JP3931776B2 - Vehicle navigation device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle navigation apparatus.
[0002]
[Prior art]
Conventionally, when performing a manual re-search in a vehicle navigation system, when a vehicle deviates from the optimum route, a key for starting a re-search is displayed, and a key operation is performed when the user desires. A re-search can be performed.
[0003]
In addition, when the vehicle is automatically re-searched from the current position after the vehicle deviates from the optimum route, it is automatically detected when the vehicle deviates from the optimum route and is traveling on a guideable road. For example, a search for a route connected to the original route by searching for the periphery or a search for all routes to the destination is performed.
[0004]
In the system for performing the manual re-search, the user may intentionally deviate from the route and finish a little shopping. In addition, the route ahead may be congested or unable to pass due to construction or traffic jams. In that case, there is a case in which the re-search is not performed and the path is partially returned to the original route.
[0005]
[Problems to be solved by the invention]
However, in the conventional manual re-search, when the re-search is performed, if the displayed map is a detailed map, an operation such as switching the map scale is required, which is troublesome.
[0006]
Further, even in a system that automatically performs a peripheral search, it is difficult to determine what kind of route is a new route connected to the original route on a detailed map.
[0007]
The present invention solves the problems of the conventional manual re-search and, when re-search is performed, does not require an operation such as switching the map scale, and how is a new route connected to the original route. An object of the present invention is to provide a vehicle navigation device that can easily determine whether a route is a proper route.
[0008]
[Means for Solving the Problems]
Therefore, in the vehicle navigation apparatus of the present invention, route guidance to the destination is performed according to the searched route.
[0009]
And based on the information memorize | stored in the memory | storage means which memorize | stored map information and the information required in order to perform navigation, the present position detection means which detects the present position of a vehicle, from the present position to the destination A route search means for searching for a route until the route is returned to the guide route based on the detected current position, and the route searched for and the route searched for by the route search means. A route storage means for storing the route, and a map scale for displaying the map at the largest scale that can be displayed on the entire display screen of the guide route and the route searched for the route until returning to the guide route is determined. Map scale determining means, and a route table for performing display processing of a map including a route to return to the guide route by the map scale determined by the map scale determining means Having a processing unit, and a route output instruction means for a user to instruct the output of the path based on the stored route to the route storage unit.
In addition, when the user gives an instruction to output a route, the new route searched for in the vicinity is output and route guidance is performed.
[0013]
In yet another vehicle navigation device of the present invention, route guidance to a destination is performed according to the searched route.
[0014]
And based on the information memorize | stored in the memory | storage means which memorize | stored map information and the information required in order to perform navigation, the present position detection means which detects the present position of a vehicle, from the present position to the destination A route search means for searching for a route until the route is returned to the guide route based on the detected current position, and the route searched for and the route searched for by the route search means. A route storage means for storing the route, and a map scale for displaying the map at the largest scale that can be displayed on the entire display screen of the guide route and the route searched for the route until returning to the guide route is determined. A map scale determining means and a route for displaying a map including a route to return to the guide route by the map scale determined by the map scale determining means. A display processing unit, and a route output instruction means for a user to instruct the output of the path based on the stored route to the route storage unit.
The map scale determined by the map scale determining means is a scale for displaying a map of the current position of the vehicle and the connection points between the guide route and the route searched for in the vicinity. When the user instructs to output a route, the new route searched for in the vicinity is output and route guidance is performed.
[0015]
The map scale determined by the map scale determining means is a scale that can display a map of the current position of the vehicle and the connection points between the guide route and the route searched for in the vicinity.
[0016]
In yet another vehicle navigation device of the present invention, route guidance to a destination is performed according to the searched route.
[0017]
And based on the information memorize | stored in the memory | storage means which memorize | stored map information and the information required in order to perform navigation, the present position detection means which detects the present position of a vehicle, from the present position to the destination A route search means for searching for a route until the route is returned to the guide route based on the detected current position, and the route searched for and the route searched for by the route search means. A route storage means for storing the route, and a map scale for displaying the map at the largest scale that can be displayed on the entire display screen of the guide route and the route searched for the route until returning to the guide route is determined. A map scale determining means and a route for displaying a map including a route to return to the guide route by the map scale determined by the map scale determining means. A display processing unit, and a route output instruction means for a user to instruct the output of the path based on the stored route to the route storage unit.
Further, the map scale determined by the map scale determining means is a map display of the connection point between the guide route and the route searched for the periphery, the guide route to the connection point, and the route searched for the periphery to the connection point. To scale. When the user instructs to output a route, the new route searched for in the vicinity is output and route guidance is performed.
[0018]
Further, the map scale determined by the map scale determining means is a map display of the connection point between the guide route and the route searched for the periphery, the guide route to the connection point, and the route searched for the periphery to the connection point. Scale as much as you can.
[0019]
Still another vehicle navigation apparatus of the present invention further includes route output instruction means for instructing output of the route searched for the vicinity stored in the route storage means.
[0020]
When the route output instruction means gives an instruction to start route guidance based on the route searched for around, the route display processing means outputs the route searched around stored in the route storage means to the output means. Then, route guidance is performed based on the route searched for in the vicinity.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0022]
FIG. 1 is a block diagram showing a system configuration of a vehicle navigation apparatus according to an embodiment of the present invention.
[0023]
In the present embodiment, the vehicle navigation device automatically starts the re-search and the manual re-route function for instructing the re-search by the driver's will when the off-route is detected, and based on the result. In addition, the auto-reroute function that switches the route from the previous guidance route to the re-searched route and performs route guidance is provided.In particular, the auto-reroute function automatically starts route guidance based on the re-search result. The mode includes an auto-reroute / off mode that stores the re-search result, displays the stored re-search result based on the driver's re-search output instruction, and starts route guidance.
