JP4030809B2 - Route search apparatus and program - Google Patents

Route search apparatus and program Download PDF

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Publication number
JP4030809B2
JP4030809B2 JP2002183397A JP2002183397A JP4030809B2 JP 4030809 B2 JP4030809 B2 JP 4030809B2 JP 2002183397 A JP2002183397 A JP 2002183397A JP 2002183397 A JP2002183397 A JP 2002183397A JP 4030809 B2 JP4030809 B2 JP 4030809B2
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Japan
Prior art keywords
route
road
operation
waypoint
processing unit
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JP2004028703A (en
Inventor
哲生 上川
光生 下谷
良彦 宇津井
健一 小川
勉 松原
正春 梅津
健太 河原
篤 河野
鈴木  忠
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三菱電機株式会社
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Description

[0001]
BACKGROUND OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route search device that functions as a navigation device for searching for a guide route to be traveled by a vehicle, and in particular, a route search device and program for calculating a desired guide route from a trajectory instructed with respect to a map image displayed on a display. It is about.
[0002]
[Prior art]
A conventional route search apparatus calculates a plurality of route candidates that connect a destination point designated by a user and a vehicle position (departure point). After that, the names of the roads included in these route candidates, or data that classifies them into road types (for example, elevated roads, underground roads, highways, national roads, general roads, toll roads, etc.) are displayed on the screen in a list format. To do. Here, the user selects a road that matches the desired route and the road type from the information related to the route candidate displayed on the screen, and finally determines the desired route based on this. . An example of such a route search apparatus is disclosed in JP-A-11-23307.
[0003]
[Problems to be solved by the invention]
Since the conventional route search apparatus is configured as described above, the correspondence between the information related to the route candidate presented to the user and the actual road is not clear, and the route determination that matches the user's preference is made. There was a problem that it was difficult to do.
[0004]
The above problem will be specifically described.
In general, users often do not have knowledge of roads or road types. Also, in an area that has not been visited, it is difficult to determine what route is actually guided by the road corresponding to the selected route information. For this reason, when the user determines a route that matches his / her preference, it is impossible to determine whether or not the route is a desired route based only on the information related to the route candidate presented by the route search device. Eventually, it is necessary to determine whether the route is a desired route based on the route displayed on the map screen.
[0005]
The present invention has been made to solve the above-described problems. By calculating a desired guidance route from a trajectory instructed with respect to a map image displayed on a display, road attribute designation / selection, road It is an object of the present invention to provide a route search apparatus and program capable of determining a route that matches a user's preference without performing complicated operations such as designation / selection of names and specification / selection of search conditions.
[0006]
[Means for Solving the Problems]
  A route search device according to the present invention includes a locus detection unit that detects a locus according to a desired route designated with respect to a map image displayed on a display device, and a locus detected by the locus detection unit on the map image. Desired using a route setting unit that converts to a route group represented by multiple coordinate points, and road information that expresses each route in the road network on the route point group and the map image as a road link that connects nodes A route calculation processing unit that calculates a guidance route according to the route ofWhen the route calculation processing unit calculates the guidance route, the route setting unit determines whether there is a road link intersection node having a common attribute in the vicinity of each waypoint in the guidance route, and the intersection node exists. If you do, set the intersection as a new waypointIs.
[0007]
  A route search device according to the present invention includes a locus detection unit that detects a locus according to a desired route designated with respect to a map image displayed on a display device, and a locus detected by the locus detection unit. A route setting unit that converts nodes of each line segment into route points represented by coordinate points on the map image, and roads that connect the route points and roads in the road network on the map image between the nodes A route calculation processing unit that calculates a guidance route according to a desired route using road information expressed as a linkWhen the route calculation processing unit calculates the guidance route, the route setting unit determines whether there is a road link intersection node having a common attribute in the vicinity of each waypoint in the guidance route, and the intersection node exists. If you do, set the intersection as a new waypointIs.
[0009]
In the route search device according to the present invention, the route setting unit determines whether or not an intersection node exists in a predetermined area, and if it exists in the region, the intersection node is set as a new waypoint. .
[0010]
  The route search device according to the present invention is:A trajectory detection unit that detects a trajectory according to a desired route instructed with respect to the map image displayed on the display device, and a transit point that represents the trajectory detected by the trajectory detection unit by a plurality of coordinate points on the map image Using the route setting unit that converts to a group, and road information that expresses each road in the road network on the route point group and map image as a road link that connects the nodes, calculates the guidance route according to the desired route A route calculation processing unit thatThe route setting unit determines whether or not there is a redundant link that is a road link that requires multiple passes in the vicinity of the waypoint. If a redundant link exists, it passes through the node of the redundant link once. The waypoints are reset so that the route becomes a route.
  A route search device according to the present invention includes a locus detection unit that detects a locus according to a desired route designated with respect to a map image displayed on a display device, and a locus detected by the locus detection unit. A route setting unit that converts nodes of each line segment into route points represented by coordinate points on the map image, and roads that connect the route points and roads in the road network on the map image between the nodes A route calculation processing unit that calculates a guidance route according to a desired route using road information expressed as a link, and there is an overlapping use link that is a road link that requires a plurality of passes near the waypoint The route setting unit determines whether or not there is a duplicate use link, and if there is a duplicate use link, the route point is reset so that the route passes through the node of the duplicate use link once.
[0011]
  The route search device according to the present invention is:A trajectory detection unit that detects a trajectory according to a desired route instructed with respect to the map image displayed on the display device, and a transit point that represents the trajectory detected by the trajectory detection unit by a plurality of coordinate points on the map image Using the route setting unit that converts to a group, and road information that expresses each road in the road network on the route point group and map image as a road link that connects the nodes, calculates the guidance route according to the desired route A route calculation processing unit thatWhen the route setting unit has a road link with a predetermined attribute in the vicinity of the route point, a new route point is set on the road link, and the route calculation processing unit is newly set by the route setting unit. The guide route according to the desired route is calculated using the point.
  A route search device according to the present invention includes a locus detection unit that detects a locus according to a desired route designated with respect to a map image displayed on a display device, and a locus detected by the locus detection unit. A route setting unit that converts nodes of each line segment into route points represented by coordinate points on the map image, and roads that connect the route points and roads in the road network on the map image between the nodes A route calculation processing unit that calculates a guidance route according to a desired route using road information expressed as a link, and when the route setting unit has a road link with a predetermined attribute in the vicinity of the waypoint, A new waypoint is set on the road link, and the route calculation processing unit calculates a guidance route according to a desired route using the waypoint newly set by the route setting unit.
[0012]
In the route search device according to the present invention, the route setting unit uses a different symbol to indicate a waypoint obtained from a locus corresponding to a desired route and a waypoint newly set in place of the waypoint on a map image. Is displayed.
[0013]
In the route search device according to the present invention, the route setting unit uses either the waypoint obtained from the trajectory corresponding to the desired route and the waypoint newly set in place of the waypoint and / or one of the symbols. Whether or not display is possible can be set as appropriate.
[0014]
  The program according to the present invention causes a computer to function as the route search device.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described below.
Embodiment 1 FIG.
FIG. 1 is a diagram showing the configuration of a route search apparatus according to Embodiment 1 of the present invention. In the figure, reference numeral 1 denotes a central processing unit, which is embodied by a CPU of a computer device functioning as a route search device of the present invention and its peripheral circuits. An input / output processing unit (trajectory detection unit) 1a processes information exchanged with the input / output device 2. Information input by a user using, for example, the touch panel 2b or the remote controller 2c is displayed on the map display unit 1c. Cooperate to display on display 2a or temporarily store in RAM 1g.
[0021]
1b is a positioning processing unit that performs positioning processing in cooperation with the current position detection device 3, and determines the vehicle position based on information from the GPS receiver 3a, the speed sensor 3b, and the relative direction sensor 3c, It is sent to the route calculation processing unit 1e. Reference numeral 1c denotes a map display unit that manages the display screen of the display 2a, and manages, for example, latitude / longitude coordinates and normalized coordinates for associating a map on the display screen with an actual map.
[0022]
Reference numeral 1d denotes a route setting unit, which is necessary for route setting from the coordinate information input by the user via the input / output device 2 to the map display screen or the digitized map information stored in the map information storage device 4. Ask for information. Reference numeral 1e denotes a route calculation processing unit that calculates a route that matches the setting contents of the user based on information from the positioning processing unit 1b and the route setting unit 1d. 1f is a route guidance unit that generates guidance information along the route calculated by the route calculation processing unit 1e (for example, a left / right turn instruction at an intersection / branch, etc.). The guidance information consisting of is presented to the user via the display 2a, the speaker 2d, or the like. The input / output processing unit 1a, the positioning processing unit 1b, the map display unit 1c, the route setting unit 1d, the route calculation processing unit 1e, and the route guidance unit 1f are embodied by programs that execute respective processes.
[0023]
Reference numeral 1g denotes a RAM built in the central processing unit 1, which is a rewritable memory that temporarily stores numerical map data stored in the map information storage device 4, coordinate values set by the user, and the like. It is memory. Reference numeral 1h denotes a flash memory built in the central processing unit 1, which is a rewritable nonvolatile memory that stores the above-described program semi-permanently. Reference numeral 2 denotes an input / output device that relays the exchange of information between the user and the central processing unit 1, a display 2 a for displaying a map screen, and a user for inputting coordinate information on the map screen. The touch panel 2b includes a remote controller 2c for inputting user setting information and a speaker 2d for outputting guidance information by voice.
[0024]
Reference numeral 3 denotes a current position detection device that detects information related to the current position of a vehicle driven by a user, and includes a GPS receiver 3a using a satellite navigation system, a speed sensor 3b, and a relative direction sensor that calculates the direction of the vehicle. 3c or the like is used. Reference numeral 4 denotes a map information storage device for storing map information to be displayed on the display 2a, and stores a hard disk device, a CD-ROM, a DVD, or the like that is standardly installed in a computer device functioning as a route search device of the present invention. It is embodied by a drive device using a medium.
[0025]
2 is a diagram showing a map display screen displayed on the display in FIG. 1. FIG. 2A shows an operation locus input by a user, and FIG. 2B shows a route obtained from the operation locus in FIG. The point group is shown. In the figure, 2A is a map display screen displayed on the display 2a in FIG. Reference numeral 5 denotes an operation point input by the user on the map screen displayed on the display 2a, which is input as information along a desired route by the touch panel 2b, for example. In the example shown to (a), it is shown by the pointing mark showing the input by the touch panel 2b.
[0026]
In addition to the method of using the touch panel 2b installed on the display 2a, the remote controller 2c can be used for inputting the operation point. 5a is an operation locus corresponding to a route desired by the user, and is formed by continuously inputting the operation point 5 using the touch panel 2b. Reference numeral 5b denotes a waypoint, which corresponds to the operation point 5 constituting the operation locus 5a extracted at predetermined intervals and converted into a coordinate value on the map.
[0027]
FIG. 3 is a diagram showing a screen displayed on the display of the route search apparatus in FIG. In the figure, 2e-1 is a display button for the current location for displaying an area where the vehicle is located on the map display screen 2A, and is selected (pressed) using the touch panel 2b or the remote controller 2c, thereby positioning processing unit 1b. The vehicle position information from is reflected on the map display screen 2A. 2e-2 is a menu button for appropriately switching between a setting screen for setting information necessary for route search and a map display screen 2A. The operation mode for displaying the setting screen is a route setting mode, and an operation mode for displaying a map. Is the map display mode. Reference numeral 2e-3 denotes an enlargement / reduction button for changing the scale of the map display screen 2A. When selected (pressed), the map display unit 1c is activated to enlarge or reduce the map.
[0028]
2f-1 is a destination setting (facility) button constituting the setting screen, and is used when an arbitrary facility is set as the destination. 2f-2 is a destination setting (screen) button for selecting the operation mode of the route search apparatus according to the first embodiment, and a destination setting process necessary for searching for a route desired by the user when selected (pressed). Migrate to Reference numeral 2f-3 denotes a route setting (screen) button for selecting the operation mode of the route search apparatus of the first embodiment. By selecting (pressing), an operation point 5 (operation locus) necessary for searching for a route desired by the user. The process proceeds to the setting process 5a). In addition, the same code | symbol is attached | subjected to the same component as FIG. 1, and the overlapping description is abbreviate | omitted.
