JP4397983B2 - Navigation center device, navigation device, and navigation system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation center device, a navigation device, and a navigation system suitable for a system that provides data necessary for route guidance from the center side to the moving side. as well as It relates to a navigation system.
[0002]
[Background]
In general, when driving straight on a road, there is no particular problem in traveling even if there is not much guidance information. However, when changing the course, such as when making a right or left turn at an intersection (including a branch point), it is advantageous to have various information such as the scenery of the intersection. In particular, if there is information about other vehicles entering the intersection, the driver can accurately grasp the situation, which is effective in preventing a course change mistake and an accident.
[0003]
As a background technique for obtaining such information, there is an intersection information providing apparatus disclosed in Japanese Patent Laid-Open No. 9-180095. This provides the vehicle entering the intersection with information on other vehicles that are about to enter the intersection. A beacon is installed on each side of the road that intersects the intersection. And the presence of the vehicle which approachs the intersection is detected using these beacons. The detected approaching vehicle information is provided to a vehicle that is about to enter the intersection via a beacon.
[0004]
[Problems to be solved by the invention]
However, the background art as described above is
(1) Every time a vehicle approaches an intersection, it is necessary to transmit the direction of entering the intersection and the direction of exiting from the intersection.
(2) Since own vehicle information and other vehicle information are exchanged via beacons, other vehicle information cannot be acquired at intersections where no beacons are installed.
That is not satisfactory.
[0005]
On the other hand, Japanese Patent Laid-Open No. 10-19588 discloses a navigation system in which map images and optimum route data necessary for guiding a vehicle to a destination are transmitted from the center (base) side to the vehicle side. ing. According to this system, communication is performed between the data transmission system on the center side and the vehicle navigation apparatus on the moving side. The data transmission system has a database that stores data necessary for guiding a vehicle to a destination. The data transmission system reads out necessary data from a database based on a request from a vehicle navigation device and creates a map image. In addition, route search is performed to create optimum route data. The created map image and data indicating the optimum route are transmitted to the vehicle side. In the vehicle navigation apparatus, corresponding display is performed based on the map image and the optimum route data transmitted from the system side.
[0006]
In such a navigation system, if intersection information is provided using the beacon, communication must be made with the beacon side in addition to the center side, which complicates the system. However, such inconvenience can be avoided if information on vehicles entering another intersection is also supplied from the center side. Moreover, it is possible to obtain information on intersection approaching vehicles even at intersections where no beacons are installed.
[0007]
This invention pays attention to the above points, and its purpose is to provide information on vehicles entering an intersection without installing a beacon at each intersection. Another object is to alert the driver to other vehicles and to easily change the course at the intersection.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the navigation center apparatus of the present invention comprises: A navigation center device that transmits route data and guidance data to a large number of vehicles, For route search data , For route guidance data , And other vehicle guidance For Data Respectively Stored data storage means; Current position data storage means for receiving and storing current position data from each vehicle; destination data storage means for receiving and storing destination data from each vehicle; current position data of the current position data storage means; Destination data of the destination data storage means, Of data storage means For route search Data Respectively Use , For each vehicle Perform route search Get route data for each vehicle Route search means; Guidance data acquisition means for obtaining guidance data on the route of each vehicle searched by the route search means for each vehicle from the route guidance data of the data storage means; route data obtained by the route search means; Route data storage means for storing each vehicle; guide data storage means for storing the guide data obtained by the guide data acquisition means for each vehicle; route data of each vehicle stored in the route data storage means; With reference to the current position data of each vehicle stored in the current position data storage means, When a specific vehicle to be guided enters within a distance L from an intersection that changes course, Concerned Other vehicles at and around the intersection And said Change the course in the same direction as the specific vehicle, and Said About other vehicles located ahead of the specific vehicle Other vehicles Guidance data From other vehicle guidance data in the data storage means Other vehicle data acquisition means to be acquired; route data obtained by the route search means, and the guidance data acquisition means And the guidance data obtained by Obtained by the other vehicle data acquisition means Other vehicles Guidance data, For each applicable specific vehicle Transmitting means for transmitting.