[0024]
In FIG. 1, a vehicle navigation device 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 host vehicle, navigation data necessary for calculating a route, a route It comprises an information storage device 3 in which guidance data necessary for guidance is recorded, a central processing unit 4 that performs route search processing and display / voice guidance processing necessary for route guidance, and controls the entire system.
[0025]
The input / output device 1 may input information necessary for destination setting such as a departure point, a destination, and a passing point, or may output guidance information and / or display a screen when guidance is required by the driver. In order to be able to do so, a function of instructing the navigation processing to the central processing unit 4 at the user's will and printing out the processed data, data of data communication, and the like are provided.
[0026]
As a means for realizing the function, the input unit includes a touch switch 11 for inputting an address, a telephone number, coordinates, etc., and requesting route guidance in order to set a destination. Further, the output unit displays the input data on the screen, or the driver's request or the display 12 that automatically displays the route guidance on the screen, the data processed by the central processing unit 4, the data stored in the information storage unit 3, the communication It comprises a printer 13 for printing out data and the like, and a speaker 14 for outputting route guidance by voice.
[0027]
The display 12 is composed of a color CRT, a color liquid crystal display, and the like, and all necessary for navigation such as a destination setting screen, a section diagram screen, and an intersection diagram screen based on map data and guidance data processed by the central processing unit 4. This screen is displayed in color, and keys for setting route guidance, guidance during route guidance, and screen switching operation are displayed on this screen. In addition, the display 12 is provided with a touch switch 11 corresponding to the display of the function keys, and is configured to execute each of the operations based on a signal input by the key touch.
[0028]
The current position detector 2 includes a GPS receiver 21 using a satellite navigation system (GPS), a beacon receiver 22, a car phone, a data transmitter / receiver 23 that receives a GPS correction signal using an FM multiplexed signal, a geomagnetic sensor, and the like. An absolute azimuth sensor 24 constituted by a wheel sensor, a steering sensor, a relative azimuth sensor 25, and a distance sensor 26 for detecting a travel distance from the rotational speed of the wheel. Is detected.
[0029]
The information storage device 3 stores necessary information for route guidance, for example, a map data file storing map information, an intersection data file storing information related to intersections, road types, and road-related information such as start and end points of each road. Road data file, node data file storing east longitude and north latitude coordinates at one point on the road, location coordinates of features according to the purpose of use classified into genres such as gas stations, convenience stores, etc. It is composed of a guide point data file storing guide information and the like.
[0030]
The central processing unit 4 executes a program mounted to realize the functions of the system, performs a CPU 40 for arithmetic processing, a program for performing processing such as route search, display control necessary for route guidance, and voice guidance. Program for performing necessary voice output control, etc., first ROM 41 storing necessary data, route storage means for storing road information (road train data) after route search or re-search, route guidance information, calculation To the second ROM 43 and the display 12 storing the display data necessary for displaying the route guidance and the map display, the RAM 42 as a storage means for temporarily storing data being processed, the memory 42 composed of a nonvolatile memory, etc. An image memory 44 storing image data used for screen display of the image, and an image memo based on a display control signal from the CPU 40 44, the image processor 45 that extracts the image data, performs image processing and outputs the image data to the display 12, and the audio data read from the information storage device 3 based on the audio output control command from the CPU 40 (phrase, one sentence, Sound processor 46 that synthesizes sound, converts it into an analog signal and outputs it to the speaker, communication interface 47 for exchanging input / output data by communication, and sensor input for capturing the sensor signal of the current position detection device 2 It is constituted by an interface 48 and a clock 49 for entering date, time, etc. in internal diagnosis information.
[0031]
The route guidance is configured so that the driver can select either screen display or voice output.
[0032]
This system calculates the estimated position based on various sensor signals and GPS data for detecting the current position, and determines the position on the road by correlating the estimated position with the road on the map and the GPS data. Find the current position. In addition, the system includes a function of determining whether or not the current position is approaching a predetermined guide point with respect to a position on the lane of the own vehicle by illuminating the route to the destination. That is, the function determines the timing of the predetermined distance before the intersection on the guide route, the automatic voice output after the intersection passage determination, and the intersection information display output such as the passing intersection name. Based on the determination result, a guidance command is issued to the image processor 45 and the audio processor 46.
[0033]
When a request signal is input, the voice processor 46 is commanded to provide voice guidance for the current position. The voice guidance of this system synthesizes voice data (phrase, sentence, sound, etc.) read from the information storage device 3, converts it into an analog signal, and outputs it from the voice output unit.
[0034]
The vehicle navigation apparatus is configured by the following means.
[0035]
That is, the destination setting means includes a CPU 40 that executes a program related to the destination setting process stored in the first ROM 41, a touch switch 11 and a display 12 of the input / output device 1 that outputs a destination and outputs a map, and a map. The image processor 45 performs display processing such as display, and input / output processing means including a communication interface 47 for fetching an input signal of a destination from the touch switch 11 into the central processing unit 4. The off-route detection means has a function of detecting that the vehicle has deviated from the guide route based on the current position information and the guide route information of the vehicle, and is configured by the CPU 40 that executes a program related to the off-route detection process stored in the first ROM 41. Is done.
[0036]
The route search means has a function of searching for a route to be guided based on the set starting point (current position of the vehicle) and destination, and a function of re-searching the guide route when an off-route is detected. The CPU 40 executes a program related to route search processing stored in the first ROM 41. The map scale determining means has a function of determining a scale capable of displaying a re-searched route based on the current position information of the vehicle when a deviation from the route is detected, and a display scale determination stored in the first ROM 41 It is comprised by CPU40 which runs the program regarding a process.
The output means has a function of outputting guidance based on the route searched again by the route output instruction when the searched route and the off-route are detected, and relates to the display / audio processing stored in the first ROM 41. The CPU 40 that executes the program, the image processor 45, the sound processor 46, the display 12, the speaker 14, and the like are configured. The route output instructing unit instructs the output of the stored re-searched route, and includes a re-search switch including the touch switch 11.