[0029]
Next, the operation will be described.
FIG. 4 is a flowchart showing the operation of the route search apparatus in FIG. 1, and the route search processing will be described in detail with reference to this figure.
In the route search apparatus according to the first embodiment, as shown in FIG. 3, operation buttons that can be selected using the touch panel 2b and the remote controller 2c are provided. For example, when the current location display button 2e-1 is selected, the fact that the button 2e-1 has been selected is transmitted from the input / output processing unit 1a to the positioning processing unit 1b. Thereafter, the positioning processing unit 1b acquires information on the vehicle position in cooperation with the current position detection device 3, and outputs the information to the map display unit 1c.
[0030]
In the map display unit 1c, information on the vehicle position obtained from the positioning processing unit 1b is converted into coordinate values on the map display screen 2A, and the information is displayed on the display 2a through the input / output processing unit 1a as shown in the left diagram of FIG. Display. At this time, by selecting the enlargement / reduction button 2e-3, the area where the vehicle is located on the map display screen 2A is enlarged or reduced by the map display unit 1c, and the relationship with the entire map is displayed. Can do.
[0031]
Here, when the user selects the menu button 2e-2 using the touch panel 2b or the remote controller 2c, the input / output processing unit 1a displays a menu screen for route setting as shown in the right diagram of FIG. 3 on the display 2a. Let The user sets information necessary for searching for a desired route according to the menu screen. For example, when the destination setting (facility) button 2f-1 is selected, the input / output processing unit 1a reads information on typical facilities stored in the map information storage device 4, and displays the names of these facilities in a list format. The screen to be displayed is displayed on the display 2a. The user can easily set the destination by appropriately selecting the facilities listed in this list.
[0032]
When the destination setting (screen) button 2f-2 is selected, the input / output processing unit 1a shifts to a state in which the user waits for an arbitrary point on the map display screen 2A to be selected as the destination. To do. Here, when an arbitrary point on the map display screen 2A is selected by the user as a destination, information on the destination (for example, coordinate values on the map display screen 2A) is obtained from the input / output processing unit 1a. Temporarily stored in the RAM 1g. This information is used for route search in the route setting mode.
[0033]
Next, a case where the user selects the route setting (screen) button 2f-3 in the menu screen using the touch panel 2b or the remote controller 2c will be described.
First, when the user selects the route setting (screen) button 2f-3 in the menu screen, the input / output processing unit 1a is notified that the button 2f-3 has been selected. Thereby, in the route search device, the route setting mode is activated (step ST1). Specifically, when the route setting mode is entered, the input / output processing unit 1a causes the map display unit 1c to display a map display screen 2A indicating the vehicle position on the display 2a. At this time, the input / output processing unit 1a shifts to a waiting state in which the operation point 5 is input to the map display screen 2A (specifically, the coordinates of the operation point 5 are continuously input).
[0034]
The operation for shifting to the route setting mode is not limited to the operation of deriving the menu screen from the menu button 2e-2 and selecting the route setting (screen) button 2f-3 for performing the route setting operation. For example, the route setting mode may be activated using another method of explicitly instructing the route search device, such as an utterance instruction by the voice recognition function or an operation on the screen as a starting point.
[0035]
Here, the input / output processing unit 1a shifts to a waiting state for the input of the operation point 5 by the user, that is, a waiting state for detecting an operation input (step ST2). Thereafter, the user inputs an operation locus 5a corresponding to a desired route on the map display screen 2A by continuous input of the operation point 5 using the touch panel 2b or the remote controller 2c.
[0036]
When the input of the operation point 5 is performed by the user, the input / output processing unit 1a detects the position of the operation point 5 on the display 2a screen (step ST3). Subsequently, the input / output processing unit 1a converts the detected position of the operation point 5 into a coordinate value in a two-dimensional coordinate system on the display 2a screen, and temporarily stores the coordinate value in the RAM 1g (step ST4).
[0037]
Next, in order to input the user's operation trajectory 5a as a point sequence (display coordinate sequence) of the coordinate values of the operation point 5, the input / output processing unit 1a executes the acquisition of the operation position at predetermined intervals. Wait for time. That is, the input / output processing unit 1a performs time measurement until a predetermined time elapses after temporarily storing the previous coordinate value in the RAM 1g. On the other hand, if the predetermined time has elapsed, the process proceeds to step ST6.
[0038]
In step ST6, the input / output processing unit 1a determines whether the user's operation is completed. At this time, if the user's operation is not finished, the process returns to the process of step ST3 to detect the position of the operation point 5 input by the user on the display 2a screen. The subsequent processing is as described above. For example, various methods such as a distance from the previous input coordinate value, a release of pressing the touch panel 2b (release a finger), an instruction by voice, and a press of an end button can be considered for determining the end of the user's operation input.
[0039]
Here, in order to execute the acquisition of the operation position at every predetermined interval, in step ST5, a method of acquiring the coordinate value every time a predetermined time has elapsed (fixed time interval input) is shown. A method as described later may be used.
[0040]
FIG. 5 is an explanatory diagram for explaining a method of acquiring an operation position by the input / output processing unit in FIG. 1, in which (a) shows a map display screen divided into predetermined areas, and (b) shows an operation locus and map display. A screen is shown, and (c) shows a broken line locus corresponding to the operation locus. FIG. 5 is a diagram for explaining the fixed position interval input. In this fixed position interval input, for example, as shown in (a), the map display screen 2A is divided into predetermined areas 2B of the same size. In addition, a representative point (generally, the center position) 2C is set in each predetermined area 2B.
[0041]
When the user inputs an operation locus 5a on the map display screen 2A, each region 2D including the operation locus 5a is selected as shown in (b). When the region 2D including the operation locus 5a is selected, the input / output processing unit 1a acquires the representative point 2C as the operation point 5 to be set as the waypoint 5b group in step ST3, as shown in (c). . That is, the input / output processing unit 1a approximates the operation locus 5a as a broken line locus 5c in which the representative points 2C are connected by a line segment.
[0042]
6A and 6B are explanatory diagrams for explaining another method of acquiring the operation position by the input / output processing unit in FIG. 1, in which FIG. 6A shows an operation locus in which an operation point is determined for each predetermined area, and FIG. A broken line locus corresponding to the locus is shown. FIG. 6 is a diagram for explaining the fixed operation interval input. In this constant operation interval input, an operation point is acquired when the input operation position fluctuates beyond a predetermined operation position range. In (a), with respect to the operation trajectory 5a, a circle 2E having a radius R centered on the operation start point S is set as a predetermined operation position range, and a point on the operation trajectory 5a where the circle 2E intersects is centered. Find circle 2E. Thereafter, the circle 2E having the radius R is obtained up to the operation end point G with the point on the operation locus 5a where the circle 2E intersects as the center.
[0043]
In this way, the input / output processing unit 1a can acquire the operation point 5 every time the predetermined operation position range is exceeded, as shown in (b), in step ST3. That is, the input / output processing unit 1a approximates the operation locus 5a as a broken line locus 5c in which the operation points 5 are connected by line segments. In both cases shown in FIG. 5 and FIG. 6, the predetermined value takes into account various factors such as the average operation input speed, path calculation accuracy, calculation amount, and influence on other operations of the apparatus. Determined experimentally or trial and error.
[0044]
FIG. 7 is an explanatory diagram for explaining still another method for acquiring the operation position by the input / output processing unit in FIG. 1, wherein (a) shows an operation locus in which an operation point is determined for each predetermined angle from the tangent line, and (b) ) Indicates a broken line locus corresponding to the operation locus. FIG. 7 is a diagram for explaining the constant angle interval input. In this constant angle interval input, a position at a predetermined angle θ from a tangent to the operation locus 5a is acquired as an operation point. In (a), a tangent is obtained from the operation start point S with respect to the operation trajectory 5a, the intersection of the straight line having a predetermined angle θ from the tangent and the operation trajectory 5a is set as the operation point 5, and the operation trajectory from the operation point 5 is obtained. A tangent is obtained with respect to 5a, and an intersection of a straight line having a predetermined angle θ from the tangent and the operation locus 5a is defined as an operation point 5.
[0045]
Thereafter, the intersection point between the operation line 5a and the straight line having a predetermined angle θ from the tangent line is successively obtained as the operation point 5 up to the operation end point G. By doing in this way, in step ST3, the input / output processing part 1a can acquire the operation point 5 for every tangent as shown to (b). That is, the input / output processing unit 1a approximates the operation locus 5a as a broken line locus 5c in which the operation points 5 are connected by line segments. In this method, the angle θ for selecting the operation point 5 is constant, but the point setting timing and the position interval are variable. Note that the line differentiation process between the operation points 5 for obtaining the broken line locus 5c shown in FIGS. 5, 6, and 7 will be described in detail in a second embodiment to be described later.
[0046]
Here, returning to the description of the flow in FIG. 4, if the user's operation input is completed in step ST <b> 6, the process proceeds to step ST <b> 7. At this time, a display coordinate string (coordinate value group of the operation point 5 in the two-dimensional coordinate system of the screen of the display 2a) corresponding to the operation locus 5a by the user is temporarily stored in the RAM 1g.
[0047]
In step ST7, the route setting unit 1d refers to the display area information (latitude / longitude coordinates, normalized coordinates, etc.) of the map managed by the map display unit 1c with reference to the coordinate value group constituting the display coordinate sequence, and displays The coordinate system of the 2a screen is converted into coordinate values of the position coordinate system managed by the map display unit 1c to form a position coordinate string. As a result, the route setting unit 1d extracts the final data of the coordinate value group constituting the position coordinate sequence (the end of the operation trajectory) as the destination, and sets the rest as the route point 5b group.
[0048]
Subsequently, the route calculation processing unit 1e stores the route point 5b group and destination set in step ST7, the vehicle position obtained from the current position detection device 3 and the positioning processing unit 1b, and the map information storage device 4. Using the digitized map information to be managed, a route (guidance route) from the vehicle position to the destination through the waypoint 5b group is calculated (searched) (step ST8). Thereby, the process related to the route search ends.
[0049]
Finally, after the user sets a route to the route search device, when the vehicle starts to travel, the route guiding unit 1f is appropriately selected based on the route information and the vehicle position calculated as described above. Information (such as directions for turning left and right at intersections and branches) is generated. The guidance information is displayed on the display 2a via the input / output processing unit 1a. As a result, the user is safely and comfortably guided to the destination using the desired route.
[0050]
As described above, according to the first embodiment, a search route is generated along an arbitrary route designated by the user on the screen of the display 2a. Therefore, designation / selection of road attributes, designation / selection of road names A desired route can be presented to the user without complicated operations such as selection and designation / selection of search conditions.
[0051]
Embodiment 2. FIG.
In the route setting unit 1d according to the second embodiment, the display coordinate sequence composed of the operation points 5 acquired from the operation locus 5a at every predetermined interval is converted into a broken line locus 5c composed of line segments, and the end points of each line segment are converted to the map coordinates. It is converted into a system to be a transit point 5b group.
[0052]
FIG. 8 is a diagram showing a map display screen displayed on the display of the route search device according to the second embodiment of the present invention, where (a) shows an operation trajectory input by the user, and (b) shows the middle part of (a). A broken line trajectory obtained from the operation trajectory is shown. In the same manner as in the first embodiment, as shown in (a), the operation locus 5a corresponding to the route desired by the user is obtained by inputting the operation point 5 through the touch panel 2b. The polygonal line locus 5c shown in (b) is obtained by subjecting a display coordinate sequence composed of the position coordinate values of the operation point 5 acquired by the input / output processing unit 1a from the operation locus 5a at predetermined intervals to a line differentiation process described later. can get. In addition, the same code | symbol is attached | subjected to the same component as FIG. 2, and the overlapping description is abbreviate | omitted.
[0053]
Next, the operation will be described.
FIG. 9 is a flowchart showing the operation of the route search apparatus according to the second embodiment.
