JP6061299B2 - Route search device and navigation device using the same - Google Patents

Description

  The present invention relates to a route search device for searching for a route having a terminal point near the arrival point coordinates set for a facility designated as a destination, and a navigation device using the route search device.

  Conventionally, for example, a route search method described in Patent Document 1 is known. In this route search method, when the destination point is located on the right side in the traveling direction in the route on the left side of the vehicle searched according to the predetermined condition, the route search is performed again so that the destination is located on the left side in the traveling direction. . The navigation of the vehicle based on the route obtained by such a route search method always causes the destination to appear on the left side of the traveling direction of the vehicle at the end of the route. The vehicle can reach a destination adjacent to a wide road with a width greater than the lane by an easy driving operation.

JP-A-4-98500

By the way, when searching for a route to a destination, it is possible to search for a route that ends at a point on a road (represented by road link data) closest to the destination. In this case, destination, built in the facilities large site of such as a convenience store, for example, as shown in FIG. 7, on the nearest alley R _B the destination point coordinates P _I indicating the position of the facility I may route RT to a point terminating _{P eND} is searched. For this reason, the situation where the vehicle guided to route RT searched in this way cannot enter the parking lot in site E may occur.

To prevent such a situation, in correspondence with the property I in the database, along with the destination point coordinates P _I, considered that to preset the position that faces the road R facilities I near the point of arrival coordinates P _ARV It is done. For example, as shown in FIG. 8, a point near the parking lot entrance of the site E of the facility I such as a convenience store can be set as the arrival point coordinates P _ARV . Then, a route RT having a termination point P _{END as} a point on the road R in the vicinity (for example, the closest) of the arrival point coordinates P _ARV set for the facility I is searched. Vehicle which is guided according to the route RT obtained by the search, rather than back road R _B facilities I, induced in the vicinity of the entrance of the parking site E of the facility I, readily enters the parking site E can do.

A route in which the destination appears on the left side of the traveling direction of the vehicle traveling on the road on the left-hand side of the vehicle at the end using the arrival point coordinates P _ARV as described above. Can be explored. However, in the database, as shown in FIG. 8, the arrival point coordinates P _ARV that should be set in the site E of the facility I are, for example, roads adjacent to the site E of the facility I as shown in FIG. There is a case where it is set on the opposite side of the facility I (target point coordinates P _I ) across R. In such a case, the route search algorithm using the arrival point coordinates P _ARV searches for a route RT such that the destination appears on the right side of the traveling direction of the vehicle at the terminal P _END as shown in FIG. End up.

  The present invention has been made in view of such circumstances, and provides a route search device that enables a more appropriate route search using arrival point coordinates, and also provides such a route search device. The navigation apparatus used is provided.

  In the route search device according to the present invention, a certain position facing a road on the left side of the vehicle near the facility is preset as an arrival point coordinate for the facility, and an arrival point coordinate set for the facility designated as the destination Is a route search device that searches for a route that ends at a point in the vicinity of the destination, the destination point coordinates indicating the position of the facility designated as the destination, and the arrival point coordinates preset for the facility. Determination means for determining whether the arrival point coordinates are on the same side or the opposite side with respect to the road on which the arrival point coordinates face, and by the determination means, the destination point coordinates and the arrival point coordinates are the same with respect to the road A first route searching means for searching for a route from the right side to the terminal when viewing the road on which the arrival point coordinates face from the arrival point coordinates when determined to be on the side, When it is determined that the target point coordinates and the arrival point coordinates are opposite to the road, the route from the left side to the end point is searched by looking at the road on which the arrival point coordinates face from the arrival point coordinates. And a second route search means.

  With this configuration, the destination point coordinates that represent the position of the facility designated as the destination and the destination position coordinate defined as a position facing the road on the left side of the vehicle in the vicinity of the facility are faced by the arrival point coordinates. If the road is on the same side, the route from the arrival point coordinates to the end point in the vicinity of the arrival point coordinates is searched from the right side when the road is viewed. The route obtained by such a search is a route in which a facility designated as a destination appears on the left side in the traveling direction of the vehicle traveling on the road on the left side of the vehicle at the end.