[0037]
Here, in order to detect a deviation from the route, generally, map matching processing is used as a basis, and various matching conditions are calculated for the searched route, for example, the correlation between the vehicle's travel locus and the road shape is calculated. When the value exceeds the predetermined value, it is determined whether or not the route has been deviated, for example, by deeming it as a route deviating.
[0038]
Next, the road data structure related to the auto reroute function will be described.
[0039]
FIG. 2 is an explanatory diagram of search (guidance) road data in the embodiment of the present invention.
[0040]
The searched road data (guide road data) has a data structure as shown in FIG. The data stores information on roads connected to the roads and information specific to the individual roads. In the data, the start point and end point (intersection, branch point, etc.), and road numbers connected to the start point and end point, respectively, are stored, and information regarding the connection relationship between the roads is stored. Yes. Information such as the length of each road, road attributes (high speed, national highway, prefectural road, etc.), road width, and the like is given as a road characteristic peculiar to the road, and a cost coefficient serving as a reference at the time of search. Further, in connection with the connection information between the roads, guidance unnecessary road information (for example, the road with respect to the road in the figure is a straight road and is a guidance unnecessary road. Information is prohibited, and prohibition information (entry prohibition) is stored, which is one of the costs for determining the optimum route during the search. In addition to the information shown in the figure, the cost can be determined based on whether the turn is right or left (the right turn is more difficult to run, so the coefficient is higher than the left turn). (Turning right and left at a large intersection takes time.) In addition, as road-specific information, shape information may be stored in addition to the length, and the cost may be higher for winding roads.
[0041]
FIG. 3 is an explanatory diagram of guide road data in the embodiment of the present invention.
[0042]
The guide road data is defined for each road by road number, length, road attribute data, shape data address and size, guide data address and size, and the like. The shape data represents the shape of the road by the number of nodes and each node, and each node is defined by the coordinates of east longitude and north latitude. Here, when the intersection angle of the intersecting road is used as the next traveling road information for calculating the remaining display distance to the guidance intersection, the next traveling road is compared to the currently traveling road. Data on the angle of intersection is given to the shape data. The guidance data is defined by intersection name, attention point data, road name, road name voice data address and size, destination data address and size, and the like. The destination data is defined by a destination road number, a destination name, a destination name voice data address and size, destination direction data, travel guidance data, and the like. The destination direction data is defined by invalid, unnecessary, straight ahead, right direction, diagonal right direction, direction returning to the right, left direction, diagonal left direction, direction returning to the left, and the like.
[0043]
When guidance is provided at a branch point, an intersection, or the like, destination data in the guide road data is searched, and guidance content to be output (mainly guidance expression added to a fixed guidance expression) is determined based on the destination data. The destination data is added particularly when the angle difference between a plurality of roads that advance from the branch point is small, such as a branch point where direction determination is difficult only by the angle of the advance direction from the intersection, such as a high-speed exit. It is data.
[0044]
Next, various data constituting the guide road data will be described. Road attribute data is data that represents the physical characteristics of the road, such as elevated, underpass, and number of lanes. Is the presence / absence information of 3 lanes or more, 2 lanes, 1 lane, no center line. In addition, when the road is a branch road with an elevated road, it is assumed to be “next to the elevated road”. The same applies to the tunnel.
[0045]
The road name data is defined by the road type and the type number, and the road type is classified as a general road such as (name) expressway, urban expressway, toll road, national road, and prefectural road. In particular, highways, city highways and toll roads are defined by the main line and the installation. In addition, attachment is a road which connects a general road and the main line, or connects the main line and the main line.
[0046]
Attention point data is data for providing information to call attention to changing road conditions. For example, it is defined by railroad crossings, tunnel entrances, tunnel exits, width reduction points, no attention points, etc. . The travel guidance data is information provided for safely and surely driving the next travel guide when traveling on wide roads, roads with two or more lanes, etc. For example, information such as “from the right” and “from the left” is given as guidance when performing a right turn, a course change in the diagonally right direction, and the like. When passing through an intersection, that is, when traveling straight, information “from the center” is given, and when guidance is not required as in the case of continuing straight running along the road, information “None” is given. It is done.
[0047]
In addition, road data, intersection data, and the like are separately stored as map display data. Further, the map display data may be stored separately for each scale, but a plurality of scales may be displayed using a single data.
[0048]
Next, the concept of the automatic display scale switching function will be described using a display screen.
[0049]
FIG. 4 is a map display screen during route guidance according to the embodiment of the present invention, and is an explanatory diagram of the off-route. FIG. 5 is a screen following FIG. 4 according to the embodiment of the present invention, and the map display after the map scale is changed. FIG. 6 is a screen following FIG. 5 in the embodiment of the present invention, an explanatory diagram of a map display when further away from the original route, and FIG. 7 is a screen following FIG. 6 in the embodiment of the present invention. FIG. 8 is an explanatory diagram of a re-search result in the embodiment of the present invention, FIG. 9 is a screen following FIG. 8 in the embodiment of the present invention, and the map scale is changed. FIG. 10 is an explanatory diagram of a subsequent re-search result, and FIG. 10 is an explanatory diagram of a map display when the re-search switch is pressed in the embodiment of the present invention.
[0050]
In this case, the center of the current position is displayed, and in the destination setting process, automatic re-search (auto-reroute) can be selected on a re-search condition setting screen (not shown). When ON is selected, the system automatically performs a peripheral search when a deviation from the route is detected, and recalculates and displays the route to the guide route. If OFF is selected, the re-search switch 6 is displayed on the screen when the off-route is detected, the off-route is notified, the re-search is executed as an internal process, and the re-searched route is displayed. Store in the route storage means.