The route search device according to the second embodiment is basically the same as the configuration according to the first embodiment, but the operation of the route setting unit 1d is different as described above. Therefore, the operation of the route setting unit 1d will be mainly described with reference to FIG.
[0054]
First, since the process from step ST1 to step ST6 is the same as that of the said Embodiment 1, the overlapping description is abbreviate | omitted. Here, in a series of processing from step ST1 to step ST6, the operation locus 5a by the user is processed by the input / output processing unit 1a at predetermined intervals and stored in the RAM 1g as a display coordinate sequence.
[0055]
Thereafter, the route setting unit 1d performs linearization processing by integrating the coordinate point groups based on the distances and angles between the coordinate points from the coordinate value group of the operation position (operation point) stored in the RAM 1g. To obtain an approximate straight line. Further, the line differentiation is executed so that the position error with the coordinate point group falls within a predetermined range. Note that the data relating to the predetermined range of the position error is stored in the flash memory 1h together with a program for realizing the function of the route search device of the present invention.
[0056]
A specific example of the above process will be described.
FIG. 10 is an explanatory diagram for explaining the line differentiation processing of the route setting unit according to the second embodiment. In the example shown in the figure, the least square method is used as a method of determining a line segment from a large number of coordinate point groups. As a specific operation, the route setting unit 1d first performs linear approximation by the least square method on all coordinate points (operation point 5) of the operation locus 5a. Thereafter, the path setting unit 1d treats the sum of squares of the deviation between the approximated straight line and each operation point 5 as an error, and determines whether the error is within a preset error range.
[0057]
At this time, if there is no sum of squares within a predetermined error range, the path setting unit 1d divides the operation locus 5a into appropriate line segments, and performs linear approximation by the least square method to each line segment in the same manner as described above. Apply. In the illustrated example, the straight line 5d first obtained for all the operation points 5 is not within a predetermined error range and is divided for each line segment between appropriate operation points 5ba.
[0058]
Thereby, until the sum of squares with respect to the operation point 5 of each line segment falls within the above-described error range, the path setting unit 1d performs a process of dividing the operation locus 5a for each line segment, linear approximation of each line segment by the least square method. , And whether or not the sum of squares for the operation point 5 of each line segment is within a predetermined error range is repeated. By doing in this way, the broken line locus | trajectory 5c which consists of a line segment within a predetermined | prescribed error range can be obtained.
[0059]
As described above, when the polygonal line locus 5c corresponding to the operation locus 5a is obtained, the path setting unit 1d extracts end points (node extraction) of each line segment of the polygonal line locus 5c, and newly adds these coordinate values to the RAM 1g. To remember. The process so far corresponds to step ST6-1.
[0060]
Subsequently, the route setting unit 1d displays the display area information (latitude / longitude coordinates, normalized coordinates, etc.) of the map managed by the map display unit 1c for the coordinate point group of the end points of each line segment stored in step ST6-1. ) To convert to the map coordinate system. Further, the route setting unit 1d extracts the final data of the coordinate point group as the destination, and sets the rest as the waypoint 5b group (step ST7). The subsequent processing from step ST8 is the same as that in the first embodiment.
[0061]
As described above, according to the second embodiment, a search route is generated along an arbitrary route designated by the user on the display 2a screen. Therefore, designation / selection of road attributes, designation / selection of road names Thus, a desired route can be presented to the user without complicated operations such as designation / selection of search conditions. Furthermore, since the operation trajectory 5a is divided into a plurality of line segments and the nodes of each line segment are used as via points 5b, the number of points set as the via point 5b group can be reduced. For this reason, speeding up of the route search can be expected.
[0062]
Embodiment 3 FIG.
In the first and second embodiments, when the route point 5b group is set for the arbitrary route set by the user and the route search is performed, there is a guarantee that the route point 5b group is set on the main road (main road). No. Therefore, in the third embodiment, the waypoints are reset so as to pass the common node (intersection node) of the main road (the road link having the common attribute) in the vicinity of the road where the waypoints 5b are set. Is.
[0063]
The route search device according to the third embodiment is basically the same as the configuration according to the first embodiment, but the operation described above by the route setting unit 1d is different. Therefore, the waypoint resetting process by the route setting unit 1d will be described.
[0064]
FIG. 11 is a diagram for explaining the route search of the route search device according to the third embodiment of the present invention. (A) shows a map display screen displaying the searched route, and (b) shows a waypoint and a road link. FIG. The point marked with an asterisk in the figure is one of the route points 5b obtained by the method described in the first or second embodiment. That is, it is conceivable that the operation trajectory 5a passes through the point and is further extracted at predetermined intervals by the input / output processing unit 1a.
[0065]
Further, when the operation locus 5a is divided for each line segment, it is conceivable that the point is located at the end point of the line segment. When such a waypoint 5b is selected, the route calculation processing unit 1e calculates the route 5e from the road link nearest to the waypoint 5b (route search), and thus the following problem occurs. There is.
[0066]
For example, since the route 5e shown in (a) is composed of a road link that passes through a route point 5b with a star, the main road with a dashed line in the figure is intentionally entered from the point 5h to enter a narrow street. This is an inefficient route of returning to the main road through the waypoint 5b marked with a star. That is, the route is a shortcut of the main road.
[0067]
In general, if a user can use a highway that is easy to travel, it is difficult to think about a route that includes a narrow street that is narrow and difficult to travel compared to a main road. In addition, at point 5h, unnecessary guidance information indicating that the user is on the main road is generated, which may cause confusion to the user and possibly cause a traffic accident.
[0068]
Therefore, the route search apparatus according to the third embodiment deals with the inefficient route as described above with respect to the intersection of two main roads with a dashed line in (a), that is, the common node 5f in (b). By changing the course of the vehicle at a point corresponding to the above, an efficient route is reset.
[0069]
A specific operation will be described.
First, when the route calculation processing unit 1e calculates the route 5e, the route setting unit 1d according to the third embodiment checks the digitized road links constituting the route 5e. For example, it is checked whether or not there is a common node 5f that is a road intersection node having a common attribute in the vicinity of each waypoint 5b.
[0070]
At this time, if the common node 5f exists, the route setting unit 1d makes the waypoint 5b in the vicinity of the common node 5f unused, and instead sets the common node 5f as a new waypoint 5b. The data relating to the road attribute is stored together with a program for realizing the function of the route search device of the present invention in, for example, the flash memory 1h.
[0071]
By using this new waypoint 5b, the route calculation processing unit 1e performs route calculation again, so that an efficient route is reset. In the example shown in the figure, two main roads with a dashed line in (a) correspond to roads having the same attribute, and a route 5g with a solid line in (b) passing through these common nodes 5f is newly added. Is required.
[0072]
As described above, according to the third embodiment, it is determined whether or not there is a common node 5f of a road having a common attribute in the vicinity of each waypoint 5b in the route calculated by the route calculation processing unit 1e. If there is a common node 5f, this is set as a new waypoint 5b. Therefore, although the user intended the main road in the map, an erroneous operation point is input, an approximation error, etc. The problem caused by setting a stopover on an unintended narrow street can be solved.
[0073]
Embodiment 4 FIG.
In the third embodiment, the process of resetting a waypoint to pass a common node by a road having the same attribute is shown. However, the fourth embodiment lowers the route search cost of the road link to the common node from the normal level. In this way, the common node is passed.
[0074]
The route search device according to the fourth embodiment is basically the same as the configuration according to the first embodiment, but the operation described above by the route setting unit 1d is different. Therefore, the waypoint resetting process by the route setting unit 1d will be described.
[0075]
FIG. 12 is a diagram for explaining the route search of the route search device according to Embodiment 4 of the present invention. (A) shows the relationship between the search cost and the waypoints in each road link, and (b) shows the waypoints. It is a figure which shows the search cost change presence or absence of the road link used as the reference | standard. In the figure, 5i is a search cost in which the same value is set for a search for a road having the same attribute. In the above embodiment, the route calculation by the route calculation processing unit 1e is performed using only the search cost 5i.
[0076]
On the other hand, in the fourth embodiment, the lowest search cost 5j is set in the common node 5f. Further, a search cost 5k that is uniformly reduced as approaching the common node 5f is set for the road link in the vicinity of the common node 5f. The data relating to the road link and the search cost may be stored in the flash memory 1h together with a program for realizing the function of the route search device of the present invention, or temporarily created and stored in the RAM 1g. Also good.
[0077]
Here, as a route search method in the present invention, for example, for a plurality of route candidates from the starting point to the destination, the sum of the search costs of the road links constituting each route is obtained, and the route that minimizes this is obtained. Select the optimal route. For this reason, when the search cost is reduced, the road link is easily used in route calculation by the route calculation processing unit 1e. For this reason, a route passing through the common node 5f is easily calculated.
[0078]
Further, as a target road whose search cost is changed before the route calculation by the route calculation processing unit 1e, a road link connected to the common node 5f is basically used as shown in (b). Further, when the search cost is changed by further expanding, only the road having the same attribute as the road link connected to the common node 5f is targeted.
[0079]
Further, as a search cost reduction pattern, the search cost for the entire road link in the vicinity of the common node 5f may be reduced, or smooth according to a predetermined pattern like the change search cost 5k in FIG. It may be changed. The search cost pattern may be changed according to the length of the road link near the common node 5f, the distance between the waypoint 5b and the common node 5f, and the like.
[0080]
In addition, although the method of making it easy to search the path | route which passes a desired road link by reducing the search cost of a road link was shown, when the length of the road link near the common node 5f is short, the search in path | route search The impact on the total cost is reduced. For this reason, there is a possibility that a route passing through the road link is not searched. Furthermore, if the search cost is extremely changed, a route that forcibly passes through the road link is searched, and an abnormal route may be generated.
[0081]
Therefore, if the length of the road link (the link length in the vicinity of the common node 5f) for which the search cost is to be changed is short, the search cost should be changed including other road links connected to the road link. And so on. Further, in order to avoid problems due to a sudden change in search cost, it is conceivable that the search cost of the common node 5f is set to the minimum value, and the amount of decrease in the search cost is reduced as the distance from this is increased.
[0082]
As described above, according to the fourth embodiment, whether or not there is a common node 5f that is an intersection node of roads having a common attribute in the vicinity of each waypoint 5b in the route calculated by the route calculation processing unit 1e. If the common node 5f exists, it is used as a new waypoint 5b by lowering the search cost of the common node 5f. Therefore, although the user intended the main road in the map, an erroneous operation is performed. It is possible to eliminate problems caused by setting a waypoint on an unintended narrow street due to point input, approximation error, and the like.
[0083]
Embodiment 5. FIG.
In the fifth embodiment, when the waypoint 5b set by the route setting unit 1d and the common node 5f are separated from each other in the processing in the third embodiment, the waypoint 5b is used without passing through the common node 5f. Route.
[0084]
The route search device according to the fifth embodiment is basically the same as the configuration according to the first embodiment, but the operation described above by the route setting unit 1d is different. Therefore, processing by the route setting unit 1d will be described.
[0085]
FIG. 13 is a diagram for explaining the route search of the route search device according to the fifth embodiment of the present invention. As shown in the figure, the route setting unit 1d according to the fifth embodiment sets a circle 5l having a predetermined radius r centered on the waypoint 5b, and determines whether or not the common node 5f is included in the circle 5l. judge. Thereby, it is determined whether or not the waypoint 5b set by the route setting unit 1d is separated from the common node 5f. Note that data such as the value of the radius r of the circle 5l is stored in the flash memory 1h together with a program that implements the function of the route search device of the present invention.
[0086]
Next, the operation will be described.
First, when the route calculation processing unit 1e calculates the route 5e, the route setting unit 1d according to the fifth embodiment checks the digitized road links constituting the route 5e. For example, it is checked whether or not the common node 5f exists on the extension line of the road having the same attribute located in the vicinity of each waypoint 5b. At this time, if the common node 5f exists, the route setting unit 1d sets a circle 5l having a predetermined radius r centered on the waypoint 5b as shown in the figure, and the common node 5f is included in the circle 5l. It is determined whether or not. On the other hand, if the common node 5f does not exist, the path 5e is set as it is.
