JP5139173B2 - Navigation device - Google Patents

Description

  The present invention relates to a technique for performing route guidance in a navigation device mounted on an automobile.

As a technology for performing route guidance in a navigation device mounted on an automobile, a technology for performing route guidance until arrival at a destination is detected is known. In addition, in such a navigation apparatus that performs route guidance, as a technique for detecting arrival at the destination, if the destination is not set in the vehicle entry prohibited area, the car can reach the first predetermined distance. And when the destination is set in the vehicle entry prohibited area, the second predetermined distance set by the automobile is larger than the first predetermined distance. A technique is known in which arrival at a destination is detected when the destination approaches the destination (for example, Patent Document 1).
JP 2005-241561

  When the up road and down road that form one route are laid in parallel and separated, the road in each direction is expressed as an independent road in the map data representing the road network. May be. Here, for the sake of convenience, a road in which up and down roads are expressed as independent roads on such map data will be referred to as a “two-lane road”.

  Now, when the navigation device detects the arrival of the route end point and ends the route guidance with the detection, in general, the detection of the arrival of the route end point is performed by changing the last course before the route end point (left turn / It is preferable to guide the user to the route end point after guiding the right turn, etc.) after approaching the route end point.

However, if this is done, the following problems arise when a route end point is set on the Nijo line road.
In other words, as shown in FIG. 11a, there is a two-line road 1100 composed of an upward road 1101 and a downward road 1102 on the map data. When the destination 1120 is set by the user, the vehicle cannot enter the vehicle inaccessible road 1110. Therefore, the vehicle 110 cannot enter the vehicle 1111. The connection end point 1130 is set as the route end point.

  In this case, as shown in the figure, after traveling on the road 1102, the vehicle travels on a road section 1140 connecting the node 1160 on the road 1102 and the node set at the route end point 1130 on the road 1101. Consider a case where a route 1150 reaching the route end point 1130 is set.

At this time, the last course change point (left turn / right turn, etc.) before the route end point is a connection node 1160 between the road 1102 and the road section 1140.
Therefore, when the current position 1170 of the vehicle approaches the connection node 1160, as shown in FIG. 11B, the direction of change of the route at the connection node 1160 is guided by an arrow 1190 on a map 1180 representing the periphery of the connection node 1160. Then, since the road 1102 and the road 1101 are two-line roads and the road section 1140 connecting them is extremely short, the tip of the arrow 1190 reaches the road 1110 that cannot be entered as shown in the figure, and the road cannot be entered. The user may be misunderstood that the vehicle can travel on the road 1110.

  In this case, the arrival of the route end point due to the approach to the route end point is detected on the road section 1140 and the route guidance is terminated. When the end of the route is guided by a voice message, the road section 1140 is very short, so the guidance by the voice message may not be in time before the actual route end point 1130 arrives. In addition, when the road section 1140 is a U-turn exclusive road between the road 1101 and the road 1102 forming the two-straight road 1100 as shown in FIG. 11c, the route guidance ends on the U-turn exclusive road. Therefore, the route guidance is halfway for the user.

  Therefore, in the present invention, when a point to guide the user is set on a road that forms one route in which the up and down roads are expressed as independent roads on the map data, It is an object of the present invention to enable good route guidance to the user.

  In order to achieve the above object, the present invention provides a navigation device mounted on an automobile as a guidance route based on map data representing a road network to a route end point set according to a set destination. A guidance route setting unit to be set; a current position calculation unit that calculates the current position of the vehicle; a route guidance unit that performs route guidance including route change guidance at a route change point according to the guidance route; and the current position calculation unit Based on the current position calculated by the vehicle, the vehicle has passed the last course change point on the guide route that is before the arrival determination point, and is close to the arrival determination point within a predetermined distance. An arrival determination unit that terminates the route guidance of the route guidance unit when it is detected that the route guidance unit ends the route of the guidance route. Two roads that form a two-line road, where the points are roads corresponding to one route, expressed as two roads with opposite traveling directions on the road network represented by the map data One of the roads at a connecting point with a connecting road that is a road connecting the two roads forming the two-line road, and the guide route is the other road forming the two-line road When the road travels from the road to the connecting road and reaches the end point of the route on the one road that forms the second line road, the other road that forms the second line road and A connection point with the connection road is set as the arrival determination point, and in other cases, a route end point of the guide route is set as the arrival determination point.

  According to such a navigation device, the guide route connects the first road and the second road from the first road of the first road and the second road forming the Nijo line road. A first road that forms the Nijo Line road when the road ends at a route end point set as a connection point between the connection road and the second road. The route guidance is terminated when approaching a connection point with the connection road.

  Therefore, it is possible to guide the route change entering the connecting road from the first road and misunderstand that the user can travel on the inaccessible road connected to the second road, It is possible to avoid that the voice message notifying the end of the time is not in time for the arrival of the route end point, or that the route guidance is ended halfway on the road of the connecting road.

  In such a navigation device, in the arrival determination unit, the route end point of the guidance route forms the two-line road on one of the two roads forming the two-line road. The guide route is at a connecting point with a connecting road that is a road connecting two roads, and the guide route proceeds from the other road forming the two-way road to the connecting road, If the route ends on the one road to be formed and the connecting road is a U-turn exclusive road between two roads forming a two-way road, the two-way road A connecting point between the other road and the connecting road that form the road may be used as the arrival determination point. Further, in such a navigation device, in the arrival determination unit, the route end point of the guidance route forms the two-line road on one of the two roads forming the two-line road. The guide route is at a connecting point with a connecting road that is a road connecting two roads, and the guide route proceeds from the other road forming the two-way road to the connecting road, The vehicle reaches the end point of the route on the one road to be formed, and the vehicle cannot travel to the connecting point with the connecting road on the one road forming the two-lane road. When roads are connected, a connection point between the other road and the connection road forming the two-line road may be configured as the arrival determination point.

