JP6138616B2 - Navigation device - Google Patents

Description

  The present invention relates to a navigation device that sets a route to a destination of a vehicle and displays the position of the vehicle and the route on a display unit.

  In the navigation apparatus mounted on the vehicle, when the route setting operation to the destination is performed when the vehicle stopped in the parking lot that is an area outside the road starts, for example, as shown in FIG. The position on the road in the vicinity of the current position Pc is determined as the route start point Prs. A route R from the route starting point Prs to the destination is searched according to a predetermined algorithm under specified conditions (for example, shortest distance, highway priority, general road priority, etc.). It is set as a route to guide the vehicle. The route R starting from the current position Pc of the vehicle and the route start point Prs is displayed on the display unit. Thereby, the user (driver) can know the relative relationship between the position of the own vehicle and the route R to travel when the vehicle enters the road from the parking lot.

  In such a navigation device, as shown in FIG. 7, when the vehicle travels from the original current position Pc through the wide parking lot EP toward the exit, the route start point of the currently set route R It leaves away from Prs. As a result, particularly when the map including the route R displayed on the display unit is displayed in an enlarged manner, for example, the position of the vehicle is displayed in the enlarged display area DP shown in FIG. The route R and the route start point Prs that have been set may not be displayed. In such a case, the user (driver) cannot grasp the relative positional relationship between the position of the vehicle and the set route R when the vehicle leaves the parking lot EP and enters the road. It is not possible to determine in which direction (for example, the right direction or the left direction) the road on which the vehicle has entered should be advanced.

  In order to solve such problems, exit information indicating the position of the exit of the parking lot is included in the facility information indicating the parking lot, and the position on the road near the exit near the current position of the vehicle is used as the route start point. A navigation device has been proposed that determines and sets a route from the route start point to the destination (see Patent Document 1). According to this navigation device, no matter how the vehicle travels in a large parking lot outside the road, when the vehicle finally enters the road from the exit, the position of the vehicle and the route on the road Since the route extending from the starting point is displayed on the display unit, when the vehicle enters the road from the exit through the parking lot EP, the user (driver) moves along the road in which direction (for example, the right direction, Alternatively, it can be determined whether to proceed in the left direction).

JP 2005-37275 A

  However, the above-described conventional navigation device (Patent Document 1) must include exit information that represents the position of the exit corresponding to each parking lot as a database. For this reason, for parking lots for which exit information is not defined, when a vehicle exits the parking lot and enters the road, the road adjacent to the exit is determined from the map displayed on the display. The situation in which it is impossible to determine which direction to proceed is not improved.

  The present invention has been made in view of such circumstances, and even if the vehicle is not provided with information about the position (for example, the position of the parking lot exit) that enters the road from outside the road, The present invention provides a navigation device capable of displaying a map including a vehicle position and a route start point of a set route on a display unit when entering the vehicle.

A navigation device according to the present invention is a navigation device that determines a route start point on a road according to a predetermined rule and displays a route from the route start point to a destination together with a map on a display unit when the vehicle is outside the road. A first determination means for determining whether the vehicle travels outside the road and the position of the vehicle is out of a first predetermined distance range from a route start point of the route displayed on the display unit; A route start point for determining a new route start point according to the position of the vehicle and the predetermined rule when it is determined by the first determination means that the vehicle position is out of the first predetermined distance from the route start point. have a determining means further includes: a building outside exit determining means for determining vehicle traveling the road outside the building is whether go out該建was by the building outer exit determining means, said vehicle Second determination means for determining whether or not the position of the vehicle is out of the second predetermined distance from the route start point of the route displayed on the display unit when it is determined that the vehicle has gone out of the object; The route start point determining means determines the position of the vehicle and the predetermined rule when the second determination means determines that the position of the vehicle is out of the second predetermined distance from the route start point. A new route starting point is determined according to the above, and the range of the second predetermined distance is a range of distance shorter than the range of the first predetermined distance .