[0009]
The navigation device of the present invention Said Sent from the navigation center device About your vehicle Route data , Guidance data , And other vehicle guidance data, respectively Data receiving means for receiving; The data receiving means Received by Said Route data , Said Guidance data , The other vehicle guidance data, Data storage means for storing; Position measurement means for measuring the current position of the host vehicle; Input means for inputting destination data; Current position data obtained by measurement by the position measurement means is transmitted to the navigation center device as needed, and the input means Data transmission means for transmitting the destination data to the navigation center device when the ground data is input; the current position measured by the position measurement means Read route data and guidance data corresponding to the data from the data storage means When the other vehicle guidance data is received, the other vehicle guidance data received from the data storage means is read, the course is changed in the same direction as the own vehicle, and Located in front Other vehicle About progress guide Also Route guidance means to perform.
[0010]
The navigation system according to the present invention includes the navigation center device and the navigation device.
[0012]
The above and other objects, features and advantages of the present invention will become apparent from the following detailed description and the accompanying drawings.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail. In the following embodiments, a case where a vehicle is assumed as the moving side and the present invention is applied to an in-vehicle navigation device will be described as an example.
[0014]
First, the outline of the following embodiment will be described. On the vehicle side, search basic data indicating the starting point and destination of route search is transmitted to the center side. On the center side, a route search is performed with reference to the database. Then, guidance data is extracted for the searched route. The searched route data and the extracted guidance data (hereinafter referred to as “route / guidance data”) are transmitted to the moving side. On the moving side, map display and voice guidance are performed based on the route / guidance data transmitted from the center side.
[0015]
In this case, on the center side, route data of each vehicle is stored, and the current position of each vehicle is also grasped. When it is determined that a plurality of vehicles enter a predetermined intersection with reference to the route data and the vehicle position, guidance data related to the progress of other vehicles is transmitted to the corresponding vehicle. In the vehicle to which the other vehicle guidance data is transmitted, guidance such as turning the vehicle ahead in the same direction is performed, and the course can be changed appropriately.
[0016]
In the following description, a vehicle on which guidance related to the progress of another vehicle is expressed as a specific vehicle or a host vehicle. Moreover, the guidance data regarding the progress of other vehicles is expressed as other vehicle guidance data. In addition, the intersection includes a branch point.
[0017]
(1) Overall Configuration First, the overall configuration of this embodiment will be described with reference to FIG. FIG. 1 shows a configuration of a navigation system according to the present embodiment. The navigation system of this embodiment is configured by a center device 150 on the center side and an in-vehicle navigation device 100 on the moving side.
[0018]
First, the center device 150 will be described. The communication control unit 151 is a communication device including a modem, a terminal adapter, and the like, and is used for transmitting / receiving data to / from the navigation device 100. A communication system such as a car phone, a mobile phone, or a PHS may be used. The system control unit 152 includes an arithmetic processing unit that includes a CPU and a memory. The memory contains
(1) A route search program for searching for a route from the designated departure point to the destination,
(2) A program for extracting guidance data on the searched route,
(3) A program that extracts the progress of vehicles around the intersection,
For example, various programs executed by the center device 150 are stored. The memory also has a working area used for executing these programs.
[0019]
The database 153 is a large-capacity storage medium such as a hard disk, and is used for route search and route guidance such as route data representing a route, search data used for route search, guidance data for guiding a searched route and other vehicles. Each necessary data is stored. Specific contents are as follows, for example.
(1) Map data: Data for displaying a map on the display of the navigation device.
(2) Road data: As shown in FIG. 2 (A), road number string, node point number and position (longitude / latitude) set on each road, road name, road type, road length, drawing data Etc. The road drawing data may be vector data composed of a plurality of drawing coordinates, or may be bitmap image data.