[0051]
The route obtained by this internal processing is not immediately displayed. For example, if the route is detected while the auto reroute / off mode is selected, the re-search switch 6 is displayed on the map display screen 5 as shown in FIG. In this state, the re-search is executed by a re-search method (full route search, surrounding search, etc.) preset in the system.
[0052]
On the other hand, if the re-search switch 6 is not pressed, that is, if the vehicle travels in a direction away from the guide route 7, the guide route 7 disappears from the map with the scale at the time of detection of the off-route. Therefore, in the present embodiment, before the guide route 7 becomes a position that is difficult to confirm, the vehicle 8 is switched to a scale that can return to the guide route 7 from the current position based on the result of the re-search. It is possible to see at a glance which direction the vehicle is traveling with respect to the guide route 7.
[0053]
For example, the map display screen 5 in FIG. 4 displays the current position of the vehicle 8 when the vehicle travels a predetermined distance off the guide route 7, and the scale at that time is 1 / 40,000. When traveling continues, the scale is determined from the result of the re-search. In the present embodiment, as shown in FIG. 5, the scale is switched to a figure of 1 / 80,000. When the vehicle further travels, a new scale is determined from the result of the re-search, and display processing is performed at that scale.
[0054]
In the present embodiment, the scale is switched from a figure of 1 / 80,000 to a figure of 1 / 160,000, and the display is switched from FIG. 6 to FIG. The scale is switched in this way, display processing is executed, and the re-searched route is stored in the route storage means.
[0055]
For example, when the re-searched route 7 ′ indicated by the dotted line in FIGS. 8 and 9 is obtained, the display process of the re-searched route 7 ′ is not executed. In FIG. 8 or FIG. 9, when the re-search switch 6 is pressed, a display process of the re-searched route indicated by the dotted line in the figure is performed.
[0056]
As a result, the re-search switch 6 is pushed on the currently displayed map, for example, the map display of FIG. 8, for the new guide route 7A that has joined the previous guide route 7 through the route 7 'searched again from the current position. In such a case, it is displayed as shown in FIG.
[0057]
As described above, when the re-search switch 6 is not pressed, the system performs the peripheral search and stores the re-searched route in the route storage means without performing the display process. This re-search is executed at regular intervals by interrupt processing until the re-search switch 6 is pressed, and the re-searched route stored in the route storage means is updated based on the result. Therefore, when the re-search switch 6 is pressed, the re-searched route is displayed instantaneously.
[0058]
Next, processing of a system having a function of re-searching for an optimum route when the route is off will be described.
[0059]
FIG. 11 is a diagram showing a main flow of route guidance processing from the departure point to the destination in the embodiment of the present invention, FIG. 12 is a flow diagram of route off processing in the embodiment of the present invention, and FIG. FIG. 13 is a flowchart following FIG. 12 in the embodiment.
[0060]
In the process for performing route guidance from setting the destination, the current position (departure point) necessary for the route search is acquired (S1), and the destination setting condition is input on the destination setting screen to set the destination. (S2), a route search is performed (S3). At this time, it is set whether to perform re-search automatically (auto-reroute on) or at the user's will (auto-reroute off). That is, on or off of auto-reroute is set as a re-search condition.
[0061]
After the route search, MODE = 2 is set to indicate the end of the processing, and a predetermined distance from the guide route that is the basis for detecting the off-route is set (S4). When the guidance start key is pressed in the searched route to start route guidance, the position of the host vehicle is measured and the current position is tracked (S5). Next, the distance from the current position to the set route is obtained, and it is determined whether or not the route is off depending on whether the distance exceeds the value (predetermined distance) set in step S4 (S6). When the off-route is detected, off-route processing is executed (S7).
[0062]
In the off-route processing at the time of auto route off, a re-search route to the destination is always calculated and stored in the route storage means. In particular, at the time of auto-reroute off, the determination of the out-of-route determination performed in step S6 is not the determination of the latest route that has been re-searched, but the determination of the search route before the departure from the route.
[0063]
When the route is not deviated, the travel guidance is continuously performed according to the set route (S8). If it is on the route, MODE = 0 is set to indicate it, and the remaining distance from the current position to the destination is obtained (S9), and the destination arrives depending on whether or not the remaining distance is within a predetermined value. (S10). If the remaining distance is equal to or less than the predetermined value, it is determined that the vehicle has arrived at the destination, and the route guidance is terminated. On the other hand, when the remaining distance is not less than or equal to the predetermined value, the process returns to step S5 to track the current location. In addition, the detection of off-route is performed by a timer interrupt process.
[0064]
When the off-route is detected in step S6, the off-route processing shown in FIGS. 12 and 13 is executed.
[0065]
First, selection of the auto-reroute mode is determined (S11). When the auto-reroute mode is on (ON), a re-search process is executed (S12), and then a route display process of the re-searched route is executed. It is displayed (S13).
[0066]
On the other hand, when the auto-reroute mode is off, a re-search process is executed (S14), and then it is determined whether the current position is on the re-searched route (latest route) (S15). When the vehicle further travels after changing the route, that is, when it is not on the latest route, a new re-search is executed (S14). Further, when it is on the latest route, the operation of the re-search switch 6 (FIG. 4) is judged (S16), and when it is not pushed, the map scale changing process (FIG. 24) (S17) described later is performed. Then, the process returns to step S15. When the re-search switch 6 is turned on, it is determined whether or not the currently traveling road is on a guideable road (guide road) (S18). If it is not on a road where guidance is possible, map scale change processing is performed and the process returns to step S15. If it is on a road that can be guided, a route display process is executed and displayed (S19).
[0067]
By processing in this way, when the map scale change is not performed, the route re-searched at the currently displayed map scale and the original route are displayed, and when the map scale change is performed The re-searched route and the original route are displayed at the determined map scale. The guideable road is a road on which a route can be searched, and the road is provided with data different from a display road (such as a local road).
[0068]
Next, the re-search process in step S12 and step S14 will be described.