In addition, the navigation device as described above may include a destination guidance unit that guides the position of the destination when the arrival determination unit ends the route guidance of the route guidance unit.
In order to achieve the above object, the present invention guides a route to a route end point set according to a set destination based on map data representing a road network in a navigation device mounted on a car. A guidance route setting unit to set as a route, a current position calculation unit to calculate the current position of the vehicle, a route guidance unit to perform route guidance including route change guidance at a route change point according to the guidance route, and the current position Based on the current position calculated by the calculation unit, the vehicle passes the last course change point on the guidance route that is before the route end point, and is within a predetermined distance from the route end point. An arrival determination unit that terminates the route guidance of the route guidance unit when it is detected that the vehicle is in an approaching position, and is set in the guidance route setting unit. A point on the road where the vehicle can travel closest to the destination or a point on the road where the vehicle can be predefined for the set destination is set as the route end point, and the route to the route end point is set in the map A road corresponding to one route that is searched as a search route based on data, and the route end point is expressed as two roads with opposite traveling directions on the road network represented by the map data. And a connecting point with a connecting road that is a road connecting the two roads forming the two-way road on one of the two roads forming the two-way road, and When the searched route travels from the other road that forms the two-line road to the connecting road and reaches the route end point on the one road that forms the two-line road The route end point is changed to a connecting point between the other road and the connecting road that forms the second road, the route to the changed route end point is set as the guide route, and in other cases The search route is configured to be set as the guidance route.

  According to such a navigation device, the first road and the second road from the first road of the first road and the second road whose route to the searched route end point forms a two-lane road. If the route ends at a route end point set as a connection point between the connection road and the second road through a connection road connected to the second road, the second road is formed. The route end point is changed to a connection point between one road and the connection road, and the route to the route end point after the change is set as a guide route.

  Therefore, a route entering the connecting road from the first road is not included in the guide route, and a route change entering the connecting road from the first road is guided, and an entry not connected to the other road is guided. Misleading users that they can travel on possible roads, voice messages notifying the end of route guidance will not be in time for the arrival of the route end point, route guidance is halfway on the road of the connected road You can avoid quitting.

  Here, in such a navigation device, in the guidance route setting unit, the route end point is a two-way road that forms the two-line road on one of the two roads that form the two-line road. The search route is located at a connection point with a connection road that is a road connecting two roads, and the searched route travels from the other road forming the second road to the connection road to form the second road. If the road reaches the end of the route on the one road and the connecting road is a U-turn exclusive road between two roads forming a two-way road, The route end point may be changed to a connection point between the other road to be formed and the connection road. Moreover, in such a navigation device, in the guidance route setting unit, the route end point is two roads that form the two-line road on one of the two roads that form the two-line road. The search route is located at a connection point with a connection road that is a road connecting the roads, and the search route proceeds from the other road forming the second road to the connection road to form the second road. A road that reaches the end point of the route on the one road, and on which the vehicle cannot travel at a connection point with the connection road on the one road that forms the two-line road. When connected, the route end point may be changed to a connecting point between the other road and the connecting road that form the two-line road.

  Each of the navigation devices as described above performs the above-described processes by treating two adjacent roads whose traveling directions are opposite to each other on the road network represented by the map data in the same manner as the two-line road. You may comprise as follows.

  As described above, according to the present invention, when a point where a user should be guided is set on a road that forms one route in which up and down roads are represented as independent roads on map data. In addition, good route guidance can be provided to the user.

Hereinafter, an embodiment of the present invention will be described by taking as an example a case where the traffic classification of an automobile is right-hand traffic.
FIG. 1 shows a configuration of a navigation system according to the present embodiment.
The navigation system is a system mounted on an automobile, and includes a navigation device 1, a speaker 2, an operation unit 3, a display device 4, a vehicle state sensor 5, and a GPS receiver 6, as shown in the figure. Configured.
Here, the vehicle state sensor 5 is various sensors that detect various vehicle states, such as an azimuth sensor such as an angular acceleration sensor or a geomagnetic sensor, or a vehicle speed sensor such as a vehicle speed pulse sensor.
The navigation device 1 includes a storage device 11 such as an HDD that stores map data representing a map, a current state calculation unit 12, a route search unit 13, a memory 14, a voice generation unit 15 that generates voice and outputs it from the speaker 2. A control unit 16, a guide image generation unit 17, and a GUI control unit 18 that controls input and output with the user using the operation unit 3 and the display device 4 are provided.

  However, the above navigation apparatus 1 may be a computer having a general configuration including peripheral devices such as a microprocessor, a memory, and other graphic processors and geometric processors in terms of hardware. In this case, each unit of the navigation device 1 described above may be realized as a process embodied by a microprocessor executing a program prepared in advance. In this case, such a program may be provided to the navigation apparatus 1 via a recording medium or an appropriate communication path.

Next, FIG. 2 shows the contents of the map data stored in the storage device 11.
As shown in the figure, the map data includes management data describing the version of the map data, route data representing information on each road route, facility data, and basic map data representing a map.
The route data has a route record provided for each route, and a route number serving as an identifier of the corresponding route and a route name that is the name of the corresponding route are registered in each route record.
Next, the facility data has a facility record provided for each pre-selected facility, and each facility record includes a facility identifier that is an identifier of the corresponding facility, a facility name that represents the name of the corresponding facility, The facility type indicating the type of the corresponding facility such as park or restaurant, the standard guidance point, and the facility detailed information in which the address, telephone number and other various information of the corresponding facility are registered are stored. Here, the standard guidance point is a point that guides the user when the corresponding facility or a position in the facility is designated as the destination, that is, a point set as the end point of the route to the destination. As the standard guidance point, a point on a road (link described later) closest to the entrance of the corresponding facility is usually set.

Next, the basic map data includes a road unit representing a road network, a polygon unit representing a graphic object (a road graphic, a facility graphic, a terrain graphic, etc.) constituting a display map, and a text object (a place name or And a text unit representing a road name or the like.
Here, in the road unit, the road network is defined as a set of nodes representing intersections and links connecting the nodes, and the road unit is provided for each node and node data provided for each node. Link data.
Each node data includes a node number serving as an identifier of the corresponding node, a node attribute indicating various attributes of the corresponding node, node coordinates indicating the position of the corresponding node, and a connection link indicating a link connected to the corresponding node. Information, and connection node information representing other nodes connected to the corresponding node via a single link.