(3) Intersection data: As shown in FIG. 2 (B), intersection number string, intersection name, position (longitude / latitude), guidance voice for instructing the course change direction of the intersection, so-called land that serves as a guide mark Data such as marks and landscapes of major buildings. The intersection includes a branch point.
[0020]
(4) Search data: Data for specifying the position (longitude and latitude) of the destination from the telephone number, address, name and the like.
(5) Vehicle characteristic data: As shown in FIG. 2 (C), this is data indicating the characteristics of each vehicle. For example, the color of the body, the vehicle type, and the like are applicable.
(6) Voice guidance data of other vehicles at intersections ... These are set as shown in FIG. For example, when there are n other vehicles that turn right at the intersection in the same direction as the specific vehicle, voice guidance data that “there are n other vehicles that have the same right turn direction at the intersection” is transmitted to the vehicle side. Condition.
[0021]
Next, the in-vehicle navigation device 100 will be described. The arithmetic processing unit 101 is configured mainly with a CPU. The program storage unit 102 is executed by the arithmetic processing unit 101 such as a program for displaying a route on the display unit 106 based on the route / guide data transmitted from the center device 100, a program for outputting guidance voice from the voice output unit 107, and the like. A memory for storing programs.
[0022]
The data storage unit 103 functions as a working area that is appropriately used when executing the program, and stores, for example, the following data.
(1) Route / guide data transmitted from the center device 150,
(2) ID data unique to the vehicle,
(3) Vehicle position data (longitude / latitude) measured by the position measurement unit 104,
[0023]
Among these, the vehicle position data (3) includes a plurality of past position data in addition to the current position data measured by the position measurement unit 104 at predetermined time intervals. For example, position data of measurement points included in a certain distance or position data of a certain number of measurement points is stored. When the position measurement unit 104 newly performs measurement, the latest position data is stored, and the oldest stored position data is deleted. By connecting the plurality of position data, a travel locus of the vehicle can be obtained. This travel locus is used for so-called map matching for specifying the road on which the vehicle is traveling.
[0024]
Next, the position measuring unit 104 is for measuring the position of the vehicle using so-called GPS, D-GPS, etc., and receives signals from a plurality of GPS satellites to measure the absolute position of the vehicle. It has a receiver, a speed sensor and a direction sensor for measuring the relative position of the vehicle. Speed sensors and azimuth sensors are used for autonomous navigation. The relative position measured by these sensors is used to obtain the position in a tunnel where the GPS receiver cannot receive radio waves from the satellite, or to correct the positioning error of the absolute position measured by the GPS receiver. .
[0025]
The input unit 105 includes various switches, a touch panel attached to the display surface of the display unit 106, a remote controller, a data input device using voice recognition, and the like. On the touch panel, when a user touches an icon or the like displayed on the display unit 106 with a finger, corresponding data and commands are input. In a data input device using voice recognition, corresponding data and commands are input when a user utters a voice.
[0026]
The display unit 106 is a display using liquid crystal, CRT, or the like, and includes a touch panel as described above. The transmission / reception unit 108 is a communication device for transmitting / receiving data to / from the center device 150 side, and includes a modem. A system such as a car phone, a mobile phone, or a PHS may be used.
[0027]
(2) Route Search and Guidance Data Extraction Next, route search and guidance data extraction operations will be described with reference to the flowchart of FIG. In the in-vehicle navigation device 100, first, GPS data is acquired by the position measurement unit 104, and the current position (longitude / latitude) of the vehicle is measured. On the other hand, the user of the in-vehicle navigation device 100 uses the input unit 105 to input the facility name, telephone number, address, or the like of the destination (step S10). Then, the vehicle current position is transmitted to the center device 150 together with the vehicle ID as the departure point data and the destination telephone number and address are transmitted as the destination data (step S11).