[0069]
FIG. 14 is a flowchart of a re-search process in the embodiment of the present invention, FIG. 15 is a flowchart of another embodiment of the re-search process in another embodiment of the present invention, and FIG. 16 is an embodiment of the present invention. FIG. 17 is a flowchart of route recalculation processing for all route search in the embodiment of the present invention.
[0070]
As a result of the re-search process, the route display process is immediately executed and displayed on the map screen when the auto-reroute is turned on. On the other hand, when auto-reroute is turned off, the result of the re-search process is stored in the route storage means as an internal process, and the route stored in the route storage means is displayed when the user presses the re-search switch 6 (FIG. 4). Processing is performed.
[0071]
In FIG. 14, when the re-search process is executed, it is first determined whether or not the current position is on a road that can be guided (S20). When MODE = 1 is set to indicate that the vehicle is present and the vehicle returns to a guideable road, a re-search is performed (S21). On the other hand, MODE = 1 in the re-search process when traveling outside the guide road, but after traveling on a guideable road, on the route (MODE = 0) or outside the guide road It is determined whether (MODE = 1) (S22). When MODE = 0 or MODE = 1, the re-search start position is set (S24).
[0072]
If MODE = 0 or not MODE = 1, the re-search process is completed (MODE = 2), and it is determined whether or not the vehicle travels a predetermined distance on a guideable road (S23). . If MODE = 2 and the vehicle is traveling a predetermined distance, the re-search start position is set (S24).
[0073]
Here, the determination of NO in step S23 is, for example, a case where the vehicle travels on a road that can be guided in a direction opposite to the direction of the route after the route search. Even when the vehicle travels in the reverse direction, the re-search can be started after traveling a predetermined distance set in advance.
[0074]
In the re-search start position setting process, for example, the position on the map where the re-search is started is positioned forward by a predetermined distance in the traveling direction of the vehicle. This takes into account that the vehicle is traveling and that the re-search process takes some time. For example, the route obtained by the re-search is a route that must turn right or left immediately, or a route that cannot be dealt with suddenly after the driver presses the re-search switch 6 to display the route is extracted. If the current position is in front of the intersection at the start of the re-search, or if the vehicle has gone straight through the intersection at the end of the re-search, the search result will be the intersection that has passed This reduces the number of situations where a right-left turn is required and a re-search must be executed immediately.
[0075]
When the re-search start position is set, route recalculation is executed (S25), and it is determined whether route output is successful (S26). When the route is obtained by route recalculation (YES in the success of route output), MODE = 2 is set, a predetermined distance is set (S27), and the process ends. If a route cannot be obtained by route recalculation (NO in success of route output), MODE = 3 indicating search failure is set (S28), and the process is terminated. In addition, when a route is not output, it changes with the search programs mounted in a system.
[0076]
For example, when the program is set so as not to output the U-turn route, the search is performed with priority given to the traveling direction of the vehicle 8 at the time when the off-route is detected, but the currently running road is a dead end. Determines that there is no re-search path. In addition, when the distance from the current position to the destination in the re-searched path is larger than a value obtained by multiplying the distance when returning from the current path to the destination by a predetermined multiple, the output of the re-search path is output. It may be impossible. That is, when the result of the re-search does not satisfy a preset condition, output is not possible.
[0077]
On the other hand, in the re-search process of FIG. 15, a re-search is executed, and the re-searched route (the dotted line portion shown in FIG. 8 or FIG. 9) is used as guidance information before the re-search switch 6 is pushed by the driver. Additional display is provided. 14 differs from the re-search process in FIG. 14 in that MODE = 2 and the re-searched route is displayed when traveling a predetermined distance in step S23. Since is the same, the description thereof is omitted.
[0078]
In this case, since the search is completed with MODE = 2, when the vehicle travels a predetermined distance on a guideable road, the previous route, that is, the guide route 7 that was traveling before the off-route is detected is displayed. The map is erased from the map (S29), and the re-searched result is displayed (S30). Here, as a condition for starting the re-search, when it is determined that the vehicle has deviated from the route by the matching process, in the example described above, the vehicle has traveled on a guideable road and traveled a predetermined distance. However, the re-search may be started not on the guide road (from a point on the guide road closest to the current position).
[0079]
In the route recalculation performed in step S25, a peripheral search and a full route search are performed when priority is given to the traveling direction of the vehicle. FIG. 16 shows an example of the peripheral search process.
[0080]
Search data around the vehicle (road data, intersection data, etc.) is read from the information storage device 3 (FIG. 1) (S40). Then, the road train data of the guide route before deviating from the route (hereinafter referred to as “previous guide route”) is acquired from the route storage means constituted by the memory 42 in the central processing unit 4 (S41).
[0081]
The route is defined by a road train obtained by connecting roads between intersections. Here, “acquisition” refers to taking data from the route storage means into the work area of the route search means. Then, the traveling direction and penalty at each intersection are calculated in the direction of returning to the previous guidance route (S42). The penalty is a coefficient determined based on the road type, road length, road width, left / right turn, presence / absence of a signal, traffic regulation, and the like. In addition, when the route is not connected due to entry prohibition, one-way traffic, etc., the penalty is set to “∞” at the time of U-turn or the like. In this vicinity search, a penalty is reset in the direction of returning to the previous guidance route, and an optimum route is searched.
[0082]
Based on the current position information from the current position detection device and the map information from the information storage device 3, the current location road and the traveling direction of the vehicle are acquired (S43). Subsequently, an intersection where the current road is connected in the traveling direction is selected, and a route to return to the previous guidance route is determined based on the traveling direction and penalty to each intersection (S44). The road sequence is re-created using the searched route and the previous previous guide route as the future guide route (S45), and the process is terminated. FIG. 17 shows all route recalculation processing giving priority to the traveling direction. Based on the current position information from the current position detection device 2 and the map information from the information storage device 3, the current location road and traveling direction of the host vehicle are acquired (S50), and the destination road is acquired (S51). -Search data between destinations is read (S52). Next, select the intersection where the current road is connected in the direction of travel, determine the route to the destination based on the direction of travel and the penalty to each intersection (S53), and recreate the road train using that as a guide route (S54), and the process ends.