  On the other hand, when the destination point coordinates and the arrival point coordinates are opposite to the road, a route from the arrival point coordinates to the end point near the arrival point coordinates from the left side when the road is viewed is searched. Is done. The route obtained by such a search is also a route in which the facility designated as the destination appears on the left side in the traveling direction of the vehicle traveling on the road on the left side of the vehicle at the end.

  In addition, the route search device according to the present invention is configured such that a certain position facing the road on the right side of the vehicle in the vicinity of the facility is set in advance as the arrival point coordinates for the facility, and is set for the facility designated as the destination. A route search device that searches for a route that ends at a point in the vicinity of a point coordinate, the destination point coordinate indicating the position of the facility designated as the destination, and an arrival point coordinate set in advance for the facility Determining means for determining whether the arrival point coordinates are on the same side or the opposite side with respect to the road on which the arrival point coordinates face, and the determination means determines that the destination point coordinates and the arrival point coordinates are relative to the road. A first route searching means for searching for a route from the left side to the end point by looking at the road on which the arrival point coordinates are approached from the arrival point coordinates, When it is determined that the destination point coordinates and the arrival point coordinates are on the opposite side of the road, a route from the right side to the end is seen from the arrival point coordinates when the road on which the arrival point coordinates are faced. And a second route searching means for searching.

  With such a configuration, the destination point coordinates representing the position of the facility designated as the destination and the arrival position coordinate defined as a certain position facing the road on the right side of the vehicle in the vicinity of the facility face the arrival point coordinates. When it is on the same side with respect to the road, the route from the arrival point coordinates to the end point near the arrival point coordinates is searched from the left side when the road is viewed. The route obtained by such a search is a route in which a facility designated as a destination appears on the right side of the traveling direction of the vehicle traveling on the road on the right side of the vehicle at the end.

  On the other hand, when the destination point coordinates and the arrival point coordinates are opposite to the road, the route from the arrival point coordinates to the end point near the arrival point coordinates is searched from the right side when the road is viewed. Is done. The route obtained by such a search is also a route in which a facility designated as a destination appears on the right side of the traveling direction of the vehicle traveling on the road on the right side of the vehicle at the end.

  In the route search device of the present invention, the determination means determines whether the destination point coordinates and the arrival point coordinates depend on whether the road intersects with a straight line connecting the destination point coordinates and the arrival point coordinates. It can be set as the structure which determines whether it exists in the same side or the opposite side with respect to the road which the said arrival point coordinate faces.

  A navigation device according to the present invention includes any one of the route search devices described above and a processing unit that performs a process for guiding the vehicle to the end of the route along the route obtained by the route search device. It becomes the composition which has.

  With this configuration, the destination point coordinates and the arrival point coordinates are searched for on the road on the left side of the vehicle by the route search device regardless of whether the destination point coordinates are on the same side or the opposite side of the road on which the arrival point coordinates are faced. A vehicle guided along a route can reach the end of the route in a state where a facility designated as a destination appears on the left side of the traveling direction of the vehicle.

  In addition, along the route searched for on the road on the right side of the vehicle by the route search device, the destination point coordinates and the arrival point coordinates are on the same side or the opposite side of the road on which the arrival point coordinates face. The guided vehicle can reach the end of the route in a state where the facility designated as the destination appears on the right side of the traveling direction of the vehicle.

  According to the route search device according to the present invention, whether the destination point coordinates and the arrival point coordinates are on the same side or on the opposite side of the road on which the arrival point coordinates face, the road on the left side of the vehicle at the end A route is searched in which the facility designated as the destination appears on the left side of the traveling direction of the vehicle traveling on the road, and is designated as the destination on the right side of the traveling direction of the vehicle traveling on the right-hand side road at the end. Since a route that causes a new facility to appear is searched, it is possible to search for an appropriate route by which the vehicle can easily go to the facility using the coordinates of the arrival point.