  Each link data includes a link number that is an identifier of the corresponding link, a link attribute that represents various attributes of the corresponding link, an affiliated route number that indicates the route number of the route to which the corresponding link belongs, a start point of the corresponding link, and A start point node representing the node number of the corresponding node, an end point node representing the node number of the node serving as the end point of the corresponding link, and link shape data representing the shape of the corresponding link are registered. In the link attribute, whether or not the corresponding link is a link of a road incapable of entering the vehicle, and the corresponding link is expressed as independent roads on the map data on the up and down roads. Whether it is a link that forms a road (hereinafter referred to as “Nijo Line Road”) and the direction in which the corresponding link can travel (only the direction from the start node to the end node, bidirectional, etc.) are registered Yes.

  Next, the polygon unit has polygon data provided for each graphic object (road graphic, facility graphic, topographic graphic, etc.) constituting the display map, and each polygon data is an identifier of the corresponding graphic object. Polygon identifier, polygon type indicating graphic type such as road graphic of corresponding graphic object, facility graphic, terrain graphic, shape arrangement data indicating shape of corresponding polygon and arrangement on map, and corresponding graphic object is facility graphic Is registered with the corresponding facility identifier representing the facility identifier of the facility.

  In such a configuration, the current state calculation unit 12 of the navigation device 1 uses the basic map data read from the storage device 11 for the current position estimated from the outputs of the vehicle state sensor 5 and the GPS receiver 6. Map matching processing with the map around the current position determined last time indicated by the road unit of the map data is performed, and the most probable coordinates as the current position and the most probable direction as the current traveling direction are respectively present positions The current traveling direction is determined and set in the memory 14.

  In addition, the control unit 16 receives a setting of one destination from the user via the operation unit 3 and the GUI control unit 18 and sets it in the memory 14. Here, in addition to the final destination, the setting of one or a plurality of intermediate destinations (route points) can be accepted as the destination. Then, the route search unit 13 is searched for a guidance route to the final destination.

When the route search unit 13 is instructed by the control unit 16 to search for a guide route, the route search unit 13 performs the guide route setting process shown in FIG.
That is, in the route setting process, first, the current position set in the memory 14 is set as the partial route start point (step 302).
Then, attention is sequentially paid to each destination (intermediate destination and final destination) in the order to be reached (steps 310 and 318), and the following processing is sequentially performed for the focused destination.
That is, first, the guidance point of the focused destination is calculated (steps 304, 306, and 314). Here, when the focused destination is a facility or a point in the facility and a standard guidance point is defined in the facility record of the facility (step 304), the defined standard guidance point is focused on. In the other cases, a point on the road that can be approached by the vehicle closest to the target destination is calculated as a guidance point (step 314). Note that the standard guidance point when the destination is a facility is obtained as the standard guidance point of the facility record of the facility. The standard guidance point when the destination is a point in the facility is, for example, a facility record whose facility identifier is the corresponding facility identifier of the polygon data of the graphic object including the position designated as the destination on the guide image. Obtained as standard guidance point.

Next, the map from the set partial route start point to the guidance point is read from the storage device 11 as map data in the necessary geographical range, and is searched as a partial route based on a cost model such as minimum distance and minimum time (step) 308).
If the target destination is not the final destination, the partial route starting point is updated to the guidance point calculated for the target destination (step 316), and the processing for the target target point is performed. , And proceed to processing focusing on the destination to be reached next.
If the partial route is searched for all the destinations as described above, the route obtained by connecting the partial routes searched so far is set as the guidance route in the memory 14 and becomes the end point of each partial route. Is set in the memory 14 (step 312).
As a result of such guidance route setting processing, the route with the minimum cost from the current position set in the memory 14 to the final destination and passing through each intermediate destination set in the memory 14 is used as the guidance route. Will be set.
Returning to FIG. 1, if the current position set in the memory 14 is near the destination, the control unit 16 determines that the destination has arrived and clears the destination and the guidance route set in the memory 14. Process.
Further, the guide image generation unit 17 refers to the current position set in the memory 14, and displays the map within the map display range set around the current position indicated by the map data and the point designated by the user at a predetermined scale. Generate a map image to represent. In addition, the guide image generation unit 17 draws a current position mark representing the current position set in the memory 14 on the drawn map image, and displays it on the display device 4 via the GUI control unit 18 as a guide image. Repeat the process. Here, when the destination and the guidance route are set in the memory 14, the guidance image generation unit 17 also displays the guidance route graphic representing the portion of the guidance route within the map display range in the guidance image. When the destination is included in the map display range, a destination mark indicating the destination is further included in the guidance image and displayed.

FIG. 4a shows an example of a guide image displayed in this way.
As shown in the figure, in this example, the guide image 40 is a map image 41 that represents a map around the current position and a current position mark 42 that represents the current position. When a guidance route or a destination is set, the guide image 40 includes a guidance route graphic 43 representing the guidance route. When the destination is included in the map display range, the destination mark 44 is also included in the guide image 40.

Next, in the configuration as described above, the control unit 16 starts a route guidance process described below when a destination or a guidance route is set in the memory 14.
FIG. 5 shows the procedure of the route guidance process.
As shown in the figure, in this process, the controller 16 pays attention to the order in which each guidance point set in the memory 14 should be reached (steps 502, 528, and 532) and performs the following processes.
That is, first, the focused guidance point is set as an arrival determination point, and a section from the current position of the guidance route to the focused guidance point is set as a guidance target route (step 504).
Then, it is checked whether or not the route change point that passes next on the guidance target route is the last route change point on the guidance route (step 506). However, in step 506, if there is no route change point that will pass on the guidance target route in the future, the route change point that passes next on the guidance target route is not the last route change point on the guidance route. Make a decision.

  If the next route change point on the guidance route is not the last route change point on the guidance route (step 506), a predetermined distance to the next route change point on the guidance route (for example, 300m) is monitored (step 508) and the passage of the last route change point before the arrival determination point on the guide route (step 510) is monitored.

  On the other hand, if the next route change point that passes on the guidance target route is the last route change point on the guidance route (step 506), the vehicle travels last before reaching the guidance point on the guidance target route. It is checked whether or not the link to be linked is a link connecting two roads in the up and down direction forming the Nijo all roads (step 512).

