stores map data such as a national road map, a local road map, or a house map. The road map is composed of roads such as main arterial roads, expressways, narrow streets, and ground targets (facility etc.). A house map is a city map in which a figure representing an outer shape of a ground building, a road name, and the like are displayed. A narrow street is a road that is not used in the route search process of FIG. 5 described later. For example, narrow roads whose road width is a predetermined value or less, and city roads and private roads other than national roads or prefectural roads are narrow streets. That is, a road on which a general vehicle is relatively difficult to meet is a narrow street.
[0044]
The intersection data file F2 stores data related to intersections such as the geographical position coordinates and names of the intersections. The node data file F3 stores geographic coordinate data of each node used for route search on the map. The road data file F4 stores road-related data such as the position and type of roads, the number of lanes, and the connection relationship between the roads. The photograph data file F5 stores image data of photographs showing places where visual display is required such as various facilities, sightseeing spots, or major intersections.
[0045]
The destination data file F6 stores data such as locations and names of places and facilities that are likely to be destinations such as major tourist spots, buildings, and companies / businesses listed in the telephone directory. Yes. The guidance point data file F7 stores guidance data of points that require guidance such as the contents of guidance display boards installed on the road and guidance of branch points. The detailed destination data file F8 stores detailed data relating to the destination stored in the destination data file F6. The road name data file F10 stores name data of main roads among the roads stored in the road data file F4. The branch point name data file F11 stores name data of main branch points. The address data file F11 stores list data for searching the destination stored in the destination data file F6 from the address.
[0046]
The area / city code list file F12 stores list data of only the area / city code of the destination stored in the destination data file F6. The registered telephone number file F13 stores telephone number data to be remembered such as business partners registered by the user's manual operation. In the mark data file F14, data such as the position and name of a place to be remembered and a place to be remembered, which are input by a user through a manual operation, are stored. The point data file F15 stores detailed data of the mark points stored in the mark data file F14. In the facility data file F16, data such as the position and description of a target such as a place where a person wants to drop in other than a destination such as a gas station, a convenience store, or a parking lot is stored.
[0047]
4). Data contents of RAM5
FIG. 3 shows a part of the data group stored in the RAM 5. The current position data MP is data representing the current position of the host vehicle detected by the current position detection device 20. The absolute azimuth data ZD is data indicating the north-south direction, and is obtained based on information from the absolute azimuth sensor 21. The relative azimuth angle data Dθ is angle data formed by the traveling direction of the host vehicle with respect to the absolute azimuth data ZD. The relative azimuth angle data Dθ is obtained based on information from the relative azimuth sensor 22.
[0048]
The travel distance data ML is the travel distance of the host vehicle and is obtained based on the data from the distance sensor 23. The current position information PI is data related to the current position, and is input from the beacon receiving device 26 or the data transmitting / receiving device 27. The VICS data VD and ATIS data AD are data input from the beacon receiving device 26 or the data transmitting / receiving device 27. Based on the VICS data VD or ATIS data AD, local traffic regulations, traffic congestion conditions, facility congestion conditions such as parking lots, and the like are determined, and predetermined processing described later is executed. Further, using this VICS data VD, an error correction of the vehicle position detected by the GPS receiver 25 may be executed.
[0049]
The registered destination data TP is data related to the destination such as the coordinate position and name of the destination registered by the user. In the guidance start point data SP, map coordinate data of a point where the navigation operation is started is stored. Similarly, the map information of the point where the navigation operation is ended is stored in the final guidance point data ED.
[0050]
Note that the node coordinates on the guide road closest to the current location or the departure location of the host vehicle are used as the guidance start point data SP. The reason why the guidance start point data SP is stored is that the current location of the vehicle according to the current position data MP is, for example, in a site such as a golf course or a parking lot, and is not necessarily on the guide road. . Similarly, the node coordinates on the guide road closest to the registered destination data TP are also stored in the guidance final point data ED. The reason why this guidance final point data ED is stored is that the coordinates of the registered destination data TP may not be on the guidance road.
[0051]
The guide route data MW stored in the RAM 5 is data indicating an optimum route to the destination or a recommended route, and is obtained by route search processing or re-search processing in step SA4 described later. Each road in the road map stored in the data 38c of the information storage unit 37 is given a unique road number. The guide route data MW is composed of a row of road numbers from the guide start point data SP to the final guide point data ED.