[0087]
When the common node 5f exists and is included in the circle 5l, the route setting unit 1d executes the processing described in the third embodiment or the fourth embodiment, and performs the common node instead of the waypoint 5b. 5f is set as a new waypoint 5b. When the common node 5f exists and is not included in the circle 5l, the route setting unit 1d does not change the waypoint 5b and uses the route 5e calculated by the route calculation processing unit 1e as it is.
[0088]
In the illustrated example, the common node 5f exists but is not included in the circle 5l. Therefore, the route setting unit 1d does not change the common node 5f to the new waypoint 5b, but uses the route 5e calculated by the route calculation processing unit 1e as it is.
[0089]
As described above, according to the fifth embodiment, when the route point 5b set by the route setting unit 1d is separated from the common node 5f, the route using the route point 5b as it is without passing through the common node 5f. Therefore, it is possible to avoid using a distant route unnecessarily and contribute to energy saving and environmental conservation.
[0090]
Further, as a process when the common node 5f is not included in the circle 5l, instead of using the waypoint 5b as it is, the search cost of the road to the common node 5f described in the fourth embodiment is increased. The same effect can be obtained.
[0091]
Further, the radius r of the circle 5l for determination may be fixed, or may be used even if the common node 5f is separated in the case of a main street, for example, the search cost of the road to the common node 5f and the road width. For example, the circle 5 l may be increased so that it can be changed.
[0092]
Embodiment 6 FIG.
In the first embodiment and the second embodiment, the route search is performed by setting the waypoint 5b group for an arbitrary route set by the user. At this time, there is no guarantee that the waypoint 5b is set on the main road, and an unnecessary route may be included depending on the position of the waypoint 5b. Therefore, in the sixth embodiment, since the waypoint 5b is not set on the main road, it is determined whether or not an unnecessary circulation route has occurred, and if it is included, the route is reset to an appropriate route. To do.
[0093]
The route search apparatus according to the sixth embodiment is basically the same as the configuration according to the first embodiment, but the operation described above by the route setting unit 1d is different. Therefore, the waypoint resetting process by the route setting unit 1d will be described.
[0094]
14A and 14B are diagrams for explaining route search by the route search apparatus according to Embodiment 6 of the present invention, in which FIG. 14A shows road links related to waypoints and circulation routes, and FIG. 14B shows routes that exclude circulation. It is a figure which shows the road link which concerns. In the example shown in (a), a waypoint 5b with an asterisk, which is located on the right side in the figure from the main road located in the center, is set. For this reason, as shown in the route 5e with a broken line, the route calculation processing unit 1e once leaves the central main road, passes through the star-routed route 5b, and returns to the main road again. Calculated.
[0095]
Therefore, when the route calculation processing unit 1e calculates the route 5e, the route setting unit 1d according to the sixth embodiment checks the road link included in the route 5e and uses the road link 5m (multiple use link) that has been used a plurality of times. ) (Hereinafter, the link 5m is referred to as a duplicate link). In the example shown in (a), there is a road link 5m that travels in an overlapping manner from the end point to the waypoint 5b after passing through the vehicle and returning to the start point again.
[0096]
At this time, the route setting unit 1d, as shown in (b), the route 5p leading to the link start point node 5n of the overlapping link 5m, the route 5q using the overlapping link 5m, and the link end point node of the overlapping link 5m The route 5r from 5o to the next waypoint is calculated. That is, a route that passes once through the start node 5n and the end node 5o of the overlapping link 5m is obtained. Thereafter, the route setting unit 1d integrates the routes 5p, 5q, and 5r and sets the new route as indicated by an arrow in (b). By doing in this way, the path | route which excluded the circulation path | route can be obtained.
[0097]
As described above, according to the sixth embodiment, it is determined whether or not there is an overlapping link 5m that needs to pass a plurality of times in the vicinity of the waypoint 5b, and the start and end nodes 5n and 5o of the overlapping link 5m are set to 1. Since the route is reset so as to pass through the route, the user may have intended the main road in the map, but the route 5b is located on an unintended narrow street due to an erroneous operation point input, approximation error, or the like. Therefore, it is possible to prevent generation of a route including unnecessary circulation. This makes it possible to set a route that does not give unnecessary confusion to the user.
[0098]
In the sixth embodiment, similarly to the fourth embodiment, a method may be used in which the search cost of the overlapping link 5m is lowered from the initial search cost and recalculated. Conversely, the same effect can be expected even if the search cost of the circulation path from the end point node 5o of the overlapping link 5m to the starting point node 5n of the overlapping link 5m is increased from the initial search cost and recalculated.
[0099]
Embodiment 7 FIG.
When specifying a long-distance route, it is necessary to display a wide-area map. This wide area map display is generally configured to display only main roads in order to avoid the complexity of the screen. When a route on the screen is designated in such a state, it is considered that the user performs an operation assuming the displayed main road.
[0100]
Therefore, in the seventh embodiment, the scale and display area of the map displayed at the time of operation are acquired from the map display unit 1c, and further, the inside of the display area is obtained from the digitized map data stored in the map information storage device 4. And the search road link that is the display target at the scale is extracted and used by the route calculation processing unit 1e.
[0101]
The route search device according to the seventh embodiment is basically the same as the configuration according to the first embodiment, but the operation described above by the route setting unit 1d and the route calculation processing unit 1e and the data used for this are different. Therefore, a route search process different from that in the first embodiment will be described.
[0102]
FIGS. 15A and 15B are diagrams for explaining route search by the route search apparatus according to Embodiment 7 of the present invention. FIG. 15A shows a road link, and FIG. 15B shows the contents of a road link configuration information file. One specific example of a method for determining whether to use display data and search is described with reference to FIG. In the figure, 6a is a node (denoted by N) representing the start and end of an element obtained by dividing each road into lines, and 6b is a link (denoted by L) representing a connection between nodes.
[0103]
The table shown in (b) describes a part of the configuration information file (hereinafter referred to as a link table) for the road link shown in (a). For example, road link LnThe starting node is Nn, The end node is Nn + 1As the road attribute value, the width level is 2, and the pay / general distinction is 0 (1: pay, 0: general). As the width level is wider, the numerical value is larger. For example, 5.5 m or less is defined as 0. It is assumed that position information and attribute values for each node N are managed by another configuration information file (hereinafter referred to as a node table).
[0104]
In the link table, as shown in (b), information about which display level is displayed is also described. Specifically, a flag (0: non-display, 1: display) corresponding to each display level (for example, level 0 is set to wide area display) is recorded as a display attribute.
[0105]
For example, at display level 5, Ln, Ln + 1, Ln + 2, ..., Lm, Lm + 1, ..., LoSince all the display flags of 1 are 1, all of these are displayed. On the other hand, at display level 3, LoIs hidden and L is displayed at display level 1.m, Lm + 1, ..., LoDisappears. That is, by setting the display level according to the scale of the displayed map, it is possible to display only the road link that is the display target at the scale.
[0106]
Here, the digitized map information stored in the map information storage device 4 of the present invention includes road data as shown in (a) and road data expressing its nodes in position coordinates, and (b). Such a road link and a link table and a node table related to the node are configured. These data are stored in the map information storage device 4 and are developed and used in the RAM 1g as necessary.
[0107]
Next, the operation will be described.
First, as in the first embodiment, the user continuously inputs the operation point 5 on the map display screen 2A using the touch panel 2b and the remote controller 2c, and inputs a desired route as the operation locus 5a. The input / output processing unit 1a takes in the coordinate value related to the operation locus 5a on the screen of the display 2a.
[0108]
Next, the input / output processing unit 1a acquires the coordinate value related to the operation locus 5a on the screen of the display 2a as the constituent coordinate value of the display coordinate sequence. Subsequently, the input / output processing unit 1a temporarily stores the coordinate value in the RAM 1g. Thereafter, in order to input the user's operation trajectory 5a as a point sequence (display coordinate sequence), the input / output processing unit 1a acquires the operation position at predetermined intervals.
[0109]
When the operation input by the user is completed, the display coordinate sequence (the coordinate value group of the operation point 5 in the two-dimensional coordinate system of the display 2a screen) corresponding to the operation locus 5a is temporarily stored in the RAM 1g. Thereafter, the route setting unit 1d refers to the display unit information of the map managed by the map display unit 1c (latitude / longitude coordinates, normalized coordinates, etc.) and displays the coordinate value group constituting the display coordinate sequence. The coordinate system of the 2a screen is converted into coordinate values of the position coordinate system managed by the map display unit 1c to form a position coordinate string.
[0110]
Thereby, the route setting unit 1d extracts the final data of the coordinate value group constituting the position coordinate sequence (the end of the operation locus 5a) as the destination, and sets the rest as the waypoint 5b group. The processing so far is the same as that in the first embodiment.
[0111]
Here, in the route setting unit 1d according to the seventh embodiment, the map display unit 1c manages the route search using the route point 5b group, the starting point, and the destination set as described above. The displayed display state (map scale) is acquired, and the map display level is stored in the RAM 1g.
[0112]
Next, the route calculation processing unit 1e executes the route calculation by acquiring the map display level temporarily stored in the RAM 1g by the route setting unit 1d. At this time, the route calculation processing unit 1e checks the flag corresponding to the map display level from the link table stored in the map information storage device 4.
[0113]
As a result, in the scale of the map input by the user, the road links and nodes displayed on the map are used, and the road links and nodes that are not displayed are not used. The route is calculated using the starting point and destination. Subsequent processing is the same as that of the first embodiment, and thus a duplicate description is omitted.
[0114]
In addition, a specific example of route search processing different from that described above will be described.
FIG. 16 is a diagram for explaining the route search of the route search device according to the seventh embodiment, where (a) shows map data for display and / or route search hierarchized for each scale, and (b) shows each of the map data. The relationship between the map display data and route search data in the hierarchy is conceptually shown. In (a), the digitized data of each map hierarchized for each scale is managed in, for example, a rectangular area, and the rectangular area is subdivided.
[0115]
Then, as each rectangular area is subdivided, data including more detailed information is prepared. In (a), the map 2A-1 displayed in the widest area is divided and managed for each rectangular area like a checkerboard, and the map is made up of several rectangular areas in the map 2A-1. The example which displayed 2A-2 as map data of the lower layer of map 2A-1 is shown.
[0116]
The hierarchical display and / or route search map data 2A-1 to 2A-3 described above is associated with the display level shown in FIG. 15 for each hierarchy, as shown in FIG. And stored in the map information storage device 4. Further, route search data in which road links and nodes to be used by the route calculation processing unit 1e are associated with the map data for each layer is also stored in the map information storage device 4.
[0117]
In (b), the route search data 5A-1 is used for the longest route search and is stored in the map information storage device 4 in association with the map 2A-1. Subsequently, the route search data 5A-2 and the map 2A-2 are associated with each other, and the route search data 5A-3 used for the short distance search is associated with the map 2A-3 and stored in the map information storage device 4. The
[0118]
Next, the operation will be described.
First, when the user inputs the operation point 5 on the map display screen 2A, a desired map scale is set. Thereby, the map display part 1c reads the map data for a display corresponding to the reduced scale which the user set from the map information storage device 4, and displays it on the display 2a. Thereafter, the route desired by the user is input as the operation locus 5a in the same manner as in the first embodiment.
[0119]
Next, the input / output processing unit 1a detects the position of the operation point 5 constituting the operation locus 5a on the screen of the display 2a, converts it into a coordinate value of the two-dimensional coordinate system of the display 2a screen, and temporarily stores it in the RAM 1g. To do. After that, the input / output processing unit 1a inputs the operation locus 5a of the user as a point sequence (display coordinate sequence) composed of the coordinate values of the operation point 5, and thus acquires the operation position at predetermined intervals.
[0120]
Subsequently, the route setting unit 1d refers to the display area information (latitude / longitude coordinates, normalized coordinates, etc.) of the map managed by the map display unit 1c with reference to the coordinate value group constituting the display coordinate sequence, and displays The coordinate system on the screen 2a is converted into a map coordinate system managed by the map display unit 1c. Thereby, the route setting unit 1d extracts the final data of the coordinate value group (the end of the operation locus) as the destination, and sets the rest as the waypoint 5b group.