  According to the navigation device of the present invention, the road on the left side of the vehicle by the route search device regardless of whether the destination point coordinates and the arrival point coordinates are on the same side or the opposite side of the road on which the arrival point coordinates face. The vehicle guided along the route searched in can reach the end of the route in a state where the facility designated as the destination appears on the left side of the traveling direction of the vehicle, and the route search device The vehicle guided along the route searched on the road on the right side of the vehicle can reach the end of the route with the facility designated as the destination appearing on the right side of the traveling direction of the vehicle Therefore, a vehicle traveling on a left-handed road or a vehicle traveling on a right-handed road heads for a facility set as a destination by a simple driving operation from the road. Door can be.

It is a block diagram showing the navigation apparatus containing the route search apparatus which concerns on embodiment of this invention. It is a flowchart which shows the procedure of the process which concerns on the route search performed with the navigation apparatus shown in FIG. The destination point coordinates P _I and arrival point coordinates P _ARV is a diagram showing an example of a path RT is set when in the same side of the road R in the vehicle left. The destination point coordinates P _I and arrival point coordinates P _ARV is a diagram showing an example of a path RT is set when in the opposite side of the road R in the vehicle left. The destination point coordinates P _I and arrival point coordinates P _ARV is a diagram showing an example of a path RT is set when in the same side of the road R in the vehicle right-hand traffic. The destination point coordinates P _I and arrival point coordinates P _ARV is a diagram showing an example of a path RT is set when in the opposite side of the road R in the vehicle right-hand traffic. It is a figure which shows an example of the path | route RT searched without using the arrival point coordinate _PARV . It is a figure which shows an example of the path | route RT searched using the arrival point coordinate _PARV . It is a figure which shows another example of path | route RT searched using the arrival point coordinate _PARV .

  An embodiment of the present invention will be described with reference to the drawings.

  A navigation device including a route search device according to the present invention is configured as shown in FIG. This navigation device is mounted on a vehicle. The route search device and the navigation device are applied to a road on the left side of the vehicle.

In FIG. 1, the navigation apparatus 100 has a processing unit 11 constituted by a computer unit (including a CPU). The processing unit 11 is connected to a navigation sensor group 17 such as a GPS receiver, an acceleration sensor, a wheel speed sensor, and a gyro, and a storage unit 14 (for example, a hard disk drive). The storage unit 14 stores a database of various information necessary for processing in the processing unit 11, in particular, map information including road link information and information necessary for navigation processing such as information about facilities. In this database, along with is associated to the information (facility ID) of facility location coordinates P _I representing the position of each facility to identify each facility, there facing the road each facility vicinity arrival point coordinates P _{ARV (6} FIG. 7) is associated with information (facility ID) for identifying each facility. The arrival point coordinates P _ARV are basically determined based on a point where a vehicle having the facility I (facility position coordinates) as a destination is to be guided.

  The processing unit 11 is configured by an LCD or the like, and is configured by a display unit 13 that displays various information, a touch panel on the display unit 13, operation buttons, and the like, and an operation unit that is used to input processing instructions and various information. 12 and an output circuit 15 connected to the speaker 16 are connected. The processing unit 11 searches for a route to the facility designated as the destination by the operation of the operation unit 13 based on the map information stored in the storage unit 14, information on the facility, etc. (details will be described later) In order to detect the position of the vehicle based on various detection signals from the navigation sensor group 17 and to guide the vehicle to the facility along the route obtained by the search using the detected position information and map information. Perform the navigation process. Then, the processing unit 11 displays a mark indicating the position of the vehicle along with the map on the display unit 13 by the navigation process, so that voice guidance for guiding the vehicle along the route is output from the speaker 16. The audio signal is output to the output circuit 15.

  The processing unit 11 executes a process for searching for a route to the facility designated as the destination according to the procedure shown in FIG. 2 (function as a route guidance device).