[0083]
In this embodiment, the re-search can be applied to both the peripheral search and the entire route search. For example, when manually instructing in advance whether to search for surroundings or all routes, a mode switching routine is provided separately, and different re-search programs are used depending on the mode at the time of re-search. In addition to this, as a switching method between the peripheral search and the all-route search, for example, when the re-search switch 6 is operated after detecting the off-route, the first output is the route searched for the peripheral search. Thereafter, if the re-search switch 6 is operated again for a predetermined distance or within a predetermined time, the entire route search may be executed. In this case, both the search route and the search route for all routes are searched and stored in the route storage means, or only the search route for the search is stored and stored in the second re-search switch 6. When there is an operation, all routes may be calculated.
[0084]
Next, display processing by map fixed display will be described. First, the concept of display processing will be described using a display screen.
[0085]
18 is a diagram showing a map display screen at the time of off-route in the embodiment of the present invention, FIG. 19 is a diagram showing a map display screen after changing the map scale in the embodiment of the present invention, and FIG. 20 is an implementation of the present invention. FIG. 21 is a diagram showing a map display screen when approaching an intersection (branch point) after changing the map scale in the form of FIG. 21, FIG. 21 is a screen subsequent to FIG. 20 in the embodiment of the present invention, and a diagram showing an intersection diagram, 22 is an explanatory diagram of a method for determining a map scale capable of displaying a re-searched route in the embodiment of the present invention, and FIG. 23 is an explanatory diagram of an area displayed at the determined map scale in the embodiment of the present invention. .
[0086]
After the departure from the route is detected, the vehicle continues to travel according to the map display shown in FIG. 18, and when it is away from the guide route, it becomes difficult to confirm the guide route at that scale. The scale is switched from the one shown in FIGS. 18 to 19, for example, to confirm the positional relationship of the guide route. When the detail switch is pressed to check the direction in which the course is taken when approaching a branch point while traveling at this scale, a detailed map around the current position is displayed. Further, as a switching method to the detailed map, for example, the switching to the detailed map may be automatically performed when approaching the intersection as in the switching from FIG. 20 to FIG. 21.
[0087]
Furthermore, the scale after passing through the intersection can be appropriately selected by leaving the scale after switching as it is or automatically switching to the original scale. The map scale is determined by the relationship between the initial search route, the current position, and the peripheral search route.
[0088]
As shown in FIG. 22, when the route is deviated from the initial search route indicated by the thick solid line, the current position is at the coordinates (X, Y), and the peripheral search route indicated by the dotted line is obtained as a result of the re-search. When the area including the initial search route, the current position and the peripheral search route is expressed in coordinates, the east longitude coordinate minimum value Emin and the east longitude coordinate maximum value Emax in the X direction, and the north latitude coordinate minimum value Nmin and the north latitude coordinate maximum value in the Y direction Nmax is obtained. When this area is displayed on the screen, Xmax and Ymax are set slightly smaller than the display screen area as shown in FIG.
[0089]
Next, map scale change processing will be described.
[0090]
FIG. 24 is a flowchart of map scale change processing in the embodiment of the present invention, and FIG. 25 is a flowchart of map scale determination processing in the embodiment of the present invention.
[0091]
First, in FIG. 24, when the map scale changing process is executed, route data (up to the connection point of the original route) is obtained (S60), and the maximum value is obtained from the coordinates (east longitude, north latitude) of the route data. And the minimum value (Emax, Emin, Nmax, Nmin) is acquired (S61). Based on the coordinates (X, Y) of the current position and the maximum and minimum values of the route data, a map scale on which the entire route searched for the periphery is displayed is determined (S62). A map is displayed with the determined scale (S63), and the process is terminated.
[0092]
The map scale determination process in step S62 will be described with reference to FIG. 25. First, the larger one of | X-Emin | and | X-Emax | is acquired (E) (S70). Next, the larger value of | Y−Emin | and | Y−Emax | is acquired (N) (S71). Then, the maximum scale is selected when E ≦ Xmax and N ≦ Ymax (S72), and the process is terminated.
[0093]
Another example of the off-route processing will be described with reference to FIGS.
[0094]
FIG. 26 is a flowchart for explaining another example of the off-route processing in the embodiment of the present invention, and FIG. 27 is a diagram for explaining another example of the map scale change processing in the embodiment of the present invention. FIG. 28 is a flowchart for explaining another example of other map scale change processing in the embodiment of the present invention, and FIG. 29 is the original route after the map scale change in the embodiment of the present invention. FIG. 30 is a diagram showing a map display screen in which the original route enters the screen by shifting the map display position of FIG. 29 in the embodiment of the present invention, and FIG. The figure which shows the map display screen which displayed the position where the re-searched path | route in embodiment of invention connects to the original path | route, FIG. 32 is during the map display by the map scale change after re-searching in embodiment of this invention. , Original route Is a diagram showing a map display screen that was displayed that marks the direction of the target area.
[0095]
In FIG. 26, when the off-route is detected, the vicinity search is executed (S80), and it is determined whether or not the current position of the vehicle is on the re-searched route (latest route) (S81). If not, the process returns to step S80 and the surrounding search is performed again. When it is on the latest route, the operation of the re-search switch 6 (FIG. 4) is judged (S82), and when the operation of the re-search switch 6 is turned on, the route display processing is performed based on the latest route ( S83), the guidance route is displayed.
[0096]
When the re-search switch 6 is not pressed, that is, when the vehicle continues to travel on the latest route, it may gradually move away from the original route. Considering such a situation, when the re-search switch 6 is not pressed, the map scale changing process is executed (S84). Thereafter, it is determined whether or not it is on the latest route (S81). By repeating this process until the re-search switch 6 is pressed, the entire route searched for in the vicinity can be displayed when the re-search switch 6 is pressed.