[0028]
These data are received by the communication control unit 151 of the center apparatus 150 and sent to the system control unit 152. Then, the system control unit 152 determines a departure place and a destination based on the received data (step S12). First, as the starting point of the route search, based on the current position data of the vehicle transmitted from the in-vehicle navigation device 100, the current position of the vehicle or an intersection near it is set. On the other hand, for the destination, the database 153 is referred to, and the location of the facility corresponding to the telephone number or address transmitted from the in-vehicle navigation device 100 is read from the database 153. Then, the read facility location or an intersection near the facility location is set as a destination for route search.
[0029]
In the center apparatus 150, a route search is performed based on the departure place and the destination determined as described above (step S13). That is, the system control unit 152 executes a route search program based on the departure point and destination data, and searches for a recommended route from the set departure point to the destination. As a route search method, for example, the distance from the departure point to the destination is the shortest, the travel time is the shortest, the transit point is taken into account, the traffic congestion data obtained from VICS, etc. and the road construction data are taken into account. Various methods are known, such as.
[0030]
The search result is displayed on the vehicle side as shown in FIG. 5, for example. In the illustrated example, there are intersections C3 and C6 that change the course between the departure point PD and the destination PA. The distance from the departure point PD to the intersection C3 is LA [km], the distance from the intersection C3 to the intersection C6 is LB [km], and the distance from the intersection C6 to the destination PA is LC [km]. The user can grasp the outline of the searched route by referring to such a route schematic diagram.
[0031]
FIG. 6 shows an example of the searched route. In FIG. 6, the part indicated by the solid line is the searched route. R1 to R9 represent road numbers, and C1 to C8 represent intersection numbers. The road number R2 represents a road between the intersection C1 and the intersection C2. The same applies to other roads. As shown in FIG. 2, the road data of each road number includes data such as node point data for road drawing and road length. Further, the intersection data of each intersection number includes position data, name, and the like. These data are stored in the database 153 together with the numbers. The road number of the route searched in this way is as shown in FIG. 7A, and the intersection number is as shown in FIG. 7B. Moreover, the relationship between the approach path and the exit path at each intersection is as shown in FIG. These search results are held in the system control unit 152.
[0032]
Next, the center device 150 extracts guide data on the route searched as described above, that is, corresponding map data, road data, and intersection data from the database 153 (step S14). FIG. 8 shows the main contents of route data and guidance data. First, FIG. 8A shows the position data of the departure place and the destination, and is expressed by longitude and latitude. FIG. 8B shows road data included in the searched route, which includes a road number and various data corresponding thereto (see FIG. 2A). FIG. 8 (C) is the intersection data included in the searched route. The intersection number and various data corresponding thereto (see FIG. 2 (B)), and the approach and exit routes shown in FIG. 7 (C). Contains data. Furthermore, the guidance data includes road and intersection map data, voice guidance data, landmark data as landmarks for guidance, landscape image data, and the like. In addition, data indicating the travel direction or travel route to the first course change point as viewed from the guidance start position is also added as necessary. If these are displayed on the map on the in-vehicle navigation device side, more accurate guidance is possible.
[0033]
The searched route data and corresponding guidance data are transmitted from the center device 150 to the in-vehicle navigation device 100 having the corresponding ID (step S15) and stored in the data storage unit 103. On the other hand, the route / guidance data is stored in the system control unit 152 of the center device 150 together with the vehicle ID.
[0034]
The route search and guidance data extraction as described above are performed by the center device 150 in response to a request for each vehicle. As a result, the route / guidance data of each vehicle is stored in the system control unit 152 of the center apparatus 150 together with the ID of the corresponding vehicle. On the other hand, the current position is transmitted from each vehicle, and the current position data is also stored in the system control unit 152. These states are as shown in FIG. 9, and the vehicle ID, the corresponding route / guidance data, and the current position data are stored for each vehicle. Further, the feature data of the corresponding vehicle is also extracted from the database 153 and similarly stored in the system control unit 152.
[0035]
For example, a vehicle with a vehicle ID “UY58” is a black sedan, and the traveling route is a road and an intersection with road numbers R02, R03, R04,..., Intersection numbers C02, C03,. In addition, the current position is “longitude mn, latitude uy”.