The processing unit 11 calculates and acquires the current position Po of the vehicle based on each detection signal from the navigation sensor group 17 (S11). Further, the processing unit 11 obtains the facility location coordinates indicating a location of the facility that is designated as a destination by operating the operation unit 12 as the destination point coordinates P _I from the database of the storage unit 14 (S12), also the The arrival point coordinates P _ARV set in advance for the facility designated as the destination are acquired from the database (S13). Then, the processing unit 11, and the destination point coordinates _{P I} and arrival point coordinates _{P ARV} is, as shown in FIG. 3, with respect to the point of arrival coordinates _{P ARV} faces road R (identified by the road link RL) And whether the arrival point coordinates P _ARV are on the opposite side of the road R (specified by the road link RL) as shown in FIG. 4 (S14: determination means) . Specifically, determination whether or not the road link representing a road R that faces a straight line L and the point of arrival coordinates P _ARV connecting the arrival point coordinates P _ARV and destination point coordinates P _I RL (road R) intersect Is done. As shown in FIG. 3, the if the straight line L and the road link RL is not intersect with the destination point coordinates P _I and the arrival point coordinates P _ARV is determined to be on the same side relative to the road R, as shown in FIG. 4, the determination and the straight line L and the road link RL (road R) when the cross, and the destination point coordinates P _I and the arrival point coordinates P _ARV is on the opposite side with respect to the road R Is done.

The route search process from the current position Po to the destination includes the conditions that the distance to the destination is the shortest, the conditions that the time to the destination is the shortest, the condition that priority is toll road, the condition that priority is general road, etc. The operation is performed according to various conditions that are set by default or specified by the operation of the operation unit 12. Then, as shown in FIG. 3, when the is the destination point coordinates P _I and the arrival point coordinates P _ARV is in the same side with respect to the road R (NO in S14), the processing unit 11, the route search As a condition, a condition 1 “search for a route from the right side to the terminal point P _END by looking at the road R facing the arrival point coordinate P _ARV from the arrival point coordinate P _ARV ” is added (S15). On the other hand, as shown in FIG. 4, the case where the destination point coordinates _{P I} and the arrival point coordinates _{P ARV} is on the opposite side with respect to the road R (YES in S14), the processing unit 11, the route search As a condition, instead of the condition 1, a condition 2 “search for a route from the left side to the terminal point P _END by looking at the road R facing the arrival point coordinate P _ARV from the arrival point coordinate P _ARV ” is added (S16). .

Thereafter, the processing unit 11 executes a route search process according to various conditions including the condition 1 or the condition 2 (S17) (S15 → S17: first route search means, S16 → S17: second route search means). The route search processing, even in the same even on the side (see FIG. 3) opposite side with respect to the road R which is the arrival point coordinates P _ARV and destination point coordinates P _I face is the arrival point coordinates P _ARV ( 4), a route RT is searched for such that the facility I designated as the destination appears on the left side in the traveling direction of the vehicle traveling on the road R on the left side of the vehicle at the terminal _PEND . Then, the processing unit 11 sets the route RT that reaches the terminal _PEND in this way as the route RT that should guide the vehicle (S18).

Processing unit 11 performs navigation processing for guiding the vehicle along the path RT that has been set up to the end P _END of the route RT. In the navigation process, the position of the vehicle is detected based on various detection signals from the navigation sensor group 17, and using the detected position and the map information stored in the storage unit 14, together with the map clearly indicating the route RT. A mark indicating the position of the vehicle is displayed on the display unit 13, and voice guidance for guiding the vehicle along the route RT is output from the speaker 16.

In the navigation device 100 as described above, even in the same side of the road R which is the arrival point coordinates P _ARV and destination point coordinates P _I face is the arrival point coordinates P _ARV there (see FIG. 3) opposite the side Even (see FIG. 4), however, a route is searched such that the facility designated as the destination appears on the left side of the traveling direction of the vehicle traveling on the left-hand side road at the terminal _PEND . The guided vehicle can reach the terminal _{PARB of the} route RT in a state where the facility I designated as the destination appears on the left side in the traveling direction of the vehicle. Therefore, the vehicle can travel from the road R to the facility I set as the destination by a simple driving operation. For example, as shown in FIGS. 3 and 4, it is possible to enter a parking lot in a site E of a convenience store (facility I) on the left side of the vehicle traveling direction from a road R on the left side of the vehicle by a simple driving operation. it can.

That is, according to the route search function of the navigation device 100, it is possible to search for an appropriate route RT that allows the vehicle to easily travel to the facility I using the arrival point coordinates P _ARV .