[0052]
The mode set data MD is data used in destination setting processing described later. This mode set data MD is set by a touch switch 34 laminated on the display 33. The mode contents displayed on the display 33 are specified by the mode set data MD. The stop-in place DP is information relating to a facility or the like that stops along the guide route.
[0053]
The screen state GJ is data indicating the display state of the display 33. That is, the display screen of the display 33 is divided by processing of a program described later. The data of the screen state GJ indicates whether the display screen of the display 33 is a divided state or a single screen state. Therefore, each time the display state of the display 33 is switched, the data of the screen state GJ is rewritten.
[0054]
The count value RHT is a state count value used in a travel locus tracking process described later. Therefore, the processing is branched depending on the numerical value of the count value RHT. The reroute permission flag RFG is used as a mask flag for determining whether or not to permit a reroute operation in the navigation device according to the embodiment of the present invention. The travel locus LKT stores information related to a geographical locus such as node coordinates on the road on which the host vehicle has traveled.
[0055]
When the host vehicle is moved, the position of the host vehicle is detected by each sensor (GPS receiver 25, distance sensor 23, etc.) of the current position detection device 20. The detected host vehicle position includes Some errors are included due to measurement errors. Therefore, the detected own vehicle position does not necessarily fit exactly on the road data of the data 38c. That is, if the host vehicle is moving in an area where a plurality of roads exist adjacent to each other, it may be mistaken for the host vehicle on the adjacent road. Therefore, in order to eliminate such misidentification, information on the road recognized as having traveled by the host vehicle is stored as the travel locus LKT.
[0056]
The reroute start flag YFG is a flag for instructing the start of reroute search processing to be described later. Therefore, when the reroute start flag YFG is set, a reroute search is performed in the reroute search process. The reroute search is a process of searching for a short distance guide route for returning to the original guide route when it is detected that the vehicle has deviated from the guide route.
[0057]
5). Road data
FIG. 4 shows a part of the road data in the road data file F4 stored in the information storage unit 37. This road data file F4 includes information on roads having a certain width or more existing in the area stored in the map data file. If the number of roads included in the road data file F4 is n, road data relating to n roads is included. Each road data includes road number (road number) data, guidance target flags, road attribute data, shape data, guidance data, and length data.
[0058]
The national roads and the like included in the map data in the information storage unit 37 are divided into minimum units. The identification number assigned to each divided road is road number data. In the guidance target flag of the road data file F4, “1” is stored for the guidance target road, and “0” is stored for the non-guidance target road. The guidance target road is a road having a predetermined width or more, for example, a width of 5.5 meters or more, such as a main road or a general road that is equal to or higher than a prefectural road, and is a road to be searched for a route. The non-guide target road is a narrow narrow street having a predetermined width or less, for example, a width of less than 5.5 meters, such as an alley or an alley, and is a road that is not a target for route search. Further, the guidance target road may be set as a trunk road above the prefectural road, and the non-guidance target road may be set as a main road below the prefectural road.
[0059]
The road attribute data is data indicating attributes of an elevated road, an underpass, an expressway, a toll road, and the like. The road attribute data also includes information indicating whether the road is a service road on a high-speed road or the like, or an introduction road such as a parking area. In addition, information indicating that the road is a road other than a general road that passes through the private land may be included. The shape data is data indicating the shape of the road. For example, the shape data is constituted by the coordinate data of the start point and end point of the road and the coordinate data of each node between the start point and the end point.
[0060]
The guidance data includes intersection name data, attention point data, road name data, road name voice data, and destination data. The intersection name data is data representing the name of the intersection when the end point of the road is an intersection. The caution point data is data relating to caution points on the road such as railroad crossings, tunnel entrances, tunnel exits, and width reduction points. The road name voice data is voice data representing a road name used for voice guidance.
[0061]
The destination data is data relating to a road (this is a destination) connected to the end point of the road, and is composed of the number of destinations k and data for each destination. The data related to the destination includes destination road number data, destination name data, destination name voice data, destination direction data, and travel guidance data.
[0062]
The destination road number data indicates the destination road number. The name of the destination road is indicated by the destination name data. In the destination name voice data, voice data for voice guidance of the destination name is stored. The direction of the destination road is indicated by the destination direction data. The travel guidance data is guidance data for guiding the user to stop on the right lane, stop on the left lane, or travel in the center in order to enter the destination road. The length data is data of the length from the start point to the end point of the road, the length from the start point to each node, and the length between the nodes.