  Here, the link data of the last traveled link and the link data of each link connected to the nodes at both ends of the last traveled link are referred to, and the last traveled link forms a double road If the link that forms the two-way road is connected to the node at one end and the node at the other end of the last traveling link, the last traveling link It determines with it being a link which connects two roads of the up-down direction to form. Whether or not each link is a link forming a two-straight road can be determined from the link attribute of the link data of the link.

  Alternatively, there is a pair of a link connected to one end of the last traveled link and a link connected to the other end having the same route name of the route to which the link belongs, and the route of the route to which the link of the pair belongs When the name is different from the route name of the route to which the last traveled link belongs, the last traveled link is determined to be a link connecting two roads in the up and down directions forming a two-way road. You may do it. The route name of the route to which each link belongs can be obtained as the route name registered in the route record registered in the link data of the link and the assigned route number is registered as the route number.

If the link that travels last before reaching the target guidance point on the guidance target route is not a link that connects the two roads in the up and down directions forming the entire Nijo road (step 512), step 508 is performed. , 510 is monitored.
On the other hand, if the link that travels last before reaching the target guidance point on the guidance target route is a link that connects two roads in the up and down directions that form the entire Nijo road (step 512), Investigate whether the link that passes immediately before the last traveling link is a link of one of the two roads in the up and down direction that form a two-way road connecting the last traveling link (Step 514), if it is not a link of any one of the two roads in the up and down direction forming the two-line road, the process proceeds to monitoring in Steps 508 and 510.

  On the other hand, if the link that passes immediately before the last traveling link is a link of one of the two roads in the up and down direction that form a two-way road that connects the last traveling link ( Step 514), when traveling according to the guidance target route, the arrival determination point is updated to the node that is the travel start point of the last traveled link, and the double line corresponding flag is set to the updated arrival determination point (Step 516). . Then, the process proceeds to monitoring in steps 508 and 510.

  However, step 516 may be performed only when a link where the automobile cannot travel is connected to the focused guidance point, and in other cases, the process may proceed to monitoring in steps 508 and 510 as it is. Alternatively, the step 516 is performed only when the last traveling link is a link dedicated to a U-turn that connects two links in the up and down direction forming the entire Nijo road. In other cases, the step 516 is performed as it is. You may make it progress to monitoring of step 508,510. Alternatively, in step 516, a link where an automobile cannot travel is connected to the guidance point of interest, or the last traveling link connects two links in the up and down directions forming the entire Nijo road. It may be performed only when the link is a dedicated link, and in other cases, the process may proceed to monitoring in steps 508 and 510 as it is. It can be determined from the link attribute of the link data of the link whether the link is a link in which the vehicle cannot travel or whether the link is a link dedicated to the U-turn.

  Next, during the monitoring of steps 508 and 510, when an approach within a predetermined distance to the route change point that passes next on the guidance route of the current position occurs (step 508), the route at the route change point. Change guidance is performed (step 518), the passage of the course change point is awaited (step 520), and the processing returns to step 506. Here, the route change guidance at the route change point is, for example, a route change guide map in which the route change direction at the route change point is represented by an arrow on the map representing the periphery of the route change point. This is performed by causing the speaker 2 to output a voice guidance message such as “turn left at the intersection 300 m ahead”. The route change guide map is deleted when the route change point is passed.

  On the other hand, if the passage of the last course change point before the arrival determination point occurs during the monitoring of steps 508 and 510 (step 510), within a predetermined distance (for example, 300 m) to the set arrival determination point (Step 522), a destination guidance screen prepared in advance as shown in FIGS. 3b1 to b4 is displayed on the display device 4 for a predetermined period via the GUI control unit 18 (step 524). .

  Here, FIGS. 3 b 1, b 2, and b 3 are destination guidance screens used when the double-line corresponding flag is not set at the arrival determination point. Further, FIG. 3b1 is a destination guidance screen used when the destination corresponding to the target guidance point is on the front link when viewed from the current position in the current traveling direction, and FIG. FIG. 3b3 shows a destination guidance screen used when the destination corresponding to the guidance point is located on the left link or the left side of the road on the left when viewed from the current position in the current traveling direction. This is a destination guidance screen used when the destination corresponding to the guidance point to be viewed is located on the right link or on the right side of the traveling road when viewed from the current position in the current traveling direction. And FIG. 3b4 is a destination guidance screen used when the double line corresponding flag is set to the arrival determination point. Note that the destination corresponding to the target guidance point is the destination for which the target guidance point is calculated in the guidance route setting process shown in FIG.

Next, the user is notified of the end of the guidance of the guidance target route by causing the speaker 2 to output a voice guidance message such as “It is around the destination. The route guidance will be terminated” (step 526).
If the guidance point of interest is the last guidance point (step 528), the process for the guidance point of interest is terminated and the route guidance process is terminated.
On the other hand, if the target guidance point is not the last guidance point, the process waits for the passage to the target guidance point (step 530), ends the processing for the target guidance point, and focuses on the next guidance point. Proceed to processing from 504.
Here, for example, the passage of the guidance point is determined not only when the guidance point is actually passed, but also when the distance between the current position and the guidance point starts to decrease and increases. It is performed by judging.
The route guidance process performed by the control unit 16 has been described above.
Hereinafter, an example of such route guidance processing will be shown.
Now, as shown in FIG. 6 a, there is a double-straight road 600 consisting of an upward road 601 and a downward road 602 on the map data, and the user is on a vehicle inaccessible road 610 connected to the road 601. Consider the case where the destination 620 is set by In this case, since the vehicle cannot enter the vehicle-impossible road 610, the connection node 631 of the road 601 with the vehicle-impossible road 610, which is the nearest point where the vehicle cannot enter, is the guidance point. Will be set.

  In this case, as shown in the figure, after traveling on the road 602, the vehicle travels on a link 640 that connects the node 632 on the road 602 and the node 631 set as the guidance point on the road 601. Consider a case where a guidance route 650 reaching a point node 631 is set.

  In this case, when the current position of the vehicle reaches a point within a predetermined distance to the node 633 as the second route change point indicated by 651 in FIG. 6a (step 508), as shown in FIG. A route change guide map 60 in which the route change direction at the node 633 is represented by an arrow on the map representing the periphery is displayed on the display device 4, and a voice guidance message such as “turn right at the intersection 300 m ahead” is sent from the speaker 2. Is output (step 518). In FIG. 6 c, when the route change guide map 60 is displayed, the display size of the guide image 40 is reduced and the route change guide map 60 is displayed together with the guide image 40.