[0036]
(3) Route Guidance ... On the other hand, guidance is executed in each vehicle based on the route / guidance data acquired from the center device 150 (FIG. 4, step S16). That is, guidance data corresponding to the vehicle position measured by the position measurement unit 104 is read from the data storage unit 103. Images and characters are displayed on the display unit 106, and audio is reproduced by the audio output unit 107. Further, the arithmetic processing unit 101 refers to the route data in the data storage unit 103 and calculates, for example, the distance from the current position to the destination. The calculation result is displayed on the display unit 106. The user proceeds on the searched route while receiving these displays and voice guidance.
[0037]
(4) Route guidance at intersections ... Further, in the present embodiment, the following guidance is provided particularly at intersections. First, the operation on the center apparatus side will be described with reference to the flowchart of FIG. The center device 150 receives the current position data respectively measured by the position measurement unit 104 of the in-vehicle navigation device 100 of each vehicle, and grasps the current position of each vehicle (step S20). This operation is performed at an appropriate timing, for example, every time a predetermined time elapses or every predetermined distance movement. The position data of each vehicle is stored in the system control unit 102 together with other data of the corresponding vehicle ID.
[0038]
On the other hand, the system control unit 152 of the center apparatus 150 determines whether or not the specific vehicle, that is, the vehicle that is the target of route guidance, has entered the range of the distance L from the intersection (step S22). For these determinations, the current vehicle position data and route data (see FIG. 9) stored in the system control unit 152 are referred to. The distance L is set in advance on the center device side, and indicates the start position of intersection guidance for a vehicle entering the intersection where guidance is started. For example, at the intersection C3 in FIG. 6, the following intersection guidance is started from the position M at the distance L.
[0039]
When the system control unit 152 determines that the specific vehicle has entered the distance L, it is further determined whether there is another approaching vehicle in the peripheral area of the intersection (step S23). Judgment whether another vehicle enters or exits the corresponding intersection is a table showing the approach and exit routes to the intersection managed for each vehicle ID (see FIG. 7C) ). Further, the peripheral area of the intersection is set as a rectangular range of the distance L × 2, for example. Then, by comparing the diagonal position coordinates of the rectangular area and the current position data of the other vehicle, it is determined whether or not the other vehicle is located in the area.
[0040]
For example, in the example of FIG. 6, the diagonal position coordinates (Xca3, Yca3), (Xcb3, Ycb3) of the peripheral area AC3 are compared with the current position of the other vehicle, and there are other approaching vehicles in the area AC3. It is judged whether or not. There may be a vehicle that escapes from the intersection, but it is considered that such a vehicle is unlikely to be useful for guiding a vehicle that is about to enter the intersection. Excluded.
[0041]
As a result of the above determination, when there is another vehicle entering the intersection, it is determined whether the traveling direction of the vehicle is the same direction as the specific vehicle (step S24). And if it is the same, the data regarding the other applicable vehicle will be transmitted to a specific vehicle (step S25). Specifically, data such as the number of other vehicles, feature data of other vehicles, the order of entering the intersection, the distance to the intersection, and the relative distance between the other vehicle and the specific vehicle are transmitted to the specific vehicle.
[0042]
Next, the operation of the in-vehicle navigation device 100 for a specific vehicle will be described with reference to the flowchart of FIG. In the in-vehicle navigation device 100, the current position data measured by the position measuring unit 104 is transmitted to the center device 150 together with the ID of the host vehicle (step S30). This operation is performed as needed at an appropriate timing for every elapse of a certain time or for every certain distance.
[0043]
Next, when other vehicle guidance data is received from the center device 150 side (step S31), it is stored in the data storage unit 103 (step S32), and the corresponding guidance is executed (step S33). The other vehicle guidance is performed following normal guidance at an intersection, for example, voice guidance “the next intersection is in the right direction”.