[0063]
6). Overall processing
FIG. 5 shows a flowchart of overall processing executed by the CPU 2 of the navigation device in the embodiment of the present invention. This process starts when the power is turned on and ends when the power is turned off. The turning on and off of the power is performed by turning on / off the power of the navigation apparatus or turning on / off the engine start key (ignition switch) of the vehicle.
[0064]
The initialization process in step SA1 in FIG. 5 is as follows. First, the navigation program is read from the information storage unit 37. The read navigation program is copied (installed) to the flash memory 3. Thereafter, the program of the flash memory 3 is executed. Further, the CPU 2 clears the work memory of the RAM 5, the general-purpose data storage area in each RAM such as the image memory 10, each state transition flag such as the reroute permission flag RFG, and the value such as the count value RHT.
[0065]
The copying of the program to the flash memory 3 is executed when a new program 38b is set in the navigation device by exchanging the information storage unit 37. That is, only when the new information storage unit 37 is set in the navigation device for the first time, copying of the program to the flash memory 3 is executed. Therefore, if it is determined by the determination based on the disk management information 38a that the information storage unit 37 has not been replaced, copying of the program to the flash memory 3 is omitted.
[0066]
Thus, when the initialization process is completed, the current position process (step SA2), the destination setting process (step SA3), the route search process (step SA4), the re-search process (step SA5), and the guidance / display process ( Step SA6) and other processing (step SA7) are cyclically executed. Note that the destination setting process (step SA3), the route search process (step SA4), and the re-search process (step SA5) are duplicated when there is no change in destination or departure of the vehicle from the route. And will not be executed.
[0067]
In the current position process (step SA2), the geographical coordinates (latitude, longitude, and altitude) of the host vehicle that is the ground moving body on which the navigation device is loaded are detected. That is, the GPS receiver 25 receives radio waves from a plurality of satellites orbiting the earth. The radio wave from each satellite detects the coordinate position of each satellite, the radio wave transmission time in the satellite, and the radio wave reception time in the GPS receiver 25. From these pieces of information, the distance to each satellite is obtained by calculation. From the distance to each satellite, the coordinate position of the vehicle on the earth surface is obtained. The obtained coordinate position of the host vehicle is stored in the RAM 5 as current position data MP. The current position data MP may be modified by information input from the beacon receiving device 26 or the data receiving device 27.
[0068]
Further, in this current position processing (step SA2), absolute azimuth data ZD, relative azimuth angle data Dθ, and travel distance data ML are obtained using absolute azimuth sensor 21, relative azimuth sensor 22, and distance sensor 23. . From the absolute azimuth data ZD, the relative azimuth angle data Dθ, and the travel distance data ML, a calculation process for specifying the vehicle position is performed. The own vehicle position obtained by this calculation process is compared with the map data stored in the data 38c of the information storage unit 37, and correction is performed so that the current position on the map screen is accurately displayed. With this correction process, the current position of the host vehicle can be accurately obtained even when GPS signals in the tunnel or the like cannot be received.
[0069]
In this current position process, a matching calculation is performed to detect on which road of the road data file F4 recorded in the data 38c the current position of the host vehicle detected by each sensor or the like corresponds. . That is, since each sensor and GPS signal always includes a measurement error, the measured current position of the host vehicle does not accurately match the geographical coordinates of each road stored as the road data file F4. Moreover, not all geographical coordinates on the road are recorded in the road data, but the geographical coordinates are recorded discretely so that the road shape can be specified at a minimum.
[0070]
Therefore, it is necessary to detect which of the geographical points (nodes) on the road having the jump value the detected current position of the own vehicle is suitable for. That is, the operation of identifying the road on which the host vehicle is traveling from the detected current position of the host vehicle is the matching calculation.
[0071]
In the destination setting process (step SA3), the geographical coordinates of the destination desired by the user are set as registered destination data TP. For example, the coordinates of the destination are designated by the user using a road map or a house map displayed on the display 33. Alternatively, the destination is specified by the user from the item-specific list of destinations displayed on the display 33. When this destination designation operation is performed by the user, information data such as geographic coordinates of the destination is stored in the RAM 5 as registered destination data TP.