[0097]
Next, the map scale changing process will be described with reference to FIG. 27. The route data (up to the connection point of the original guide route) is obtained (S85) based on the search result, and the east longitude and north latitude coordinates of the node data of this route data are obtained. Obtain (S86). Based on the coordinate data, it is determined whether all the coordinates are within the area of the currently displayed map (S87). When all of the coordinates are not within the area, that is, when there is even one coordinate outside the area, the map scale determination process shown in FIG. 25 is executed (S88). When the map scale is determined by executing YES in step S87 (the coordinates are all within the area) and executing the map scale determination process, the process exits from this routine and continues to step S81 in FIG.
[0098]
Another embodiment of the map scale changing process will be described with reference to FIG. In this case, it is determined whether or not the node coordinates of the re-search path are in the currently displayed map. If the node coordinates of the re-search path are not in the currently displayed map, the map scale is increased in order. The map is then displayed at the most detailed map scale that contains all four coordinates. First, route data (up to the connection point of the original guide route) is obtained (S90), the map scale currently being displayed is obtained (S91), and the maximum and minimum values for the coordinates of east longitude and north latitude are obtained. (Emax, Emin, Nmax, Nmin) are acquired (S92). It is determined whether all the maximum and minimum values (Emax, Emin, Nmax, Nmin) are within the screen based on the currently displayed map scale (S93).
[0099]
When the maximum value / minimum value (Emax, Emin, Nmax, Nmin) are all within the screen, map display processing is performed at the current scale (S94). On the other hand, if any of the maximum value / minimum value (Emax, Emin, Nmax, Nmin) is not on the screen, the map scale is switched to the one-step wide-area map scale, and the processes of steps S91 to S93 are performed again. By repeating this process until the maximum and minimum values (Emax, Emin, Nmax, Nmin) all enter the screen, it is possible to display a detailed map at a scale including four coordinates.
[0100]
If the map scale is determined based on only the re-search route, the original guide route may protrude from the screen as shown in FIG. 29. For example, the re-searched route and the two points connected to the original route By determining the map scale in consideration of the intervening routes, the re-searched route and the original route fit on the screen as shown in FIG.
[0101]
As described above, in this embodiment, the present invention relates to a vehicle navigation apparatus that guides a route to a destination. Specifically, a re-search is always performed when the route is off, and the re-searched route is stored. A function to immediately display a necessary route in response to a user's re-search request and a function to switch to a scale that can display road information for returning to the original route when the route is deviated. Have.
[0102]
Therefore, when driving off the route is performed by automatically switching the map display according to the map scale that can display the entire re-search route determined by the map scale determining means when a route deviation is detected. Since the map display is automatically performed at a scale including the original route, information from the point where the route deviates from the route to the point where the original route is returned can be obtained quickly and easily.
[0103]
In addition, when route output instruction means is provided, route guidance based on a route re-searched at an arbitrary place can be started by the driver's will from the relationship between the road that is currently running and the original guide route. it can.
[0104]
Further, when the route display processing means has a current position center display function or a map fixed display function and outputs a route re-searched with the map scale determined by the map scale determination means, the largest re-searched route can be displayed. Can be displayed at scale.
[0105]
Then, in the map display before outputting the route re-searched by the map scale determined by the map scale determining means, the route display processing means adds the guidance information by the re-searched route during the map display. Information for returning to the original route can be clearly obtained.
[0106]
In other embodiments, any one of the following configurations or a combination thereof may be employed.
(1) As an additional display of guidance information, as shown in FIG. 31, the connection point between the re-searched route (not displayed) and the original guidance route is displayed in an easy-to-understand manner, or shown in FIG. In this way, an arrow indicating the direction of the destination is displayed in the route on the currently displayed map.
(2) As another example of additional display of guidance information, the re-searched route (dotted line part) is displayed as a dotted line as shown in FIGS. 8 and 9 (route guidance such as voice guidance is not performed) or re-searched. An arrow is displayed on the route and the guidance is simplified.
(3) Generate a caution sound to call attention when automatically switching the scale.
(4) Although the current position center display is switched to the fixed map display in FIGS. 18 and 19, the map scale can be switched with the current position center display.
(5) A re-search is executed after the route is deviated, and the re-searched route (the dotted line portion shown in FIG. 8 or FIG. 9) is displayed as a reference route before the re-search switch 6 is pushed by the driver. May be. However, the original guidance route remains displayed, and route guidance based on the route indicated by the dotted line is not performed.
[0107]
In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.
[0108]
【The invention's effect】
As described above in detail, according to the present invention, a map scale for displaying a map at the largest scale that can fit only the entire route searched for around the display screen is determined, and the route searched for by the route search means Since display processing is performed, it is easy to determine what kind of route is the new route connected to the original guide route without requiring an operation such as switching the map scale when performing a peripheral search. be able to.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a system configuration of a vehicle navigation apparatus according to an embodiment of the present invention.
FIG. 2 is an explanatory diagram of search (guidance) road data according to the embodiment of the present invention.
FIG. 3 is an explanatory diagram of guide road data according to the embodiment of the present invention.
FIG. 4 is an explanatory diagram of a deviation from the route on the map display screen during route guidance according to the embodiment of the present invention.
FIG. 5 is an explanatory diagram of a map display after changing the map scale on the screen following FIG. 4 in the embodiment of the present invention.
FIG. 6 is an explanatory diagram of a map display when the screen is further away from the original route on the screen following FIG. 5 in the embodiment of the present invention.
FIG. 7 is an explanatory diagram of a map display after changing the map scale on the screen following FIG. 6 in the embodiment of the present invention.
FIG. 8 is an explanatory diagram of a re-search result in the embodiment of the present invention.