  Next, when the vehicle passes through the node 633 that is the second route change point from the last, and the node 632 that is the next route change point passes through the node 631 that is the guidance point, Then (step 506), the link 640 that travels last before reaching the node 631 of the guidance point is a link that links the links of the two roads 601 and 602 in the up and down directions forming the entire Nijo road ( Step 512) Since the link that passes immediately before is the link of one of the two roads 602 in the up and down direction that forms the two-way road connecting the last traveling link 640 (Step 514) The determination point 630 is a node set as a guide point as shown in FIG. 6b from the node 631 set as the guide point in FIG. 6a. Is changed to the node 632 to pass in front of 31, Nijo line corresponding Flag this arrival determination point 630 is set (step 516).

  Then, when the current position of the vehicle reaches a point within a predetermined distance to the arrival determination point 630 indicated by 652 in FIG. 6b (step 510), the destination guidance screen 61 is displayed on the display device 4 as shown in FIG. 6d. (Step 524) and a voice guidance message such as “It is around the destination. The route guidance is terminated” is output from the speaker 2 (step 526). Here, since the two-line corresponding flag is set at the arrival determination point 630, the destination guidance screen of FIG. 3b4 is displayed.

In FIG. 6d, when the destination guidance screen 61 is displayed, the destination guidance screen 61 is displayed together with the guidance image 40 after the display size of the guidance image 40 is reduced.
As a result, the route guidance is terminated before the last route change point without guiding the route change at the node 632 which is the last route change point before the guidance point 631 as shown in FIG. Thus, the route change guidance map for guiding the route change at the node 632 is displayed and the user may misunderstand that the vehicle can travel on the road 610 that cannot be entered, or the voice message notifying the end of the route guidance is a guidance point It is possible to avoid being out of time by arrival.

  6A, even if the node 631 is set as a guidance point, if the guidance route is set as shown in FIGS. 6e and f, the arrival determination point 630 is the guidance point. The node 631 remains. In the case of FIG. 6e, since the last traveling link is not a link that connects two links in the up and down direction forming the Nijo all road, the condition of step 512 is not satisfied, and in the case of FIG. 6f, the last traveling is performed. Since the link that passes immediately before the link is not a link of any of the roads 601 and 602 in the upward and downward directions that form the two-line road to which the last traveling link is connected, the condition of step 514 is satisfied. Because there is no.

  In the case of FIGS. 6e and f, even if the route change at the last route change point is guided, the user may be misunderstood that the vehicle can travel on the inaccessible road 610, or the end of route guidance is notified. Voice messages to be made will not be missed by the arrival of the guidance point.

  Note that, as shown in FIG. 7a, there is a double-straight road 600 consisting of an upward road 601 and a downward road 602 on the map data, and a point in the facility 70 is set as a destination 620. When the node 631 defined as the standard guidance point for the facility is set as the guidance point, as shown in the figure, after traveling on the road 602, the node 632 on the road 602 and the guidance on the road 601 When a guidance route 650 is set to reach the guidance point node 631 by traveling on the U-turn exclusive 740 connecting the node 631 that is set as the point, it is the same as the case shown in FIG. 6a. Yes, the arrival determination point 630 is changed from the node 631 set as the guidance point in FIG. 7a to the node 631 set as the guidance point as shown in FIG. 7b. To be changed to the node 632 passes, to the arrival determination point 630 will be Nijo line corresponding flag is set.

  Then, when the current position of the vehicle reaches a point within a predetermined distance to the arrival determination point 630 indicated by 752 in FIG. 7b, a destination guidance screen 61 is displayed on the display device 4 as shown in FIG. 7c. At the same time, a voice guidance message such as “It is around the destination. The route guidance is terminated” is output from the speaker 2. In this case as well, since the double line corresponding flag is set at the arrival determination point 630, the destination guidance screen of FIG. 3b4 is displayed.

  Accordingly, since the route guidance is ended before the last route change point without guiding the route change at the node 632 that is the last route change point before the guidance point 630, the voice for notifying the end of the route guidance is also obtained. It can be avoided that the message is not in time for the arrival of the guidance point or the route guidance is ended on the U-turn exclusive road.

  By the way, in the above, when the guide point of the guide route which enters into the link which connects from the link which forms a two-way road to the node which becomes the end point of the link which connects between the links which form a two-way road is set The problem is dealt with by changing the arrival determination point from the guidance point, but this may be dealt with by changing the guidance point itself when setting the guidance route.

That is, in this case, the guidance route setting process shown in FIG. 8 instead of the guidance route setting process shown in FIG. 3 is replaced with the route guidance shown in FIG. 9 instead of the route guidance process shown in FIG. What is necessary is just to make it process.
Hereinafter, the guidance route setting process shown in FIG. 8 and the route guidance process shown in FIG. 9 will be described.
First, the guidance route setting process of FIG. 8 will be described.
As shown in the figure, in this guidance route setting process, first, the current position set in the memory 14 is set as a partial route start point (step 802).
Then, attention is sequentially paid to each destination (final destination and intermediate destination) in the order to be reached (steps 820 and 824), and the following processing is sequentially performed for the focused destination.
That is, first, the guidance point of the focused destination is calculated (steps 804, 806, 808). Here, when the target destination is a facility or a point in the facility and a standard guidance point is defined in the facility record of the facility (step 804), the defined standard guidance point is focused on. In other cases, a point on the road where the vehicle can be approached closest to the target destination is calculated as a guidance point (step 808).

Next, a route from the set partial route start point to the guidance point is read out from the storage device 11 as the basic map data of the map data in the necessary geographical range, and based on the cost model such as the minimum distance and the minimum time. A search is made as a search route (step 810).
Next, it is checked whether or not the link that travels last before reaching the guide point that is the end point of the search route on the search route is a link that connects two roads in the up and down directions that form the entire Nijo road. (Step 812).
If the last traveling link is not a link connecting two roads in the up and down directions forming the entire Nijo road (step 812), the process proceeds to step 818.
On the other hand, if the last traveled link is a link that connects two roads in the up and down direction forming the entire Nijo road (step 812), the link travels immediately before the last traveled link on the searched route. It is checked whether the link to be performed is a link of one of the two roads in the upward and downward directions that form the double-straight road connecting the last traveling link (step 814), and the double-lane road is formed. If it is not a link of any of the two roads in the up / down direction, the process proceeds to step 818.