  The navigation device 100 (route search device) described above is applied to a road on the left side of the vehicle, but can also be applied to a road on the right side of the vehicle.

As shown in FIG. 5, the and the point of arrival coordinates P _ARV defined position as a position that faces the destination point coordinates P _I road R of the facility I neighborhood representing the designated facility I as a destination road R When it is on the same side with respect to (road link RL), a route RT from the left side to the end point P _END is searched by looking at the road R from the arrival point coordinates P _ARV . On the other hand, as shown in FIG. 6, if the is the destination point coordinates P _I and the arrival point coordinates P _ARV is on the opposite side relative to the road R (road link RL), the road from the arrival point coordinates P _ARV channel RT extending from the right looking at the R to the end _{P eND} is searched. Therefore, even in the opposite side be on the same side with respect to the road R which is the arrival point coordinates P _ARV and destination point coordinates P _I face is the arrival point coordinates P _ARV (see FIG. 5) (see FIG. 6) At the terminal _PEND , a route is searched such that the facility I designated as the destination appears on the right side of the traveling direction of the vehicle traveling on the road R on the right side of the vehicle. The vehicle guided along the route can reach the terminal _{PARB of the} route RT in a state where the facility I designated as the destination appears on the right side of the traveling direction of the vehicle. Therefore, the vehicle can go from the road R on the right side of the vehicle to the facility I set as the destination by a simple driving operation. For example, as shown in FIGS. 5 and 6, it is possible to enter a parking lot in a site E of a convenience store (facility I) on the right side of the vehicle traveling direction from a road R on the right side of the vehicle by a simple driving operation. it can.

DESCRIPTION OF SYMBOLS 11 Processing unit 12 Operation part 13 Display part 14 Memory | storage part 15 Output circuit 16 Speaker 17 Navigation sensor group 100 Navigation apparatus

Claims (4)

A route with a position facing the road on the left side of the vehicle in the vicinity of the facility set in advance as arrival point coordinates for the facility, and ending at a point near the arrival point coordinates set for the facility designated as the destination A route search device for searching for
The destination point coordinates indicating the position of the facility designated as the destination and the arrival point coordinates set in advance for the facility are on the same side or the opposite side with respect to the road on which the arrival point coordinates face. Determination means for determining whether there is,
When it is determined by the determination means that the destination point coordinates and the arrival point coordinates are on the same side with respect to the road, the road from the right side when the arrival point coordinates are viewed from the arrival point coordinates First route searching means for searching for a route to the end;
When it is determined by the determination means that the destination point coordinates and the arrival point coordinates are opposite to the road, the left side of the road where the arrival point coordinates are viewed from the arrival point coordinates A route search device having second route search means for searching for a route to the end. A route where a certain position facing the road on the right side of the vehicle near the facility is preset as arrival point coordinates for the facility, and ends at a point near the arrival point coordinates set for the facility designated as the destination A route search device for searching for
The destination point coordinates indicating the position of the facility designated as the destination and the arrival point coordinates set in advance for the facility are on the same side or the opposite side with respect to the road on which the arrival point coordinates face. Determination means for determining whether there is,
When it is determined by the determination means that the destination point coordinates and the arrival point coordinates are on the same side with respect to the road, the road from the left side when the arrival point coordinates are viewed from the arrival point coordinates First route searching means for searching for a route to the end;
When it is determined by the determination means that the destination point coordinates and the arrival point coordinates are opposite to the road, the road from the right side when the arrival point coordinates are viewed from the arrival point coordinates. A route search device having second route search means for searching for a route to the end.   The determination means determines whether the destination point coordinates and the arrival point coordinates correspond to the road on which the arrival point coordinates face depending on whether the road intersects with a straight line connecting the destination point coordinates and the arrival point coordinates. The route search device according to claim 1, wherein the route search device determines whether it is on the same side or the opposite side. A route search device according to any one of claims 1 to 3,
The navigation apparatus which has a processing unit which performs the process for guide | inducing a vehicle to the terminal end of the said path | route along the said path | route obtained by this path | route search apparatus.

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