[0072]
In the route search process (step SA4), an optimum route from the guidance start point data SP to the final guidance point data ED is searched. Here, the optimum route is as follows. For example, a route that can reach the destination in the shortest time or the shortest distance, or a route when a wider road is preferentially used. Furthermore, when an expressway is used, a route or the like that can reach the destination in the shortest time or the shortest distance using the expressway. In the guidance start point data SP, the same data as the current position data MP is set, or node data on the guidance target road close to the current position data MP is set. As for the guidance route, when a stop-by place is set, a route that passes through the stop-off place may be searched.
[0073]
After the route search process, the next re-search process (step SA5) is executed as necessary. When the host vehicle is traveling on the guide route searched for by the route search process, if a deviation from the guide route is detected in the current position process of step SA2, the target position is determined from the current position of the host vehicle. The optimum guidance route to the ground is re-searched. That is, this reroute search process is not executed unless a deviation of the host vehicle from the guide route is detected. Moreover, this reroute search process is not executed unless the auto reroute mode is set.
[0074]
In the guidance / display process (step SA6), the guidance route obtained by the route search process (step SA4) or the reroute search process is displayed on the display 33 with the current position of the host vehicle as the center. The guide route displayed on the display 33 is displayed so as to be identifiable on the display map. For example, on the map displayed on the display 33, the guidance route is displayed in a characteristic manner such as being displayed in different colors. Furthermore, road guidance information is pronounced from the speaker 13 so that the host vehicle can travel well according to this guidance route. Accordingly, various types of guidance information are displayed on the display 33 as needed. The image data for displaying the guidance route is road map data around the current position in the data 38c in the information storage unit 37 or housing map data around the current position.
[0075]
Switching between the road map data and the house map data is performed under the following conditions. For example, it is switched by the distance from the current position to a guide point (destination, stopover, intersection, etc.), the speed of the host vehicle, the size of the displayable area, or an operator's switch operation. Further, an enlarged map near the guidance point is displayed on the display 33 in the vicinity of the guidance point (destination, stopover, intersection, etc.). Note that a simplified guide route image may be displayed on the display 33 instead of the road map. In this simplified guidance route image, for example, the display of geographical information is omitted, and only necessary minimum information such as the guidance route and the destination or the direction of the stop-by place and the current position is displayed.
[0076]
After the guidance / display processing in step SA6, “other processing” (step SA7) is executed. In this “other process”, the nearest facility process may be executed. The nearest facility process is a process in which a stopover place (facility, etc.) other than the registered destination data TP is searched and designated. The data regarding this stop-in place is determined using a map displayed on the display 33 or each item information. The nearest facility process is performed in the same manner as the destination setting process in step SA3.
[0077]
In “other processing”, for example, it is determined whether or not a destination change command is input by an operator's switch operation.
[0078]
When the process of step SA7 ends, the process is repeated from the current position process (step SA2) again. Even when the host vehicle reaches the destination, the route guidance / display processing is terminated, and the processing is returned to step SA2. In this way, the processing from step SA2 to step SA7 is sequentially repeated.
[0079]
7). Current position processing (step SA2)
FIG. 6 is a diagram showing a flowchart of the current position process performed in this embodiment. In this current position process, as described above, the current position of the host vehicle is detected by a sensor or the like. Then, the road that best matches the detected current position of the host vehicle is identified, and the road on which the vehicle is currently traveling is determined.
[0080]
First, signals from the relative orientation sensor 22, the distance sensor 23, and the GPS receiver 25 provided in the current position detection device 20 are read (step SB2). From the data obtained by the relative azimuth sensor 22 and the distance sensor 23, the current position of the own vehicle is detected based on the moving direction and moving distance from the past own vehicle position (dead reckoning navigation). The current position of the host vehicle is directly detected from the satellite radio wave received by the GPS receiver 25.
[0081]
Thus, when the current position of the host vehicle is detected, the road data file F4 is read from the data 38c, and the shape data of each road is further read (step SB4). The shape data is composed of geographic coordinates of a plurality of nodes. Therefore, the node geographic coordinates of each road are compared with the current position of the host vehicle (step SB6). That is, the linear distance between each node on the plurality of roads and the current position of the host vehicle is calculated. Nodes whose straight line distance is within a predetermined value are selected.
[0082]
That is, a node of each road in a circle with a predetermined distance radius centered on the current position of the host vehicle is selected. The selected node is set as a “candidate”. The correlation between the plurality of “candidates” and the current position of the host vehicle is calculated in consideration of information relating to the travel locus of the host vehicle detected in the past. The information on the travel locus is, for example, information indicating that the vehicle is traveling on an expressway. That is, if the moving speed of the vehicle is maintained at a predetermined speed (for example, about 70 km / h) for a certain period of time and the detected position of the host vehicle is linear for a certain section, it is recognized that the vehicle is traveling on a highway.