[0121]
Thereafter, the route calculation processing unit 1e reads out the route search data associated with the display map data corresponding to the scale set by the user from the map information storage device 4 and executes route calculation. As a result, the route calculation processing unit 1e uses the route search data corresponding to the scale set by the user as the road link or node that can be expressed using the route point 5b group, the departure point or the destination, and calculates the route. I do. Subsequent processing is the same as that of the first embodiment, and thus a duplicate description is omitted.
[0122]
When the hierarchical map data as described above is used, the lower layer and the upper layer are usually used in combination as the search map hierarchy according to the distance between the current location and the destination. However, in the seventh embodiment, the route search data set used for the route search is switched or the lower level is limited according to the display level data set used when the user operates.
[0123]
As described above, according to the seventh embodiment, the scale and display area of the map displayed at the time of operation are acquired from the map display unit 1c, and from the digitized map data stored in the map information storage device 4. Since the search road link that is included in the display area and is the display target at the scale is extracted and used for route calculation, it is possible to perform a search using road data corresponding to the display of the map. Become.
The configuration of the seventh embodiment can be applied to all the embodiments of the present invention.
[0124]
Embodiment 8 FIG.
FIGS. 17A and 17B are diagrams for explaining the route search of the route search device according to the eighth embodiment of the present invention. FIG. 17A shows an operation locus input by the user, and FIG. The process which sets a point is shown roughly. In the figure, 7a is a waypoint set for a neighboring main road based on the waypoint 5b. In addition, the same code | symbol is attached | subjected to the same component as FIG. 2, and the overlapping description is abbreviate | omitted.
[0125]
Next, the operation will be described.
Here, the route search apparatus according to the eighth embodiment is basically the same as the configuration according to the first embodiment, but the route search process is different from the first embodiment. Therefore, this different part will be described in detail.
[0126]
First, the route setting unit 1d according to the eighth embodiment sets each waypoint 5b set according to the user's operation (for example, the group of operation points 5 for each predetermined time shown in the first and second embodiments or the line segmentation). Main nodes in the vicinity of each point 5b based on the digitized map stored in the map information storage device 4 and the display area information managed by the map display unit 1c. Refer to the road link corresponding to the main road. A new waypoint 7a corresponding to each point 5b is set on the main road link extracted in this way.
[0127]
More specifically, the route setting unit 1d sets an inspection area 7c consisting of a circle with a predetermined radius centered on a point 5b with a star as shown in (b), and the road is set in the inspection area 7c. A road link including both end nodes of the link is extracted. Subsequently, the route setting unit 1d uses the map information stored in the map information storage device 4 to determine the attribute of the road link included in the examination area 7c.
[0128]
Thereafter, if the attribute of the road link extracted as included in the inspection area 7c is a road link having a predetermined attribute, the route setting unit 1d selects the road link and attaches a star to it. The distance to the waypoint 5b is determined. And the position on the road link where the said distance becomes the minimum is set as a new waypoint 7a.
[0129]
In the example of (b), the distance between the road link included in the inspection area 7c and the waypoint 5b with a star is the smallest because of the perpendicular line dropped from the waypoint 5b to the road link. It is the position of the intersection on the road link. That is, this point corresponds to the waypoint 7a.
[0130]
Subsequently, the route calculation processing unit 1e uses the route point 7a group set by the route setting unit 1d to calculate a route 7b from the current location to the destination via the route point 7a group. Thereafter, when the host vehicle starts to travel, the route guidance unit 1f provides appropriate guidance information (such as an instruction to turn left or right at an intersection / branch) based on the information about the route 7b calculated as described above and the vehicle position. ) Is generated. The guidance information is displayed on the display 2a via the input / output processing unit 1a. As a result, the user is safely and comfortably guided to the destination using the desired route.
[0131]
As described above, according to the eighth embodiment, when a road link having a predetermined attribute exists in the vicinity of the waypoint 5b, a new waypoint 7a is set on the road link, and the route is used using this. This solves the problem of the waypoints being set on unintended narrow streets due to incorrect operation point input or approximation errors, even though the user intended the main road in the map. can do.
[0132]
In addition, since a new waypoint 7a is automatically set on the main road as described above, duplicate links and shortcuts after route calculation as shown in the third embodiment and the sixth embodiment, etc. There is an advantage that the route search can be speeded up.
[0133]
In the eighth embodiment, an example in which a road link or node is used as an inspection target by the inspection area 7c is shown. However, as in the seventh embodiment, the road link or node displayed at the time of the user's operation is displayed. May be targeted. In this way, in addition to the above-described effects, the route setting is prioritized on the road displayed at the time of the user's operation, and the route more suitable for the user's wish is presented. Is possible.
[0134]
Embodiment 9 FIG.
In the route search device from the first embodiment to the eighth embodiment, the example in which the operation locus 5a input by the user is converted into the waypoint 5b group is shown. In this case, it is desirable that the operation trajectory 5a input by the user can be displayed together with the route point 5b group to check whether the route point 5b group along the desired route is displayed.
[0135]
Further, like the route search devices from the third embodiment to the eighth embodiment, the route point 5b corresponding to the operation point 5 input by the user is not used, and a new route point on the route search device side. When setting (for example, the common node 5f or the waypoint 7a), if only the setpoint waypoints are displayed, the user will not pass through the point set by the user, which may cause unnecessary confusion.
[0136]
Therefore, in the route search device according to the ninth embodiment, when a point other than the route point 5b set by the user is newly set, the route point 5b group set by the user is displayed together with the point, and further newly added. Different symbols are assigned to the set waypoints and the waypoints to replace them, so that it is possible to confirm whether or not the route points 5b along the desired route are set.
[0137]
FIG. 18 is a diagram showing a screen displayed on the display of the route search apparatus according to the ninth embodiment of the present invention. The waypoint 5b in the figure is set by the user in the same manner as in the first embodiment, and is given a round balloon symbol. The waypoint 7a is set by the route search device in the same manner as in the eighth embodiment, and is given a rectangular balloon symbol.
[0138]
Where W inside the balloon1And W2Are described in order to indicate that they are via points corresponding to each other. By doing in this way, it is possible to easily confirm whether or not the waypoint set by the automatic setting function on the route search device side is along the desired route.
[0139]
In addition, each point mark should just be able to distinguish both, and it cannot be overemphasized that functions other than the shape quoted here are satisfy | filled.
[0140]
As described above, according to the ninth embodiment, the route point 5b obtained from the operation locus 5a input by the user and the route point 7a newly set in place of the route point 5b are represented by different symbols. Since it is displayed, it is possible to feed back the user's operation content and the operation content on the route search device side (the basis of the route) to the user at the same time, avoiding unnecessary confusion and improving the reliability of the device. it can.
[0141]
In the ninth embodiment, both the waypoints 5b and 7a are displayed. However, displaying both of them is a complicated display because a large number of balloon symbols are displayed when the display has a small area such as an in-vehicle device or when the path length is long and the bending is large. Therefore, it may be configured not to display any of the waypoints 5b and 7a.
[0142]
In this case, for example, depending on the scale size or the number of waypoints included in the screen, the setting for not displaying any of the waypoints 5b and 7a is automatically variable. Specifically, when the scale of the map input by the user is small (detailed map), the number of points that can be displayed on one screen is naturally reduced, and the location of the waypoints 5b and 7a can also be specified. Easy.
[0143]
For this reason, by displaying the waypoints 5b and 7a at the same time on a small scale map (detailed map), the user's own operation contents and the operation contents of the route search device (such as automatically moving the waypoints) It is possible to easily confirm whether or not there is a difference between the operation result and the route determined by the route search device.
[0144]
On the other hand, when the map scale is changed by the user's operation, the number of points displayed on the screen increases, and the position difference between the waypoints 5b and 7a decreases, and the identification of these points is also possible. It becomes difficult. Furthermore, when the scale becomes the largest (wide area map display), the entire map information (route, area, etc.) is required, and detailed information such as the waypoint 5b is not necessary.
[0145]
In such a case, by not displaying either or both of the waypoints 5b and 7a, it is possible to respond to the user's intention and to easily organize the information on the screen.
[0146]
Moreover, you may make it a structure which makes it select so that a user may not display either of the waypoints 5b and 7a or both beforehand or at the time of a display.
[0147]
Furthermore, the presence / absence of either one of the waypoints 5b and 7a or both may be made variable according to the route setting sequence. For example, immediately after the route setting by the user's operation, the waypoint 5b is displayed in order to check whether the operation has been correctly performed. Thereafter, when the route point 5b is displayed by the route search device as a result of determining whether the route point 5b is appropriate and executing the moving operation, the route point 5b is also displayed at the same time.
[0148]
Thereby, the user can confirm that the waypoint 5b inputted by himself / herself has moved to become the waypoint 7a. Finally, when the user starts traveling the vehicle, only the waypoint 7a is displayed.
[0149]
By doing so, it becomes possible to present the user's operation content and the operation content of the route search device to the user according to the appropriate timing and display conditions, and the complexity of displaying the waypoint is reduced. This can be avoided and can contribute to safe driving.
[0150]
Embodiment 10 FIG.
FIG. 19 is a diagram showing a map display screen displayed on the display of the route search device according to the tenth embodiment of the present invention, where (a) shows the operation trajectory input by the user, and (b) shows the middle part of (a). The route calculation area obtained based on the operation locus is shown. In the figure, reference numeral 8 denotes a route calculation area obtained based on the operation locus 5a, which is set by moving an envelope circle having a predetermined radius along the approximate curve of the display coordinate sequence obtained from the operation locus 5a, for example. In addition, the same code | symbol is attached | subjected to the same component as FIG. 2, and the overlapping description is abbreviate | omitted.
[0151]
FIG. 20 is a diagram for explaining route calculation area setting processing by the route search apparatus according to the tenth embodiment. In the figure, 8a is an approximate curve of the display coordinate sequence obtained from the operation locus 5a, and 8b is an envelope circle used for obtaining the route calculation area 8 along the approximate curve 8a.
[0152]
Next, the operation will be described.
FIG. 21 is a flowchart showing the operation of the route search apparatus according to the tenth embodiment. The route search apparatus according to the tenth embodiment is basically the same as the configuration according to the first embodiment, but the route search process described later is different from the first embodiment. Therefore, the processing different from the first embodiment will be mainly described in detail along the flow of FIG.
[0153]
First, in the same manner as in the first embodiment, the user activates the route setting mode of the route search device (step ST1). Thereby, the input / output processing unit 1a shifts to a waiting state for the input of the operation point 5 by the user, that is, a waiting state for detecting an operation input (step ST2). Thereafter, the user inputs an operation locus 5a corresponding to a desired route on the map display screen 2A by continuous input of the operation point 5 using the touch panel 2b or the remote controller 2c.
[0154]
When the input of the operation point 5 is performed by the user, the input / output processing unit 1a detects the position of the operation point 5 on the display 2a screen (step ST3). Subsequently, the input / output processing unit 1a converts the detected position of the operation point 5 into a coordinate value in a two-dimensional coordinate system on the display 2a screen, and temporarily stores the coordinate value in the RAM 1g (step ST4).
[0155]
Next, in order to input the user's operation trajectory 5a as a point sequence (display coordinate sequence) of the coordinate values of the operation point 5, the input / output processing unit 1a executes the acquisition of the operation position at predetermined intervals. Wait for time. That is, the input / output processing unit 1a performs time measurement until a predetermined time elapses after temporarily storing the previous coordinate value in the RAM 1g. On the other hand, if the predetermined time has elapsed, the process proceeds to step ST6.
[0156]
In step ST6, the input / output processing unit 1a determines whether the user's operation is completed. At this time, if the user's operation is not finished, the process returns to the process of step ST3 to detect the position of the operation point 5 input by the user on the display 2a screen. The subsequent processing is as described above. For example, various methods such as a distance from the previous input coordinate value, a release of pressing the touch panel 2b (release a finger), an instruction by voice, and a press of an end button can be considered for determining the end of the user's operation input. The processing so far is the same as that in the first embodiment.