  On the other hand, if the link that passes immediately before the last traveling link is a link of one of the two roads in the up and down direction that form a two-way road that connects the last traveling link ( Step 814) When the vehicle travels according to the searched route, the guide point is updated to the node that is the travel start point of the last traveled link, and the double-line corresponding flag is set to the updated guide point (Step 816). Then, the process proceeds to Step 818.

  However, Step 816 may be performed only when a link where the automobile cannot travel is connected to the focused guidance point, and in other cases, the process may proceed to Step 818 as it is. Alternatively, step 816 is performed only when the last traveling link is a link dedicated to a U-turn that connects two links in the up and down directions forming the Nijo all road, and in other cases, it is left as it is. You may make it progress to step 818. FIG. Alternatively, in step 816, a link where an automobile cannot travel is connected to the guidance point of interest, or the last traveling link connects two links in the up and down directions forming the entire Nijo road. It may be performed only when the link is a dedicated link, and may proceed to step 818 as it is in other cases.

Next, when the process proceeds to step 818 in this way, the section from the partial route start point to the guidance point of the searched route is set as the partial route.
If the target destination is not the final destination, the partial route starting point is updated to the guidance point calculated for the target destination (step 822), and the processing for the target target point is performed. , And proceed to processing focusing on the destination to be reached next.
If the partial route is searched for all the destinations as described above, the route obtained by connecting the partial routes searched so far is set as the guidance route in the memory 14 and becomes the end point of each partial route. Is set in the memory 14 (step 826).
Next, the route guidance process of FIG. 9 will be described.
As shown in the figure, in this route guidance processing, attention is sequentially paid in the order in which each guidance point set in the memory 14 should be reached (steps 902, 920, 924), and the following processing is sequentially performed for each of the guidance points of interest. .
That is, first, a section from the current position to the focused guidance point is set as a guidance target route (step 904).
Then, the occurrence of an approach within a predetermined distance (for example, 300 m) to the route change point that passes next on the guidance route (step 906), and the passage of the last route change point before the focused guidance point (step 908). And monitor.
And when approaching within a predetermined distance to the route change point that passes next on the guidance route of the current position (step 906), guidance of the route change at the route change point is performed as described above, Waiting for the route change point to pass (step 912), the process returns to the monitoring of steps 906 and 908.

  On the other hand, if the passage of the last course change point before the focused guidance point has occurred (step 908), it waits for the occurrence of an approach within a predetermined distance (for example, 300 m) to the focused guidance point (step 914). 3), a destination guidance screen prepared in advance as shown in FIGS. 3b1 to b4 is displayed on the display device 4 through the GUI control unit 18 for a predetermined period (step 916).

  Here, in this route guidance process, the destination guidance screens of FIGS. 3b1, b2, and b3 are used when the two-line correspondence flag is not set at the target guidance point, and the destination guidance screen of FIG. This is used when a double line corresponding flag is set at the guidance point. The destination guidance screen in FIG. 3b1 is used when the destination corresponding to the target guidance point is on the front link when viewed from the current position in the current traveling direction, and is used in the destination guidance screen in FIG. 3b2. Is used when the destination corresponding to the target guidance point is located on the left link or on the left side of the traveling road when viewed from the current position in the current traveling direction. Is used when the destination corresponding to the guidance point of interest is located on the right link or on the right side of the traveling road when viewed from the current position in the current traveling direction. Note that the destination corresponding to the target guidance point is the destination for which the target guidance point was calculated in the guidance route setting process shown in FIG.

Next, the user is notified of the end of guidance on the guidance target route by causing the speaker 2 to output a voice guidance message such as “It is around the destination. The route guidance will be terminated” (step 918).
Then, if the guidance point of interest is the last guidance point (step 920), the process for the guidance point of interest is terminated and the route guidance process is terminated.
On the other hand, if the guidance point of interest is not the last guidance point, the process waits for the passage to the guidance point of interest (step 922), ends the processing for the guidance point of interest, and focuses on the next guidance point. The process proceeds from 904.
Here, a processing example with the guidance route setting processing of FIG. 8 is shown below.
Now, as shown in FIG. 10 a, there is a double-straight road 100 composed of an upward road 101 and a downward road 102 on the map data, and the user is on a vehicle inaccessible road 110 connected to the road 101. Consider the case where the destination 120 is set by In this case, since the vehicle cannot enter the vehicle-impossible road 110, the connection node 131 of the road 101 with the vehicle-impossible road 110, which is the nearest point where the vehicle cannot enter, is the guidance point 130. (Steps 804 and 808), the route to the node 131 set as the guidance point is first searched (step 810).

  In this case, as shown in the figure, after traveling on the road 102, the vehicle travels on a link 140 connecting the node 132 on the road 102 and the node 131 set as the guidance point on the road 101. Consider a case where a route that reaches a node 131 is searched as a search route 150.

  In this case, the link 140 that travels last before reaching the node 131 that is the end point of the search route on the search route is a link that connects the links of the two roads 101 and 102 in the up and down directions that form the entire Nijo road. (Step 812), and the link that passes immediately before the last traveling link 140 is one of the two roads 102 in the upward and downward directions that form the two-line road that connects the last traveling link 140. Since it is a link (step 814), as shown in FIG. 10b, the guidance point 130 is updated to the node 132 that is the travel start point of the last traveling link 140, and the two-line corresponding flag is set to the updated guidance point 130. (Step 816).

Then, the section from the partial route start point of the search route 150 shown in FIG. 10a to the node 132 of the updated guide point 130 shown in FIG. 10b reaches the guide point 130 corresponding to the destination 120 of the guide route. (Step 818).
As shown in FIGS. 10a to 10b, when the guide point 130 is changed from the node 131 to the node 132, the destination 120 from which the guide point 130 is calculated is an intermediate destination (route). 10b, the node 132 set at the guidance point 130 is set as the start point of the partial route 182 to the next destination, and the partial route 182 to the next destination is set. become. On the other hand, when the guidance point 130 is not changed from the node 131 to the node 132, as shown in FIG. 11a, the node 131 set at the guidance point 130 is used as the starting point of the partial route 181 to the next destination. A partial route 181 to the next destination is set and set.