[0083]
From the plurality of “candidates”, the one having the strongest correlation is stored as the “most likely candidate” (step SB6). That is, the road on which the host vehicle is traveling is specified indirectly from the detected current position data of the host vehicle. When the matching calculation in step SB6 is completed, a travel locus tracking process is executed (step SB8). This travel locus tracking process will be described later.
[0084]
It is determined whether or not the current position of the host vehicle detected by the matching calculation is a final guide point near the destination (step SB10). That is, it is determined whether the host vehicle has arrived at the destination. When arriving at the destination, the series of processes is terminated.
[0085]
However, if the vehicle has not arrived at the destination (the determination result of step SB10 is NO), it is determined whether or not the road on which the host vehicle is traveling is the guide route searched by the route search process of step SA4. (Step SB12). If the user is on the guide route (Yes in step SB12), the current position process in FIG. 6 is terminated. However, if the road detected that the vehicle is present is not a guide route (NO at step SB12), it is determined whether the road is a road to be guided (step SB14). That is, the guidance target flag of the road data file F4 for the road recognized during traveling is read from the data 38c. If this guidance target flag is set, the road on which the host vehicle is currently recognized is recognized as the guidance target road (Yes in step SA14).
[0086]
However, if it is recognized that the current road of the host vehicle is not a guidance target road (the determination result in Step SB14 is No), the reroute start flag YFG is set (Step SB18). Then, the current position process in FIG. 6 is terminated, and the flow returns to the main process in FIG.
[0087]
If it is determined in step SB14 that the host vehicle is on the guidance target road, the road on which the host vehicle is located is an introduction path to a service station attached to the expressway or a parking area. Is determined (step SB16). That is, since the type of the road on which the host vehicle is present can be determined from the road attribute data in the road data file F4, it is determined from the road attribute data whether the road is an introduction road.
[0088]
If it is not the introduction path (the determination result of step SB16 is No), the reroute start flag YFG is set by the process of step SB18. However, if it is an introduction path (Yes in step SB16), no processing is performed and the processing in FIG. 6 is terminated. Then, the process returns to the main flow of FIG.
[0089]
8). Traveling track tracking process (step SB8)
FIG. 7 shows a flowchart of the travel locus tracking process in FIG. In this travel locus tracking process, a change in the detected current position of the host vehicle is observed. First, the road on which the most probable candidate node selected by the matching calculation in FIG. 6 exists is recognized. Further, it is examined whether or not the road indicated by the travel locus LKT matches the road where the most probable candidate exists (steps SC2 and SC4). The travel locus LKT stores information related to the road on which the host vehicle detected in the past has traveled. That is, the current position of the host vehicle is detected every predetermined time, and information about the road on which the host vehicle exists detected in the past is stored as a travel locus LKT.
[0090]
Then, it is determined whether or not the most promising candidate by the matching calculation is on the extension line of the road indicated by the travel locus LKT (step SC4). That is, it is determined whether or not the road on which the most probable candidate exists matches the road indicated by the travel locus LKT. If they match (Yes in step SC4), the count value RHT is incremented by “1” (step SC6). However, when it is determined that the road including the most promising candidate is different from the road indicated by the travel locus LKT (the determination result in Step SC4 is No), the count value RHT is cleared to “0” (Step SC8).
[0091]
When the information operation on the count value RHT in step SC6 or step SC8 is completed, it is determined whether or not the count value RHT is equal to or greater than a predetermined value (step SC10). If it is equal to or greater than the predetermined value (Yes in step SC10), the reroute permission flag RFG is set (step SC12). However, if the count value RHT is smaller than the predetermined value, the reroute permission flag RFG such as “0” is cleared (step SC14).
[0092]
That is, the reroute permission flag RFG is set only when it is recognized that the vehicle has traveled a certain distance on the same road. Therefore, when the host vehicle continues to travel on the same road, the reroute operation is performed even if the current position of the host vehicle is temporarily recognized as being on a different road due to a measurement error by a sensor such as the GPS receiver 25. Does not start.
[0093]
Further, the count value RHT may be measured with an actual time measurement. That is, the reroute permission flag may be set when the measurement time becomes a predetermined value or more by real time measurement.