[0157]
On the other hand, if the user's operation is completed in step ST6, the process proceeds to step ST7a. At this time, a display coordinate string (coordinate value group on the screen of the display 2a) corresponding to the operation locus 5a by the user is temporarily stored in the RAM 1g.
[0158]
In step ST7a, the route setting unit 1d displays the coordinate value group constituting the display coordinate sequence stored in step ST4 on the display area information (latitude / longitude coordinates, normalized coordinates, etc.) of the map managed by the map display unit 1c. ), The coordinate system on the screen of the display 2a is converted into the coordinate value of the position coordinate system managed by the map display unit 1c to obtain a position coordinate string.
[0159]
Thereafter, the route setting unit 1d extracts the final data of the coordinate value group constituting the position coordinate sequence (the end of the operation locus 5a) as the destination, and converts the position coordinate sequence into a predetermined free curve function. An approximate curve 8a is obtained.
[0160]
Subsequently, the route setting unit 1d sets a route calculation region 8 having a predetermined width on the basis of the approximate curve 8a (step ST8a). As the conversion to the free curve function, there is a method using a conversion formula such as a known Bezier curve or an nth-order spline curve. Further, as a method for setting a path calculation region having a predetermined width, for example, an envelope circle 8b having a predetermined radius r is set for an approximate curve 8a converted using a free curve function as shown in FIG. It is set by moving the envelope circle 8b along the curve 8a.
[0161]
When the destination and the route calculation area are set as described above, the route calculation processing unit 1e refers to the digitized map stored and managed in the map information storage device 4, and moves from the vehicle position to the destination. The route calculation is executed so that the route to reach is included in the route calculation region 8 (step ST9a).
[0162]
The process in step ST9a will be specifically described.
FIG. 22 is a diagram for explaining the relationship between the route calculation area and the road link. In the figure, 8c is a part of the route calculation area in FIG. 19B and corresponds to the one set on the map display screen in step ST8a in FIG. In the illustrated example, road data (road) corresponding to the road in the display map in FIG. 19 included in the digitized map information stored in the map information storage device 4 in order to clearly explain the function of the route calculation area 8c. Link and its nodes). 8d is a road link that is not subject to route search, and 8e is a road link that is subject to route search.
[0163]
When calculating the route, the route calculation processing unit 1e compares the above-described route calculation region 8c with the node data of the road link in the digitized map information, and the coordinate values of the nodes at both ends of the road link are the route calculation region. It is determined whether it is included in 8c. At this time, if nodes at both ends of the road link are included in the route calculation region 8c, the search target link 8e is temporarily stored in the RAM 1g, and if any of the nodes at both ends is not included, a broken line in FIG. As shown in Fig. 5, the road link 8d that is not subject to the route search is not used in the route search process.
[0164]
Thereafter, when the vehicle starts to travel, the route guidance unit 1f provides appropriate guidance information (such as an instruction to turn left or right at an intersection / branch) based on the information on the route searched as described above and the vehicle position. Is generated. The guidance information is displayed on the display 2a via the input / output processing unit 1a. As a result, the user is safely and comfortably guided to the destination using the desired route.
[0165]
As described above, according to the tenth embodiment, the route calculation area 8 is set along the instructed operation locus 5a for the map image displayed on the display 2a, and is included in the route calculation area 8. Since a guidance route corresponding to a desired route is calculated using road data, a search route can be generated along any route designated by the user on the display 2a screen. A desired route can be presented to the user without complicated operations such as designation / selection of road names and designation / selection of search conditions.
[0166]
Embodiment 11 FIG.
In the tenth embodiment, the route calculation area 8 is set after the user's operation trajectory 5a is approximated, but in this eleventh embodiment, the user's operation trajectory 5a is set. The route calculation area 8 is set at the time of input.
[0167]
The route search apparatus according to the eleventh embodiment is basically the same as the configuration according to the first embodiment, but the route search process described later is different from the first embodiment.
[0168]
FIG. 23 is a diagram for explaining the route calculation area setting process of the route search device according to the eleventh embodiment of the present invention. In the figure, 5a-1 is an operation locus to be operated by the user from now on, and is represented by a broken line in order to distinguish it from the operated operation locus 5a represented by a solid line. In addition, the same code | symbol is attached | subjected to the same component as FIG. 20, and the overlapping description is abbreviate | omitted.
[0169]
Next, the operation will be described.
FIG. 24 is a flowchart showing the operation of the route search apparatus according to the eleventh embodiment. The route calculation area setting process will be described in detail with reference to this drawing.
First, in the same manner as in the first embodiment, the user activates the route setting mode of the route search device (step ST1). Thereby, the input / output processing unit 1a shifts to a waiting state for the input of the operation point 5 by the user, that is, a waiting state for detecting an operation input (step ST2). Thereafter, the user inputs an operation locus 5a corresponding to a desired route on the map display screen 2A by continuous input of the operation point 5 using the touch panel 2b or the remote controller 2c.
[0170]
When the input of the operation point 5 is performed by the user, the input / output processing unit 1a detects the position of the operation point 5 on the display 2a screen (step ST3). Subsequently, the input / output processing unit 1a converts the detected position of the operation point 5 into a coordinate value in a two-dimensional coordinate system on the display 2a screen, and temporarily stores the coordinate value in the RAM 1g (step ST4). The processing so far is the same as that in the first embodiment.
[0171]
Next, the path setting unit 1d reads the coordinate value of the operation point 5 stored in the RAM 1g in step ST4, and sets an envelope circle 8b having a predetermined radius centered on the operation point 5 (step ST5b). Here, the envelope circle 8b is expressed in the two-dimensional coordinate system of the display 2a screen.
[0172]
Subsequently, the path setting unit 1d obtains a region in which the envelope circle 8b set this time is added to the envelope circle 8b related to the operation point 5 acquired last time, and temporarily stores it in the RAM 1g (step ST6b). That is, an area composed of the sum of the envelope circle 8b related to the operation point 5 captured last time and the envelope circle 8b set this time is sequentially stored as the route calculation area 8. At this time, the route setting unit 1d converts the route calculation area 8 into the position coordinate system, and then stores it in the RAM 1g.
[0173]
Further, in the above-described setting process of the envelope circle 8b in step ST5b or the additional recording / storage process of the route calculation area 8 in step ST6b, the route setting unit 1d is included in the digitized map information recorded in the map information storage device 4. The road data included in the route calculation area 8 is obtained by referring to the road data (the road link and its node). Since this road data is represented by the position coordinate system managed by the map display unit 1c, it can be directly compared with the route calculation area 8 stored in the RAM 1g.
[0174]
Subsequently, in order to input the user's operation trajectory 5a as a point sequence (display coordinate sequence) of the coordinate values of the operation point 5, the input / output processing unit 1a executes the acquisition of the operation position at predetermined intervals. Wait for time (step ST7b). That is, the input / output processing unit 1a performs time measurement until a predetermined time elapses after temporarily storing the previous coordinate value in the RAM 1g. On the other hand, if the predetermined time has elapsed, the process proceeds to step ST8b.
[0175]
In step ST8b, the input / output processing unit 1a determines whether or not the user's operation has been completed. At this time, if the user's operation is not finished, the process returns to the process of step ST3 to detect the position of the operation point 5 input by the user on the display 2a screen. The subsequent processing is as described above. For example, various methods such as a distance from the previous input coordinate value, a release of pressing the touch panel 2b (release a finger), an instruction by voice, and a press of an end button can be considered for determining the end of the user's operation input.
[0176]
On the other hand, if the user's operation input is completed in step ST8b, the process proceeds to step ST9b. At this time, the display coordinate sequence (the coordinate value group of the operation point 5 in the two-dimensional coordinate system of the display 2a screen) corresponding to the operation locus 5a by the user and the road data existing in the route calculation area 8 are temporarily stored in the RAM 1g. Has been.
[0177]
In step ST9b, the route setting unit 1d displays the coordinate value group constituting the display coordinate sequence stored in step ST4 on the display area information (latitude / longitude coordinates, normalized coordinates, etc.) of the map managed by the map display unit 1c. ), The coordinate system on the screen of the display 2a is converted into the coordinate value of the position coordinate system managed by the map display unit 1c to obtain a position coordinate string. Thereby, the route setting unit 1d extracts the final data of the coordinate value group constituting the position coordinate sequence (the end of the operation locus 5a) as the destination, and sets the rest as the waypoint 5b group.
[0178]
Subsequently, the route calculation processing unit 1e uses the waypoint 5b group and the destination, the road data existing in the route calculation region 8, and the vehicle position obtained from the current position detection device 3 and the positioning processing unit 1b. The route from the vehicle position to the destination through the route point 5b is calculated (searched). Thereby, the process related to the route search ends.
[0179]
In the above description, it is shown that the route calculation area 8 sequentially set in the course of the user's operation input is converted into the position coordinate system and stored in the RAM 1g. However, the route setting unit 1d displays the display 2a screen. The route calculation area 8 may be stored in a two-dimensional coordinate system, and may be converted to a position coordinate system and referred to map information when searching for a route in step ST9b.
[0180]
Finally, after the user sets a route to the route search device, when the vehicle starts to travel, the route guiding unit 1f is appropriately selected based on the route information and the vehicle position calculated as described above. Information (such as directions for turning left and right at intersections and branches) is generated. The guidance information is displayed on the display 2a via the input / output processing unit 1a. As a result, the user is safely and comfortably guided to the destination using the desired route.
[0181]
As described above, according to the eleventh embodiment, the route calculation area 8 is set when the operation trajectory 5a is designated for the map image displayed on the display 2a, and the roads included in the route calculation area 8 are set. Since the guidance route corresponding to the desired route is calculated using the data, the route calculation area 8 can be set while the user designates an arbitrary route on the screen. Processing such as generation can be omitted, and the route search operation can be simplified and speeded up.
[0182]
Embodiment 12 FIG.
In the twelfth embodiment, the operation locus 5a set by the user is segmented and a route calculation area is set for each line segment.
[0183]
FIG. 25 is a diagram for explaining the route calculation area setting process of the route search device according to the twelfth embodiment of the present invention. FIG. 25 (a) shows a map display screen displaying a broken line locus and a route calculation area corresponding to each line segment. (B) to (e) show route calculation areas of various shapes set corresponding to each line segment of the broken line locus. In the figure, 5ca is a line segment constituting the broken line locus 5c, and 8f is a route calculation area set corresponding to each line segment 5ca of the broken line locus 5c.
[0184]
Next, the operation will be described.
Since the route search device according to the twelfth embodiment is basically the same as the configuration according to the first embodiment, the route calculation area setting process different from the first embodiment will be described in detail.
First, processing similar to that from step ST1 to step ST6 in FIG. 4 shown in the first embodiment is executed, and the operation locus 5a by the user is obtained as a coordinate value group of the operation points 5 obtained at predetermined intervals. Store in RAM 1g.
[0185]
Next, in the same manner as in the second embodiment, the route setting unit 1d uses the coordinate point group of the operation position (operation point) stored in the RAM 1g as a reference, the coordinate point between the coordinate points, and the like. The group is integrated and a linearization process is performed to obtain an approximate line. Further, the line differentiation is executed so that the position error with the coordinate point group falls within a predetermined range.
[0186]
When the broken line locus 5c corresponding to the operation locus 5a is obtained by performing the above-described processing, the path setting unit 1d extracts the end points of the line segments 5ca of the broken line locus 5c (node extraction). Then, these coordinate values are newly stored in the RAM 1g.
[0187]
Subsequently, the route setting unit 1d refers to the stored coordinate point group of each line segment 5ca as display area information (latitude / longitude coordinates, normalized coordinates, etc.) of the map managed by the map display unit 1c. Convert to map coordinate system. Furthermore, the route setting unit 1d sets a predetermined route calculation region 8f with the line segment 5ca as a reference.
[0188]
When the route calculation area is set as described above, the route calculation processing unit 1e refers to the digitized map stored and managed in the map information storage device 4, and finds a route from the vehicle position to the destination. The route calculation is executed so as to be included in the route calculation region 8f corresponding to each line segment 5ca.
Since the subsequent processing is the same as that of the first embodiment, description thereof is omitted.