[0044]
Specifically, guidance as shown in FIG. 3 is performed. For example, when there are a plurality of other vehicles that turn right at the intersection in the same direction as the specific vehicle, the voice guidance “The next intersection is the right direction. There are n vehicles that turn right in the same direction.” Is performed. When there is another vehicle that turns right in front of a specific vehicle, “The next intersection is in the right direction. Like the XX model of XX in the same lane and 20 meters ahead, it is in the right direction.” It is.
[0045]
(5) Specific Example FIG. 12 shows an example of another vehicle at the intersection C3 which is one of the course changing points shown in FIG. In this figure, it is assumed that there is another vehicle VB that turns right at the intersection C3 in the same direction in front of the traveling direction of the specific vehicle VA. The other vehicle VB also receives route guidance from the center device 150, and its vehicle ID is “UY58” as shown in FIG. The other characteristic of the vehicle VB is “black sedan”, and the route is “R02, R03, R04,... C02, C03,. That is, before and after the intersection C3, the vehicle travels the same route as that of the specific vehicle shown in FIG.
[0046]
On the center side, such movement of the other vehicle VB is grasped, and the corresponding other vehicle guidance data is transmitted to the specific vehicle VA. In the case of the specific vehicle VA, a voice guidance “The next intersection is in the right direction. The forward direction is the direction in which the black sedan turns to the right. The distance between the vehicle and the intersection is 30 meters.” Therefore, the specific vehicle VA only needs to bend the intersection C3 following the other vehicle VB in front of the vehicle. For example, the specific vehicle VA can be prevented from being inadvertently turned right at the intersection C2 before the intersection C3.
[0047]
Thus, according to the present embodiment, the progress data of other approaching vehicles in the peripheral area centering on the intersection is transmitted from the center side to the moving side. For this reason, data of other vehicles entering the intersection can be obtained without providing equipment such as a beacon at the intersection. The driver can accurately perform the passage of the intersection and the course change using the guidance data regarding the other vehicles.
[0048]
The present invention has many embodiments, and various modifications can be made based on the above disclosure. For example, the following are included.
(1) When going straight at an intersection, there is no particular inconvenience even if there is no guidance regarding other vehicles. Therefore, the guidance data of the other vehicle may be transmitted from the center side to the moving side only at the route change point among the intersections existing on the searched route, that is, the intersection where the specific vehicle changes the route. In the example of FIG. 6, intersections C3 and C6 correspond to course changing points.
[0049]
(2) In the above embodiment, the data of another vehicle traveling in the same direction as the specific vehicle (straight forward, left / right turn, etc.) is transmitted from the center side to the moving side, but the other vehicle traveling in a different direction from the specific vehicle Also, the guidance data may be transmitted. For example, at an intersection where there is no traffic light and the line of sight is bad, it is convenient to alert a specific vehicle in advance that there is another vehicle entering the intersection.
[0050]
{Circle around (3)} In the above embodiment, the guidance of the other vehicle is performed by voice. However, the host vehicle and the other vehicle may be displayed on the display screen. In this case, the display corresponding to the color and type of the vehicle is easy to understand.
(4) The road data, intersection data, and area guidance data shown in the above embodiment are examples, and may be changed as appropriate. Further, the format of the data may be changed as appropriate.
{Circle around (5)} Although the present invention is an application of the present invention to a vehicle, it can be applied to various mobile objects such as portable mobile terminals.
[0051]
【The invention's effect】
As described above, according to the present invention, the route data of each vehicle is managed on the center side, the position of each vehicle in the intersection and its surroundings is grasped, and the guidance data relating to the progress of other vehicles enters the intersection. Provide for specific vehicles Then, the other vehicle in front provides guidance to change the course in the same direction. As a result, it is possible to obtain the progress of other vehicles without the need for equipment such as a beacon, and there is an effect that an appropriate traveling process such as a right or left turn at an intersection becomes possible.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an overall configuration in an embodiment of the present invention.