That is, the partial route to the next destination is also changed by changing the guidance point.
Now, as shown in FIG. 10 c, there is a two-straight road 100 composed of an upward road 101 and a downward road 102 on the map data, and a point in the facility 80 is set as the destination 120. Therefore, when the node 131 defined as the standard guidance point for the facility is set as the guidance point, as shown in the figure, after traveling on the road 102, the node 132 on the road 102 and the road 101 FIG. 10A also shows a case where a route 150 that reaches the node 131 at the guidance point is searched as a search route by traveling on a U-turn 190 that connects the node 131 set as the upper guidance point. As shown in FIG. 10d, the guidance point 130 is changed from the node 131 set as the guidance point in FIG. Is changed to over to node 132, Nijo line corresponding Flag this arrival determination point 130 is set.

  Then, the section from the partial route start point of the search route 150 shown in FIG. 10c to the node 132 of the updated guidance point 130 shown in FIG. 10d reaches the guidance point 130 corresponding to the destination 120. It is set to the partial path 170 to be configured. Also, as shown in FIGS. 10c to 10d, when the guidance point 130 is changed from the node 131 to the node 132, the destination 120 from which the guidance point 130 is calculated is an intermediate destination (route). The partial route to the next destination is shown as a partial route 182 in FIG. 10d, and this partial route 182 is obtained when the guidance point 130 shown in FIG. 10c is not changed from the node 131 to the node 132. This is different from the partial path 181.

  Therefore, according to the guidance route setting process shown in FIG. 8, if the route change guidance and the destination guidance are performed with the guidance point as the arrival determination point in the route guidance process of FIG. 9, the guidance shown in FIG. Route change processing and destination guidance similar to those in the route setting processing and the route guidance processing shown in FIG. 5 will be performed, and the user may be misunderstood that the vehicle can travel on an inaccessible road. It can be avoided that the voice message notifying the end of time is not in time for the arrival of the guidance point or the route guidance is ended on the U-turn exclusive road.

The embodiment of the present invention has been described above.
In the above embodiment, when two roads, a one-way road in the upward direction and a one-way road in the downward direction, which form different routes are laid in parallel, the two roads are also two-lane roads. The above guidance route setting processing and route guidance processing may be applied.

It is a block diagram which shows the structure of the navigation system which concerns on embodiment of this invention. It is a figure which shows the map data with which the navigation apparatus which concerns on embodiment of this invention is provided. It is a flowchart which shows the guidance route setting process which concerns on embodiment of this invention. It is a figure which shows the example of a display of the navigation system which concerns on embodiment of this invention. It is a flowchart which shows the route guidance process which concerns on embodiment of this invention. It is a figure which shows the process example of the route guidance process which concerns on embodiment of this invention. It is a figure which shows the process example of the route guidance process which concerns on embodiment of this invention. It is a flowchart which shows the other structural example of the guidance route setting process which concerns on embodiment of this invention. It is a flowchart which shows the other structural example of the route guidance process which concerns on embodiment of this invention. It is a figure which shows the process example of the route guidance process which concerns on embodiment of this invention. It is a figure which shows the example of a process of the conventional route guidance.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 2 ... Speaker, 3 ... Operation part, 4 ... Display apparatus, 5 ... Vehicle state sensor, 6 ... GPS receiver, 11 ... Memory | storage device, 12 ... Current state calculation part, 13 ... Route search part, 14 DESCRIPTION OF SYMBOLS ... Memory 15 ... Audio | voice production | generation part, 16 ... Control part, 17 ... Guidance image generation part, 18 ... GUI control part, 40 ... Guidance image.

Claims (11)