[0189]
Next, the route calculation area 8f shown in (b) to (e) will be described.
The path calculation area 8f shown in (b) has a rectangular shape in which the end point of the line segment 5ca of the broken line locus 5c coincides with the center position of the short side and the line segment 5ca to the long side has a predetermined width d. ing. The shape of the route calculation area 8f is defined by the line segment 5ca. Thereby, the setting of the route calculation area 8f by the route setting unit 1d can be easily executed.
[0190]
Further, road data to be used for route calculation can be easily determined based on whether or not a long side separated by a predetermined width d from the line segment 5ca is included. Considering these advantages, it is possible to expect a faster route calculation by adopting a rectangular route calculation region 8f as shown in FIG.
[0191]
The route calculation area 8f shown in (c) has a rectangular shape including the line segment 5ca of the broken line locus 5c inside. This shape is for eliminating the problem in the route calculation area 8f shown in FIG. That is, when the route calculation area 8f shown in (b) is set in each line segment 5ca of the broken line locus 5c, as shown in (a), the corresponding route calculation areas in the vicinity of the connection point between the line segments 5ca. A portion where 8f does not overlap may occur.
[0192]
For example, if one of the road link nodes to be used for route calculation is included in such a non-overlapping portion, the road link cannot be used for route calculation. Therefore, by making a rectangle including the line segment 5ca as shown in the route calculation area 8f shown in (c), the path calculation areas 8f corresponding to each other can be surely connected in the vicinity of the connection point between the line segments 5ca. Can be overlapped. Therefore, the road link to be used for the route calculation as described above is not unused.
[0193]
The route calculation area 8f shown in (d) has an elliptical shape including the line segment 5ca of the broken line locus 5c inside. In the elliptical shape, the width of the portion corresponding to the vicinity of the center of the line segment 5ca is expanded. Thereby, the adverse effect at the time of the input of the operation locus 5a and the line differentiation processing of the operation locus 5a can be suppressed. This will be specifically described below.
[0194]
FIG. 26 is an explanatory diagram for explaining the effect of the difference between the rectangle and the ellipse in the route calculation area, and (a) shows a case where the short side of the elliptical route calculation area is larger than the width of the rectangular route calculation area. (B) shows a case where the long side and the short side of the elliptical route calculation region and the rectangular route calculation region are equal. In the case shown in (a), the width of the portion corresponding to the vicinity of the center of the line segment 5ca does not expand in the rectangular path calculation region 8f.
[0195]
For this reason, the broken line locus 5c with a broken line is included inside, but the road links 8A and 8B go out of the area and are not subject to route calculation. On the other hand, in the elliptical route calculation region 8f, the width of the portion corresponding to the vicinity of the center of the line segment 5ca is widened, so the road links 8A and 8B can be included in the region. For this reason, the road links 8A and 8B can be the target of route calculation together with the broken line locus 5c with a broken line.
[0196]
In the case shown in (b), in the elliptical route calculation area 8f, the calculation amount can be reduced by the area 8C in the vicinity of the connection point between the line segments 5ca as compared with the rectangular shape. That is, as shown in (b), when there is a broken line locus 5c and road links 8A and 8B as data to be used for route calculation, both of the ellipse and the rectangular shape are included.
[0197]
In spite of this, in the rectangular route calculation area 8f, the calculation for determining whether or not there is road data inclusion has to be executed for the area 8C as compared with the elliptical one. In this way, in the elliptical route calculation area 8f, the amount of calculation can be reduced as compared with a rectangle having the short side and the long side having the same length.
[0198]
Finally, the route calculation area 8f shown in FIG. 25 (e) has a circular shape with the diameter of the line segment 5ca. The shape of the route calculation area 8f is defined by the line segment 5ca. Thereby, the setting of the route calculation area 8f by the route setting unit 1d can be easily executed. Further, road data to be used for route calculation can be easily determined based on whether or not it is included in a circle. Considering these advantages, it is possible to expect a faster route calculation by adopting a rectangular route calculation region 8f as shown in FIG.
[0199]
As described above, according to the twelfth embodiment, the operation trajectory 5a is divided into a plurality of line segments, the route calculation area 8c is set according to each line segment, and the roads related to the roads in the respective route calculation areas 8c. Since the guidance route corresponding to the desired route is calculated using the data, the route calculation area can be divided and managed into a plurality of geometric areas by segmenting the user's operation trajectory. Can reduce the processing load. As a result, it is possible to provide the user with a faster route search and a lighter operational response.
[0200]
Embodiment 13 FIG.
In the route search devices shown in the tenth to twelfth embodiments, the road links in the digitized map information are sequentially tracked from the coordinate values corresponding to the starting point of the route search in the route calculation area 8. . At this time, the route having the minimum passing cost corresponding to the time and distance is selected as the optimum route among the routes made up of the coordinate sequences that can reach the destination. Specifically, for example, the Dijkstra method for obtaining the shortest path or A*A link search algorithm such as a method is used.
[0201]
In the thirteenth embodiment, when performing a route search according to the above-described search algorithm, the road link sequence is used when the end of the searched road link sequence deviates from the preset route calculation area. The search was canceled.
[0202]
Note that the route search apparatus according to the thirteenth embodiment is basically the same as the configuration according to the first embodiment, but as described above, the algorithm related to the route search process is the same as that in the tenth to tenth embodiments. Different from 12. Therefore, a characteristic route search process according to the thirteenth embodiment will be described in detail.
[0203]
FIGS. 27A and 27B are diagrams for explaining route search processing of the route search device according to the thirteenth embodiment of the present invention. FIG. 27A is a conceptual diagram of route search, and FIG. 27B is route calculation when determining search termination. The relationship between the area and the road link is shown. As shown in (a), the route calculation processing unit 1e executes selection of via-points (nodes) that are sequentially connected starting from the departure point S according to the Dijkstra method or the like.
[0204]
Specifically, in the example shown in (a), among the nodes a1 and b1 connected to the starting point S via a road link, the node b1 having the shortest distance and traveling time is selected. Next, of the nodes c1 and b2 connected to the node b1 via a road link, the node b2 having the shortest distance and traveling time is selected. As a result, a road link string passing through the departure point S → node b1 → node b2 is obtained. Subsequently, nodes b3, b4,... Are selected, and a road link sequence corresponding to the shortest route to the destination G is obtained.
[0205]
In the route search processing described above, in the route calculation processing unit 1e according to the thirteenth embodiment, when a road link or a node thereof deviates from the preset route calculation region 8c, a road link sequence including the road link is obtained. Remove from the target of route search processing.
[0206]
Specifically, as shown in (b), when searching for the next road link from the end node 8h of the road link sequence continued from below, the route calculation processing unit 1e connects to the end node 8h. Refers to the coordinates of the end node of another road link.
[0207]
At this time, if the coordinates of the terminal node are outside the route search area 8c as in the road link 8g, the use of the road link 8g for searching is discontinued. On the other hand, if it is inside the route search area 8c, the search using the road link is continued. By repeatedly performing such an operation, a route included in the route search area 8c can be calculated.
[0208]
As described above, according to the thirteenth embodiment, the search using the road link sequence is terminated when the end of the searched road link sequence deviates from the preset route calculation area 8c. Therefore, it is not necessary to reconstruct the road links included in the route search area 8c and store them in the RAM 1g, and the resources used can be reduced. Thereby, the cost required to introduce the present invention can be reduced.
[0209]
Embodiment 14 FIG.
In normal route search, the road links in the digitized map information are sequentially tracked from the starting point of the search, and the route that reaches the destination from the road link sequence that has the lowest cost is used as the optimum route. . That is, the route search is controlled by the passing cost of the entire selected route.
[0210]
In the fourteenth embodiment, the passage cost of the road link existing in the route calculation area in the digitized map information is reduced as compared with the surrounding area, or the passage cost of the road link existing outside the route calculation area is reduced. Keep it up. As a result, the route from the departure point to the destination is calculated using the road link existing in the route calculation area.
[0211]
Note that the route search apparatus according to the fourteenth embodiment is basically the same as the configuration according to the first embodiment, but as described above, the algorithm related to the route search process is the same as that in the tenth to tenth embodiments. Different from 12. Therefore, a characteristic route search process according to the fourteenth embodiment will be described in detail.
[0212]
FIG. 28 is a diagram for explaining the route search processing of the route search device according to the fourteenth embodiment of the present invention. (A) is a top view showing the positional relationship between each route and the route calculation area, and (b) and (c). FIG. 3 is a conceptual diagram three-dimensionally representing the passage cost of a route located inside and outside the route calculation area. In the figure, 8c is a route calculation area set by the same processing as the above embodiment as a result of the user's operation, 8i is the starting point of the route, 8j is the destination of the route, and 8k is the route calculation region. A path existing in the path 8c and a path 8l exist outside the path calculation area 8c.
[0213]
Further, the road links used in the route 8k existing in the route calculation area 8c are Lk0 to Lkn, and the respective passing costs are Ck0 to Ckn. Further, the road links used in the route 8l existing outside the route calculation area 8c are set as L10 to Llm, and the respective passing costs are set as Cl0 to Clm. Thereby, the total cost Ck and Cl of a path | route can each be represented by following formula (1). However, for Ck, i = 0 to n, and n is a positive integer. For Cl, i = 0 to m, and m is a positive integer.
[Expression 1]
[0214]
Here, by setting each passing cost of the road links Lk0 to Lkn existing in the route calculation area 8c lower than that of the road links Lk0 to Lkn, Ck <Cl from the relationship of the above equation (1). It becomes. Thereby, in the route search, the route existing in the route calculation area 8c is preferentially used.
[0215]
On the contrary, by setting each passage cost of the road links L10 to Llm existing outside the route calculation area 8c higher than that in the area 8c, Ck <Cl from the relationship of the above equation (1). It becomes. This also allows the route existing in the route calculation area 8c to be used with priority.
[0216]
In (b) and (c), the passage cost of the route located inside and outside the route calculation area as described above is three-dimensionally expressed. More specifically, in the example shown in (b), the level of the plane position corresponds to the passage cost. That is, the road link passing cost in the route calculation area 8c is lower than that outside the area 8c, so the plane of the portion corresponding to the route calculation area 8c is positioned below. In addition, since the road link passing cost outside the route calculation area 8c is higher than that in the area 8c, the plane of the portion corresponding to the outside of the route calculation area 8c is located above.
[0217]
Thereby, in the cross section cut by the AA line including the starting point 8i in (a), it becomes a concave pattern that the passage cost of the route is seen in (b).
[0218]
In the example shown in (c), the cost of passing the road link outside the region 8c is gradually increased as the distance from the route calculation region 8c is increased outside the route calculation region 8c. For this reason, a slope corresponding to the passage cost is formed around the route calculation area 8c.
[0219]
Thereby, in the cross section cut by the AA line including the starting point 8i in (a), it becomes a trapezoidal pattern that the passage cost of the route is seen in (c).
[0220]
As described above, according to the fourteenth embodiment, the cost of passing the road link existing in the route calculation area 8c is reduced as compared with the surroundings, or the road link existing outside the route calculation area 8c. Therefore, the route is set according to the final passage cost, and the route connecting the current location and the destination can be calculated with certainty.
[0221]
Therefore, as in the tenth to thirteenth embodiments, the road links used for route calculation are limited or the search is terminated. There is no such thing.
[0222]
In the tenth to fourteenth embodiments, as in the seventh embodiment, the route search is performed on the road of the display level that exists in the route calculation area 8c and is displayed when the user inputs an operation. You may comprise for limiting an object. As a result, a route that matches the user's image can be presented.
[0223]
This can be realized, for example, by applying the road selection process at the time of display shown in the seventh embodiment to the configurations of the tenth to fourteenth embodiments. Further, the same operation can be realized by adding a process for increasing / decreasing the road passing cost displayed at the time of the user's operation input to the above-mentioned embodiment 14 at a constant rate.
[0224]
In the processing from the first to the fourteenth embodiments, the route calculation is mainly performed with the start point of the route calculation as the vehicle position and the end of the operation locus 5a by the user as the destination as the end point of the route calculation. As described above, the start point and the end point of the route calculation may be determined regardless of the operation locus 5a by the user and the vehicle position.