FIG. 2 is a diagram illustrating an example of data stored in the database of FIG. 1;
FIG. 3 is a diagram illustrating an example of a situation of other vehicles and corresponding voice guidance data.
FIG. 4 is a flowchart showing operations of route search and guidance data extraction.
FIG. 5 shows an example of a schematic diagram of a searched route.
FIG. 6 is a diagram illustrating an example of a searched route.
FIG. 7 is a diagram showing an example of searched route data.
FIG. 8 is a diagram showing an example of guidance data for a searched route.
FIG. 9 is a diagram illustrating various data corresponding to a vehicle.
FIG. 10 is a flowchart showing an operation of specifying guidance data of another vehicle in the center device.
FIG. 11 is a flowchart showing an operation of guiding another vehicle in a specific vehicle.
FIG. 12 is a diagram showing an example of vehicle arrangement on a search system road.
[Explanation of symbols]
100: In-vehicle navigation device
101 ... arithmetic processing unit
102. System control unit
102: Program storage unit
103: Data storage unit
104: Position measuring unit
105 ... Input unit
106 ... Display section
107: Audio output unit
108: Transmitter / receiver
150 ... Center device
150 ... Result center device
151. Communication control unit
152 ... System control unit
153 ... Database
C1-C8 ... intersection
L ... Distance
M ... position
PA ... Destination
PD ... From
R1-R9 ... Road
VA ... Specific vehicle
VB ... Other vehicles

Claims (3)

A navigation center device that transmits route data and guidance data to a large number of vehicles,
Route search data, route guidance data, and respectively stored data storage means data for other vehicle guidance;
Current position data storage means for receiving and storing current position data from each vehicle;
Destination data storage means for receiving and storing destination data from each vehicle;
The current position data of the current position data storage means, the destination data of the destination data storage means, said data storage means of the route search data were utilized, respectively, have the line route search for each vehicle, each vehicle Route search means for obtaining route data of ;
Guidance data acquisition means for obtaining guidance data on the route of each vehicle searched by the route search means for each vehicle from the route guidance data in the data storage means;
Route data storage means for storing the route data obtained by the route search means for each vehicle;
Guidance data storage means for storing the guidance data obtained by the guidance data acquisition means for each vehicle;
With reference to the route data of each vehicle stored in the route data storage unit and the current position data of each vehicle stored in the current position data storage unit , the specific vehicle to be guided changes the route. when entering the intersection within the distance L, an other vehicle in the intersection and its vicinity, the change the route to a specific vehicle in the same direction, and, for the other vehicles located in front than the specific vehicle Other vehicle data acquisition means for acquiring other vehicle guidance data from data for other vehicle guidance of the data storage means;
Transmitting means for transmitting the route data obtained by the route searching means, the guidance data obtained by the guidance data obtaining means, and the other vehicle guidance data obtained by the other vehicle data obtaining means , respectively , to the corresponding specific vehicle ;
A navigation center device comprising: Data receiving means for receiving route data , guidance data , and other vehicle guidance data about the host vehicle transmitted from the navigation center device according to claim 1;
The route data received by the data receiving means, said guide data, the other vehicle guidance data, data storage means for storing respectively;
Position measuring means for measuring the current position of the host vehicle;
Input means for inputting destination data;
Current position data obtained by measurement by the position measuring means is transmitted to the navigation center apparatus as needed, and when the destination data is input by the input means, the destination data is transmitted to the navigation center apparatus. Data transmission means;
Performs route guidance route data and guidance data corresponding to the current position measured by said position measuring means to read out from said data storage means, upon receiving the other vehicle guidance data received from said data storage means Route guidance means for reading out other vehicle guidance data, changing the course in the same direction as the own vehicle, and also providing guidance regarding the progress of the other vehicle located in front of the own vehicle ;
A navigation device characterized by comprising:   A navigation system comprising the navigation center device according to claim 1 and the navigation device according to claim 2.

Images