[0094]
After completion of the information operation on the reroute permission flag RFG, information on the road corresponding to the current position of the host vehicle is stored in the travel locus LKT (step SC16). Then, the process returns to the current position process of FIG.
[0095]
9. Re-search process (step SA5)
FIG. 8 shows a flowchart of the reroute search process in FIG. First, it is determined whether or not both the reroute permission flag RFG and the reroute start flag YFG are set (step SD2). That is, it is determined whether or not the detected current position of the host vehicle has deviated from the guidance route and the deviation has continued for a certain period of time. Therefore, unless either the reroute permission flag RFG or the reroute start flag YFG is set, the reroute operation is not performed (the determination result of step SD2 is No). In this case, the process returns to the main flow of FIG.
[0096]
However, if the reroute permission flag RFG and the reroute start flag YFG are both set, the guide route from the current position of the host vehicle to the destination is searched again (step SD4). That is, the reroute operation is started. In this reroute operation, the entire route from the current position of the host vehicle to the destination (including a stopover location) may be searched, or only a search for a partial route that quickly returns to the already searched guide route may be used. . When the reroute operation in step SD4 is completed, the reroute start flag YFG is cleared (step SD6). Then, the process returns to the main flow of FIG.
[0097]
As described above in detail, in the navigation device according to the embodiment of the present invention, there are restrictions on the start of the reroute operation. In other words, if it is detected that the vehicle has deviated from the first searched guide route, reroute operation is prohibited if the deviating road is a service station such as an expressway or an introduction route to a parking area. Is done. In addition, even if a deviation from the guide route is erroneously detected due to a measurement error that occurs when the current position of the host vehicle is detected, the reroute operation is not immediately started upon detection of the error.
[0098]
In the above embodiment, the current position process in FIG. 6 and the travel locus tracking process in FIG. 7 are combined, but a navigation apparatus that performs only one of the processes may be used. That is, the travel locus tracking process of FIG. 7 is omitted, and only the current position process of FIG. 6 is performed. Furthermore, the reroute operation may be started only in the state of the reroute start flag YFG in FIG. Alternatively, an embodiment in which the process of step SB16 in FIG. 6 is omitted and the travel locus tracking process in FIG. 7 is executed may be used. That is, when a deviation from the guide route of the host vehicle is detected, it may not be determined whether the departure road is an introduction route to a service station or a parking area.
[0099]
In the above-described embodiment, it is determined whether the departure road of the guide route is an introduction route to the service station or the parking area. However, the present invention is not limited to this. For example, it may be determined whether the vehicle is traveling in a facility such as a parking lot. That is, whether the detected current position coordinates of the own vehicle are included in the geographic range that identifies the outer shape of each facility recorded in the destination data file F6, the guidance point data file F7, the facility data file F16, or the like Judge whether or not. If included, the reroute operation is prohibited assuming that the host vehicle is traveling in the facility.
[0100]
Further, the geographical range for specifying the outer shape of each facility may be a range including the introduction route and the lead-out route to the facility. Alternatively, a facility with an entrance road with the same entrance and exit, that is, a facility with a road that returns to the entrance when traveling on the attached road. Alternatively, it may be a road network that does not connect to the other, or always returns to the guide route, or a facility that includes a road in which only one of the attached roads is connected to a general road. As a result, it is possible to prevent an erroneous reroute operation from being performed even when a stop to a larger facility adjacent to the guide route is performed in the middle of the guide route.
[0101]
The present invention is not limited to the above embodiments, and various modifications can be made without departing from the spirit of the present invention. For example, each command input by turning on the touch switch 34 or selection by a mouse cursor may be executed by voice from the operator. That is, a voice input device such as a microphone is provided in the input / output device 30 and voice analysis is performed by the voice processor 11.
[0102]
In addition to the above, the touch switch 34 is used for the presence or absence of a key operation in the above embodiment, but may be detected by a plurality of push switches provided directly below the screen of the display 33. In this case, the function description of each push switch is displayed as an icon at the bottom of the screen.
[0103]
In addition to the above, in the route search process in step SA4 and the re-search process in step SA5, the route search using the VICS data received by the beacon receiving device 26 or the VICS data or ATIS data received by the data transmitting / receiving device 27 May be performed.