[0225]
For example, as shown in the first embodiment, the destination setting (facility) button 2f-1 is provided on the operation initial screen of the route search apparatus. When this button 2f-1 is selected, the input / output processing unit 1a reads information on typical facilities stored in the map information storage device 4 and displays a screen for displaying the names of these facilities in a list format on the display 2a. To display. The destination can be easily set by appropriately selecting the facilities listed in this list.
[0226]
At this time, the locus operated by the user on the screen of the display 2a can be interpreted as an operation for changing a part of the route connecting the start point and the end point. Moreover, it can utilize also for the route calculation between arbitrary points by setting the name list of the said facility arbitrarily.
[0227]
In addition, it is configured to be switched to a mode in which a part of the already set route is changed (specifically, a detour route calculation process) by the menu operation as described above. In this mode, the end point of the route calculation is a preset destination, and the route based on the locus designated by the user is used as a part of the newly set route (passing route).
[0228]
【The invention's effect】
As described above, according to the present invention, a trajectory detection unit that detects a trajectory according to a desired route instructed with respect to a map image displayed on a display device, and a trajectory detected by the trajectory detection unit are displayed as a map image. Using the route setting part that converts to the route point group represented by the multiple coordinate points above, and road information that expresses each route in the road network on the route point group and the map image as a road link connecting the nodes And a route calculation processing unit that calculates a guidance route according to a desired route, so that complicated operations such as designation / selection of road attributes, designation / selection of road names, and designation / selection of search conditions are not required. There is an effect that a desired route can be presented to the user.
[0229]
According to the present invention, a trajectory detection unit that detects a trajectory corresponding to a desired route designated for a map image displayed on a display device, and a trajectory detected by the trajectory detection unit is divided into a plurality of line segments. A route setting unit that converts the nodes of each line segment into route points represented by coordinate points on the map image, and expresses each road in the road network on the route points group and map image as a road link that connects the nodes. And a route calculation processing unit that calculates a guidance route according to a desired route using the road information thus obtained, it is complicated to specify / select road attributes, specify / select road names, specify / select search conditions, etc. Thus, there is an effect that a desired route can be presented to the user without going through a simple operation. In addition, since the trajectory is divided into a plurality of line segments and the nodes of each line segment are used as via points, the number of points set as via points can be reduced, and the speed of route search can be expected to be increased. There is.
[0230]
According to the present invention, a trajectory detection unit that detects a trajectory according to a desired route instructed with respect to a map image displayed on a display device, and a road to be used for route calculation among roads on the map image is determined. A route setting unit that sets the route calculation region to be set along the locus detected by the locus detection unit, and expresses each road included in the route calculation region in the road network on the map image as a road link that connects the nodes. And a route calculation processing unit that calculates a guidance route according to a desired route using the road information, so that it is complicated to specify / select road attributes, specify / select road names, specify / select search conditions, etc. Thus, there is an effect that a desired route can be presented to the user without going through a simple operation.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a route search apparatus according to Embodiment 1 of the present invention.
FIG. 2 is a diagram showing a map display screen displayed on the display in FIG. 1;
FIG. 3 is a diagram showing a screen displayed on the display of the route search device in FIG. 1;
FIG. 4 is a flowchart showing the operation of the route search apparatus in FIG. 1;
5 is an explanatory diagram illustrating a method for acquiring an operation position by an input / output processing unit in FIG. 1. FIG.
6 is an explanatory diagram for explaining another method for acquiring the operation position by the input / output processing unit in FIG. 1; FIG.
FIG. 7 is an explanatory diagram illustrating still another method for acquiring the operation position by the input / output processing unit in FIG. 1;
FIG. 8 is a diagram showing a map display screen displayed on the display of the route search device according to the second embodiment of the present invention.
FIG. 9 is a flowchart showing the operation of the route search apparatus according to the second embodiment.
FIG. 10 is an explanatory diagram for explaining line differentiation processing of a route setting unit according to the second embodiment;
FIG. 11 is a diagram for explaining route search of a route search device according to Embodiment 3 of the present invention;
FIG. 12 is a diagram for explaining route search by a route search device according to Embodiment 4 of the present invention;
FIG. 13 is a diagram for explaining route search by a route search device according to Embodiment 5 of the present invention;
FIG. 14 is a diagram for explaining route search by a route search device according to Embodiment 6 of the present invention;
FIG. 15 is a diagram for explaining route search by a route search device according to Embodiment 7 of the present invention;
FIG. 16 is a diagram for explaining a route search of the route search device according to the seventh embodiment.
FIG. 17 is a diagram for explaining route search of a route search device according to Embodiment 8 of the present invention;
FIG. 18 is a diagram showing a screen displayed on the display of the route search device according to the ninth embodiment of the present invention.
FIG. 19 is a diagram showing a map display screen displayed on the display of the route search device according to Embodiment 10 of the present invention;
FIG. 20 is a diagram for explaining route calculation area setting processing by the route search apparatus according to the tenth embodiment;
FIG. 21 is a flowchart showing the operation of the route search apparatus according to the tenth embodiment.
FIG. 22 is a diagram illustrating a relationship between a route calculation area and a road link.
FIG. 23 is a diagram illustrating a route calculation area setting process of the route search device according to the eleventh embodiment of the present invention.
FIG. 24 is a flowchart showing the operation of the route search apparatus according to the eleventh embodiment.
FIG. 25 is a diagram for explaining a route calculation area setting process of the route search device according to the twelfth embodiment of the present invention;
FIG. 26 is an explanatory diagram for explaining an effect of a difference between a rectangle and an ellipse in a route calculation area.
FIG. 27 is a diagram for explaining route search processing of a route search device according to Embodiment 13 of the present invention;
FIG. 28 is a diagram illustrating route search processing of the route search device according to Embodiment 14 of the present invention.
[Explanation of symbols]
1 central processing unit, 1a input / output processing unit (trajectory detection unit), 1b positioning processing unit, 1c map display unit, 1d route setting unit, 1e route calculation processing unit, 1f route guidance unit, 1g RAM, 1h flash memory, 2 Input / output device, 2a display, 2b touch panel, 2c remote controller, 2d speaker, 2e-1 current location display button, 2e-2 menu button, 2e-3 enlargement / reduction button, 2f-1 destination setting (facility) button, 2f-2 destination setting (screen) button, 2f-3 route setting (screen) button, 2A map display screen, 2A-1 to 2A-3 map, 2B predetermined area, 2C representative point, 2D area, 2E circle, 3 Current position detection device, 3a GPS receiver, 3b speed sensor, 3c relative orientation sensor, 4 map information storage device, 5 operation point 5a, 5a-1 operation locus, 5b via point, 5ba operation point, 5c broken line locus, 5ca line segment, 5d straight line, 5e route, 5f common node, 5g route, 5h point, 5i, 5j, 5k search cost, 5l Circle, 5m, 5p, 5q, 5r route, 5n, 5o node (node), 5A-1 to 5A-3 route search data, 6a node, 6b link, 7a route point, 7b route, 7c inspection area, 8, 8c, 8f route calculation area, 8b envelope circle, 8d road link that is not subject to route search, 8e road link that is subject to route search, 8g road link, 8i route start point, 8j route destination, 8k, 8l Path, a1, b1, b2, b3, b4, c1 nodes.

Claims (10)

  1. A trajectory detection unit that detects a trajectory according to a desired route instructed with respect to the map image displayed on the display device;
    A route setting unit that converts the locus detected by the locus detection unit into a route point group represented by a plurality of coordinate points on the map image;
    A route calculation processing unit that calculates a guidance route according to the desired route using road information that expresses each road in the road network on the map image as a road link that connects nodes; equipped with a,
    When the route calculation processing unit calculates the guidance route, the route setting unit determines whether there is a road link intersection node having a common attribute in the vicinity of each waypoint in the guidance route, A route search device characterized in that, when an intersection node exists, the intersection node is set as a new waypoint .
  2. A trajectory detection unit that detects a trajectory according to a desired route instructed with respect to the map image displayed on the display device;
    A path setting unit that divides the trajectory detected by the trajectory detection unit into a plurality of line segments, and converts the nodes of each line segment into a waypoint group represented by coordinate points on the map image;
    A route calculation processing unit that calculates a guidance route according to the desired route using road information that expresses each road in the road network on the map image as a road link that connects nodes; equipped with a,
    When the route calculation processing unit calculates the guidance route, the route setting unit determines whether there is a road link intersection node having a common attribute in the vicinity of each waypoint in the guidance route, A route search device characterized in that, when an intersection node exists, the intersection node is set as a new waypoint .
  3. Route setting section, intersection node, it is determined whether or not within the predetermined area, when present in the region, according to claim 1 or claim, characterized by setting the intersection node as a new transit point Item 3. The route search device according to Item 2 .
  4. A trajectory detection unit that detects a trajectory according to a desired route instructed with respect to the map image displayed on the display device;
    A route setting unit that converts the locus detected by the locus detection unit into a route point group represented by a plurality of coordinate points on the map image;
    A route calculation processing unit that calculates a guidance route according to the desired route using road information that expresses each road in the road network on the map image as a road link that connects nodes; With
    The route setting unit determines whether or not there is a duplicate use link that is a road link that requires a plurality of passes in the vicinity of the waypoint, and when the duplicate use link exists, the node of the duplicate use link is determined. rOUTE sEARCH dEVICE you wherein resetting the waypoints to the path passing once.
  5. A trajectory detection unit that detects a trajectory according to a desired route instructed with respect to the map image displayed on the display device;
    A path setting unit that divides the trajectory detected by the trajectory detection unit into a plurality of line segments, and converts the nodes of each line segment into a waypoint group represented by coordinate points on the map image;
    A route calculation processing unit that calculates a guidance route according to the desired route using road information that expresses each road in the road network on the map image as a road link that connects nodes; With
    The route setting unit determines whether or not there is a duplicate use link that is a road link that requires a plurality of passes in the vicinity of the waypoint, and when the duplicate use link exists, the node of the duplicate use link is determined. rOUTE sEARCH dEVICE you wherein resetting the waypoints to the path passing once.
  6. A trajectory detection unit that detects a trajectory according to a desired route instructed with respect to the map image displayed on the display device;
    A route setting unit that converts the locus detected by the locus detection unit into a route point group represented by a plurality of coordinate points on the map image;
    A route calculation processing unit that calculates a guidance route according to the desired route using road information that expresses each road in the road network on the map image as a road link that connects nodes; With
    The route setting unit sets a new waypoint on the road link when there is a road link with a predetermined attribute near the waypoint,
    The path calculation processing unit uses the waypoints that have been newly set by the route setting unit, ROUTE SEARCH DEVICE you and calculates the navigation route in accordance with the desired path.
  7. A trajectory detection unit that detects a trajectory according to a desired route instructed with respect to the map image displayed on the display device;
    A path setting unit that divides the trajectory detected by the trajectory detection unit into a plurality of line segments, and converts the nodes of each line segment into a waypoint group represented by coordinate points on the map image;
    A route calculation processing unit that calculates a guidance route according to the desired route using road information that expresses each road in the road network on the map image as a road link that connects nodes; With
    The route setting unit sets a new waypoint on the road link when there is a road link with a predetermined attribute near the waypoint,
    Route computation processing unit uses the waypoints that have been newly set by the route setting unit, ROUTE SEARCH DEVICE you and calculates the navigation route in accordance with the desired path.
  8. Route setting section, wherein, wherein the transit point as determined from the trajectory corresponding to the desired path, and a via-point which is newly set in place of the via-point, that is displayed on the map image with different symbols The route search device according to claim 6 or 7 .
  9. The route setting unit can appropriately set whether or not to display either one of the waypoints obtained from the trajectory corresponding to the desired route and the waypoints newly set in place of the waypoints and / or one of the symbols. The route search device according to claim 8 .
  10. A program that causes a computer to function as the route search device according to any one of claims 1 to 9 .
JP2002183397A 2002-06-24 2002-06-24 Route search apparatus and program Active JP4030809B2 (en)

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