FIG. 9 is an explanatory diagram of a re-search result after changing the map scale on the screen following FIG. 8 in the embodiment of the present invention;
FIG. 10 is an explanatory diagram of a map display when the re-search switch is pressed according to the embodiment of the present invention.
FIG. 11 is a diagram showing a main flow of route guidance processing from a departure point to a destination according to the embodiment of the present invention.
FIG. 12 is a flowchart of a deroute process according to the embodiment of the present invention.
FIG. 13 is a flowchart following FIG. 12 in the embodiment of the present invention.
FIG. 14 is a flowchart of re-search processing in the embodiment of the present invention.
FIG. 15 is a flowchart of another embodiment of the re-search process in another embodiment of the present invention.
FIG. 16 is a flowchart of route recalculation processing for neighborhood search in the embodiment of the present invention.
FIG. 17 is a flowchart of route recalculation processing for all route search in the embodiment of the present invention.
FIG. 18 is a diagram showing a map display screen at the time of off-route in the embodiment of the present invention.
FIG. 19 is a diagram showing a map display screen after changing the map scale according to the embodiment of the present invention.
FIG. 20 is a diagram showing a map display screen when approaching an intersection (branch point) after changing the map scale according to the embodiment of the present invention.
FIG. 21 is a diagram showing an intersection diagram on the screen following FIG. 20 in the embodiment of the present invention.
FIG. 22 is an explanatory diagram of a method for determining a map scale capable of displaying a re-searched route in the embodiment of the present invention.
FIG. 23 is an explanatory diagram of areas displayed at a determined map scale according to the embodiment of the present invention.
FIG. 24 is a flowchart of map scale change processing according to the embodiment of the present invention.
FIG. 25 is a flowchart of map scale determination processing in the embodiment of the present invention.
FIG. 26 is a flowchart for explaining another example of the off-route processing in the embodiment of the present invention;
FIG. 27 is a flowchart for explaining another example of the map scale change processing in the embodiment of the present invention.
FIG. 28 is a flowchart for explaining another example of other map scale change processing according to the embodiment of the present invention.
FIG. 29 is an explanatory diagram when the original route protrudes from the screen after changing the map scale according to the embodiment of the present invention.
30 is a diagram showing a map display screen that is corrected so that the original route enters the screen by shifting the map display position of FIG. 29 in the embodiment of the present invention.
FIG. 31 is a diagram showing a map display screen displaying a position where a re-searched route is connected to the original route in the embodiment of the present invention.
FIG. 32 is a diagram showing a map display screen on which a destination direction of an original route is displayed during map display by map scale change after re-search in the embodiment of the present invention.
[Explanation of symbols]
1 I / O device
2 Current position detection device
3 Information storage device
4 Central processing unit
6 Re-search switch
12 display
14 Speaker
40 CPU
45 Image processor
46 voice processor
47 Communication interface

Claims (3)

In a vehicle navigation apparatus that provides route guidance to a destination according to a searched route, storage means for storing map information and information necessary for navigation, current position detection means for detecting the current position of the vehicle, A route search for searching for a guide route from the current position to the destination based on the information stored in the storage unit, and then searching for a route until returning to the guide route based on the detected current position Means, route storage means for storing the guide route searched by the route search means and the route searched for the periphery, and only the entire route until returning to the guide route among the guide route and the route searched for the periphery Is determined by the map scale determining means for determining the map scale for displaying the map at the largest scale that can be displayed on the display screen. The FIG scale, and rows Cormorant route display processing means processing for displaying a map including a route to return to the guide route, a user for instructing the output of the route based on the stored route before Symbol route storage means used which has a route output instruction unit, when the output of the route has been instructed by the user, the peripheral probe search has been a new route is output, a vehicle navigation system, wherein the route guidance is performed. In a vehicle navigation apparatus that provides route guidance to a destination according to a searched route, storage means for storing map information and information necessary for navigation, current position detection means for detecting the current position of the vehicle, A route search for searching for a guide route from the current position to the destination based on the information stored in the storage unit, and then searching for a route until returning to the guide route based on the detected current position Means, route storage means for storing the guide route searched by the route search means and the route searched for the periphery, and only the entire route until returning to the guide route among the guide route and the route searched for the periphery Is determined by the map scale determining means for determining the map scale for displaying the map at the largest scale that can be displayed on the display screen. The FIG scale, for instructing the output of the and line Cormorant route display processing means processing for displaying a map including a route to return to the guide route based on the route used for person previously stored SL route storage means path which has a route output instruction unit, wherein the map scale that is determined by the map scale determining unit, the current position of the vehicle, and the connection point of the guidance route and the surrounding searched route Ri scale der Show map when the output of the path is instructed by a user, said output peripheral searched new route, is performed route guidance vehicle navigation apparatus according to claim Rukoto. In a vehicle navigation apparatus that provides route guidance to a destination according to a searched route, storage means for storing map information and information necessary for navigation, current position detection means for detecting the current position of the vehicle, A route search for searching for a guide route from the current position to the destination based on the information stored in the storage unit, and then searching for a route until returning to the guide route based on the detected current position Means, route storage means for storing the guide route searched by the route search means and the route searched for the periphery, and only the entire route until returning to the guide route among the guide route and the route searched for the periphery Is determined by the map scale determining means for determining the map scale for displaying the map at the largest scale that can be displayed on the display screen. The FIG scale, for instructing the output of the and line Cormorant route display processing means processing for displaying a map including a route to return to the guide route based on the route used for person previously stored SL route storage means path The map scale determined by the map scale determining means includes a connection point between the guide route and the route searched for in the vicinity, a guide route to the connection point, and the connection point. the peripheral route searched Ri scale der Show map when the output of the path is instructed by a user, said peripheral searched new route is output, and wherein the Rukoto is performed route guidance Vehicle navigation device.

Images