[0104]
That is, in searching for a guidance route, a guidance route that bypasses a traffic jam road, a traffic restricted road, or the like is searched for using VICS data or ATIS data. In particular, in the reroute search process of FIG. 8, road information may be actively obtained from the VICS center or ATIS center by the data transmitter / receiver 27, and a guide route search may be performed in consideration of the road information.
[0105]
The recording medium for storing various data shown in FIG. 2 may be a writable recording medium such as a floppy disk. Furthermore, the navigation device may be provided with a voice input device including an analog / digital converter. Each operation may be executed by a voice command input by the voice input device.
[0106]
Furthermore, in the navigation apparatus according to the embodiment of the present invention, all or part of the above-described flowchart may be executed in an information management center such as VICS or ATIS. This processing result (processing information) is received by the data transmitting / receiving device 27. For example, the destination setting process (step SA3) and the route search process (step SA4) shown in FIG. 5 are executed at the information processing center where the map information is stored. Then, the searched guide route data is transferred to the navigation device via the data transmission / reception device 27.
[0107]
In the navigation apparatus according to the embodiment of the present invention, guidance display processing is executed based on the sent guidance route data. That is, information such as a search condition for a destination or a stop-in facility and a route search condition is sent from the navigation device to the information tube center. In the information management center, a search for a desired facility and a search for a route to the destination are executed based on the sent conditions. Then, information related to the search / extraction / search result is transmitted from the information management center to the navigation device together with the map information and the like.
[0108]
In the navigation device, the search facility is displayed on the display 33 based on the received search / extraction / search results. In this way, each facility can be searched, extracted, and searched based on the detailed and latest information on each facility around the current position of the vehicle. In addition, in the facility search, it is possible to perform a search in consideration of the environmental change of the surrounding road (new establishment of a one-way road, etc.) In this case, information about each facility stored in the information management center needs to be constantly updated.
[0109]
Furthermore, you may enable it to use the information storage part 37 which memorize | stored each program demonstrated by embodiment of this invention and information, such as a map and a display symbol, with a general computer apparatus. That is, the program stored in the information storage unit 37 is a program that can be executed by a general computer. If this information storage unit 37 is connected to a portable computer device together with a device that can detect the current position by the GPS receiver 25, navigation processing can also be performed by this computer device. Furthermore, the present invention can also be applied to navigation devices such as vehicles other than automobiles, ships, airplanes, helicopters, etc. The map used for navigation may be a nautical chart or a submarine map in addition to a road map. Furthermore, the present invention may be applied not only to a navigation device mounted on a moving body such as an automobile, but also to a portable navigation device. That is, the present invention may be applied to a small navigation device that can be carried by a human being used in cycling, traveling, mountain climbing, hiking, fishing, or the like.
[0110]
The following functions may be added to the above embodiment. That is, (1) searching for a guidance route, receiving information on a route that is not suitable for traveling, determining whether the unsuitable route is included in the guide route, and depending on the determination result, the information is not appropriate. If the required time to the route is less than the predetermined time, the search for the guide route is prohibited.
[0111]
(2) In addition to the above (1), when the route that is not suitable for traveling is a route that cannot be passed, the guide route search is executed even if the time required to reach the unsuitable route is less than the predetermined time.
[0112]
(3) The following features may be added to the above embodiment. That is, a guide route is searched, information on a route that is not suitable for traveling is received, it is determined whether or not this unsuitable route is included in the guide route, and the guide route is determined according to the determination result. A search is prohibited, and a re-search of the guide route is prohibited for a predetermined time after the search.
(4) The following features may be added to the above embodiment. That is, a route search performed according to the received road traffic information, a required time calculation means for calculating a required time until the guidance can be started by the searched route, and a predetermined point before the first branch part of the route A prediction time calculation unit that calculates a prediction time for the mobile body to reach and a route search unit that compares the prediction time with the required time and performs a route search according to the comparison result.
[0113]
(5) The following features may be added to the above embodiment. That is, guidance start time storage means for storing the guidance start time of the new guidance route by the route search performed according to the previously received road traffic information, issuance time of the newly received road traffic information and the guidance start Route search means for comparing the time and performing a route search based on the latest road traffic information according to the comparison result.
[0114]
(6) The following features may be added to the above embodiment. That is, the route search performed according to the received road traffic information, the required time calculation means for calculating the required time until the guidance can be started by the route, and the travel route according to the received road traffic information A route for performing a route search in accordance with a comparison between a predicted time calculating means for calculating a predicted time for the moving body to reach a point where the traveling direction is changed to the new route by the route search performed, and the predicted time and the required time. Search means.