A navigation device mounted on a car,
A guide route setting unit that sets a route to a route end point set according to a set destination as a guide route based on map data representing a road network;
A current position calculating unit for calculating a current position of the automobile;
A route guidance unit that performs route guidance including route change guidance at a route change point according to the guide route;
Based on the current position calculated by the current position calculation unit, the vehicle has passed the last course change point on the guide route that is before the arrival determination point, and a predetermined distance from the arrival determination point. An arrival determination unit that terminates the route guidance of the route guidance unit when it is detected that the vehicle is close to the inside,
The arrival determination unit is a road corresponding to one route in which the route end point of the guidance route is expressed as two roads with opposite traveling directions on the road network represented by the map data. The guidance is on a connecting point with one of two roads forming a two-way road and a connecting road that is a road connecting the two roads forming the two-way road. When the route travels from the other road forming the two-line road to the connecting road and reaches the route end point on the one road forming the two-line road, A connection point between the other road and the connection road that forms the two-line road is the arrival determination point, and in other cases, a route end point of the guidance route is the arrival determination point. To navigate Down apparatus. The navigation device according to claim 1,
In the arrival determination unit, the route end point of the guide route is a road connecting two roads forming the two-lane road on one of the two roads forming the two-lane road. The guide route is located at a connecting point with a connecting road, and the guide route proceeds from the other road forming the two-line road to the connecting road, and the one on the one road forming the two-way road When reaching the end point of the route and the connecting road is a U-turn exclusive road between two roads forming a two-line road, the other road forming the two-line road and the A navigation device characterized in that a connection point with a connection road is set as the arrival determination point. The navigation device according to claim 1,
In the arrival determination unit, the route end point of the guide route is a road connecting two roads forming the two-lane road on one of the two roads forming the two-lane road. The guide route is located at a connecting point with a connecting road, and the guide route proceeds from the other road forming the two-line road to the connecting road, and the one on the one road forming the two-way road When reaching a route end point and a road where a vehicle cannot travel is connected to a connection point with the connection road on the one road forming the two-line road, A navigation apparatus characterized in that a connection point between the other road and the connection road forming the two-line road is set as the arrival determination point. The navigation device according to claim 1, 2, or 3,
A navigation apparatus, comprising: a destination guidance unit that guides a location of the destination when the arrival determination unit ends the route guidance of the route guidance unit. A navigation device mounted on a car,
A guide route setting unit that sets a route to a route end point set according to a set destination as a guide route based on map data representing a road network;
A current position calculating unit for calculating a current position of the automobile;
A route guidance unit that performs route guidance including route change guidance at a route change point according to the guide route;
Based on the current position calculated by the current position calculation unit, the vehicle has passed the last course change point on the guidance route that is in front of the route end point, and the route end point is predetermined. An arrival determination unit that terminates the route guidance of the route guidance unit when it is detected that the vehicle is close to the distance,
The guidance route setting unit sets a point on the road where the vehicle nearest to the set destination can travel or a point on the road where the vehicle can be predefined for the set destination as a route end point. The route to the route end point is searched as a search route based on the map data, and the route end point is expressed as two roads with opposite traveling directions on the road network represented by the map data. A connected road that is a road connecting two roads forming the second straight road on one of the two roads forming the second straight road that is a road corresponding to one route And the searched route travels from the other road that forms the two-way road to the connecting road and ends the route on the one road that forms the two-way road. The route end point is changed to a connecting point between the other road and the connecting road that form the two-way road, and the route to the changed route end point is A navigation device that is set as a guidance route, and in other cases, the search route is set as the guidance route. The navigation device according to claim 5,
The guide route setting unit is a connecting road in which the route end point is a road connecting two roads forming the two-lane road on one of the two roads forming the two-lane road. The route ends on the one road that forms the two-way road from the other road that forms the second-line road to the connecting road. And when the connecting road is a road dedicated to a U-turn between two roads forming a two-way road, the other road and the connecting road forming the two-way road A navigation device, wherein the route end point is changed to a connection point. The navigation device according to claim 5,
The guide route setting unit is a connecting road in which the route end point is a road connecting two roads forming the two-lane road on one of the two roads forming the two-lane road. The route ends on the one road that forms the two-way road from the other road that forms the second-line road to the connecting road. If a road on which a vehicle cannot travel is connected to a connecting point with the connecting road on the one road that forms the two-lane road, A navigation device, wherein the route end point is changed to a connecting point between the other road and the connecting road forming a line road. A navigation device mounted on a car,
An arrival determination method for determining arrival at a route end point that is an end point of a set guide route,
A current position calculating step for calculating a current position of the vehicle;
Based on the current position calculated by the current position calculation unit, the vehicle has passed the last course change point on the guide route that is before the arrival determination point, and a predetermined distance from the arrival determination point. A determination step for determining that the vehicle has arrived at the end point of the route when it is detected that the vehicle is close to the inside,
The determination step is a road corresponding to one route in which the route end point of the guidance route is separately expressed as two roads with opposite traveling directions on the road network represented by the map data. However, the guide route is located at a connection point with one of the two roads forming the Nijo Line road and a connecting road that is a road connecting the two roads forming the Nijo Line road. In the case where the other road forming the two-line road proceeds to the connecting road and reaches the route end point on the one road forming the second-line road, A connection point between the other road and the connection road forming a two-way road is the arrival determination point, and in other cases, a route end point of the guidance route is the arrival determination point. Navigator Arrival determination method in ® down apparatus. In a navigation device mounted on an automobile, a guide route setting method for setting a route to a route end point set according to a set destination as a guide route based on map data representing a road network,
Set a point on the road where the vehicle can travel closest to the set destination or a point on the road where the vehicle can be predefined for the set destination as the route end point, and the route to the route end point Searching as a search route based on the map data;
The route end point forms a two-line road that is a road corresponding to one route, expressed as two roads with opposite traveling directions on the road network represented by the map data. One of the two roads is located at a connecting point with a connecting road that is a road connecting the two roads forming the second straight road, and the search route forms the second straight road. It determines whether it is the one that reaches the end point of the route on the one road that proceeds to the connecting road from the other road and forms the second line road, and forms the second line road The route end point is changed to a connection point between the other road and the connection road, and the route to the route end point after the change is set as the guide route. Set as guide route Guidance route setting method in a navigation system characterized in that it comprises the steps that. A navigation device mounted on a car,
A guide route setting unit that sets a route to a route end point set according to a set destination as a guide route based on map data representing a road network;
A current position calculating unit for calculating a current position of the automobile;
A route guidance unit that performs route guidance including route change guidance at a route change point according to the guide route;
Based on the current position calculated by the current position calculation unit, the vehicle has passed the last course change point on the guide route that is before the arrival determination point, and a predetermined distance from the arrival determination point. An arrival determination unit that terminates the route guidance of the route guidance unit when it is detected that the vehicle is close to the inside,
The arrival determination unit
The route end point of the guidance route is on the road network represented by the map data, on the one of the two roads expressed as two adjacent roads with opposite traveling directions. The guide route is at a connection point with a connection road that is a road connecting the roads, and the guide route proceeds from the other road of the two roads to the connection road. When the route end point is reached on the one road, a connection point between the other road of the two roads and the connection road is set as the arrival determination point, and in other cases The navigation apparatus characterized in that a route end point of the guidance route is set as the arrival determination point. A navigation device mounted on a car,
A guide route setting unit that sets a route to a route end point set according to a set destination as a guide route based on map data representing a road network;
A current position calculating unit for calculating a current position of the automobile;
A route guidance unit that performs route guidance including route change guidance at a route change point according to the guide route;
Based on the current position calculated by the current position calculation unit, the vehicle has passed the last course change point on the guidance route that is in front of the route end point, and the route end point is predetermined. An arrival determination unit that terminates the route guidance of the route guidance unit when it is detected that the vehicle is close to the distance,
The guidance route setting unit sets a point on the road where the vehicle nearest to the set destination can travel or a point on the road where the vehicle can be predefined for the set destination as a route end point. The route to the route end point is searched as a search route based on the map data, and the route end point is expressed as two adjacent roads with opposite running directions on the road network represented by the map data. One of the two roads at a connection point with a connection road that is a road connecting the two roads, and the searched route is from the other of the two roads , Proceeding to the connecting road and reaching the route end point on the one of the two roads, and connecting the other road of the two roads to the connecting road Link with road A navigation device, wherein the route end point is changed to a point, a route to the changed route end point is set as the guidance route, and in other cases, the search route is set as the guidance route .