[0115]
(7) In addition to the above (4), (5) or (6), the route search means is based on the road traffic information when the presence of a regulated road is detected from the received road traffic information. Perform route search.
[0116]
(8) In addition to the features of (4), (5), (6) or (7) above, the predetermined point and the traveling direction change point in front of the branching section are information guidance start points or course changes related to the branching and traveling direction. It may be the start start point.
[0117]
(9) The following features may be added to the above embodiment. That is, the route search performed according to the received road traffic information and the required time until the guidance can be started are calculated, the predicted time for the moving body to reach the predetermined point before the first branch part of the route is calculated, A medium storing a computer program for navigation processing characterized in that the predicted time is compared with the required time and route search is performed according to the comparison result.
[0118]
(10) The following features may be added to the above embodiment. That is, the guidance start time of the new guidance route by the route search performed according to the previously received road traffic information is saved, and the issuance time of the newly received road traffic information is compared with the guidance start time, A medium storing a computer program for navigation processing characterized by performing route search based on latest road traffic information according to the comparison result may be used.
[0119]
(11) The following features may be added to the above embodiment. That is, the route search performed according to the received road traffic information and the time required until the guidance can be started are calculated, and the travel route is changed to the new route by the route search performed according to the received road traffic information. A computer program for navigation processing that calculates a predicted time for a moving body to reach a travel direction change point, compares the predicted time with the required time, and performs a route search according to the comparison result May be a medium that stores
[0120]
(12) In addition to the above feature (9), (10) or (11), the following feature may be added. That is, a medium storing a computer program for navigation processing characterized in that, when the presence of a regulated road is detected from the received road traffic information, a route search based on the road traffic information is performed. .
[0121]
(13) In addition to the above feature (9), (10), (11) or (12), the following feature may be added. A medium storing a computer program for navigation processing, wherein the predetermined point before the branching portion and the traveling direction change point are an information guidance start point or a course change start point regarding the branching and traveling direction.
[0122]
【The invention's effect】
As described above in detail, even if it is detected that the host vehicle has deviated from the guide route, the present invention determines whether there is a facility or a facility-attached road whose current position is consistent and performs a reroute operation. I tried to mask it. Therefore, unnecessary reroute operation during traveling to the attached facility is prevented. Furthermore, it is possible to prevent an erroneous guide route from being searched for by the reroute operation.
[Brief description of the drawings]
FIG. 1 is an overall circuit diagram of a navigation device.
2 is a diagram showing a data structure stored in data 38c of the information storage unit 37. FIG.
FIG. 3 is a diagram showing data stored in a RAM 5;
FIG. 4 is a diagram showing the structure of a road data file F4.
FIG. 5 is a flowchart of overall processing.
FIG. 6 is a diagram illustrating a flowchart of current position processing.
FIG. 7 is a diagram illustrating a flowchart of current position processing.
FIG. 8 is a diagram illustrating a flowchart of a reroute search process.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Central processing unit, 2 ... CPU, 3 ... Flash memory, 4 ... ROM, 5 ... RAM, 7 ... Sensor input interface, 8 ... Communication interface, 9 ... Image processor, 10 ... Image memory, 11 ... Sound processor , 13 ... Speaker, 20 ... Current position detection device, 21 ... Absolute orientation sensor, 22 ... Relative orientation sensor, 23 ... Distance sensor, 24 ... Speed sensor, 25 ... GPS receiver, 26 ... Beacon receiver, 27 ... Data transmission / reception Device ... 30 I / O device 33 ... Display 34 ... Touch panel 37 ... Information storage unit 38a ... Disk management information 39 ... Data transmission / reception unit

Claims (1)

In a navigation device that outputs guidance information based on a preset route,
Storage means for storing facility data and road data;
Current position detecting means for detecting the current position of the moving body;
Deviation detection means for detecting whether or not the current position of the moving body has deviated from the route;
A route re-search means for re-searching a route to the destination when the deviation detection means detects that the current position of the moving object has deviated from the route;
A determination means for determining whether the road where the current position of the moving body is based on the road data is an introduction path to a service station or a parking area attached to an expressway;
The route re-search means re-searches the route when the determination means determines that the road on which the current position of the moving object exists is a service station attached to an expressway or an introduction route to a parking area. navigation device according to claim and the prohibition to Turkey.

Images