With such a configuration, when the vehicle is traveling outside the road, if the current position of the vehicle is out of the first predetermined distance from the route start point of the route displayed on the display unit, the position of the vehicle Based on the above, a new route start point is determined. Then, on the display unit, the route from the newly determined route start point to the destination is displayed instead of the route that has been displayed together with the map. When it is determined that the vehicle traveling in the building has left the building, the current position of the vehicle is outside the range of the second predetermined distance from the route start point of the route displayed on the display unit. Then, a new route start point is determined based on the position of the vehicle. Then, on the display unit, the route from the newly determined route start point to the destination is displayed instead of the route that has been displayed together with the map. Furthermore, when the vehicle travels outside the road, the second predetermined distance range, which is a criterion for determining a new route start point based on the position of the vehicle when the vehicle leaves the building, Since the distance range is shorter than the first predetermined distance range, which is a criterion for determining a new route start point based on the position of the vehicle, when the vehicle leaves the building, that is, the vehicle leaves the building. In a situation where the probability of entering the road is higher, a new route start point is easily determined.

  In the navigation device according to the present invention, when the route start point is determined according to the predetermined rule, the position on the road closest to the vehicle position can be determined as the route start point.

    In the navigation device according to the present invention, the first predetermined distance range may be configured to include a range setting unit that variably sets the range of the area outside the road surrounded by the road.

  With such a configuration, when the vehicle travels outside the road, the first predetermined distance range that is a criterion for determining a new route start point based on the position of the vehicle is surrounded by the road. Since it is variably set according to the width of the outside area, a new route starting point can be determined more accurately according to the width of the area outside the road on which the vehicle travels.

  The range of the first predetermined distance can be variably set according to the length of the maximum diagonal line in the planar polygonal shape of the area outside the road surrounded by the road, for example.

  According to the navigation device of the present invention, when the vehicle is traveling outside the road, the current position of the vehicle is out of the first predetermined distance from the route start point of the route displayed on the display unit. Since a new route starting point is determined based on the position of the vehicle and a new route from the route starting point to the destination is displayed on the display unit, the distance between the current position of the vehicle and the route starting point is the first. It can be within the range of the predetermined distance. As a result, even if the vehicle does not have information about the position to enter the road from outside the road, when the vehicle enters the road from outside the road, a map including the position of the vehicle and the route start point of the set route is displayed on the display unit. I will be able to let you. Therefore, when the vehicle enters the road from outside the road, the user (driver) advances the vehicle from the relative relationship between the position of the vehicle displayed on the display unit and the route extending from the route start point. Can be grasped.

  In addition, when it is determined that the vehicle traveling in the building has gone out of the building, the current position of the vehicle is out of the second predetermined distance from the route start point of the route displayed on the display unit. A new route start point is determined based on the position of the vehicle, and a new route from the route start point to the destination starting from the route is displayed on the display section, so the current position of the vehicle that has left the building and the route start point The interval may be at most within the range of the second predetermined distance. As a result, even if the vehicle does not have information on the position to enter the road from outside the road, the map including the position of the vehicle and the route start point of the set route when the vehicle exiting the building enters the road from outside the road It can be displayed on the display unit. Therefore, when the vehicle that has left the building further enters the road, the user (driver) determines the vehicle from the relative relationship between the position of the vehicle displayed on the display unit and the route extending from the route start point. It is possible to grasp the direction of advance.

It is a block diagram which shows the structure of the navigation apparatus which concerns on embodiment of this invention. It is a flowchart which shows the flow of the process which concerns on the route setting when a vehicle drive | works an outdoor parking lot. It is a figure which shows the example of a display of the route set when a vehicle starts in an outdoor parking lot. It is a figure which shows the example of a driving | running | working locus | trajectory of the vehicle which is drive | working an outdoor parking lot, and the example of a display of the route set at that time. It is a flowchart which shows the flow of the process which concerns on the route setting when a vehicle drive | works in a multistory parking lot (inside a building) and a vehicle leaves this multistory parking lot. It is a figure which shows the example of a driving | running | working locus | trajectory of the vehicle which is drive | working a multistory parking lot, and the example of a display of the route set at that time. It is a figure which shows an example of the driving | running | working locus | trajectory of the vehicle which is drive | working an outdoor parking lot, and an example of the route set in the conventional navigation apparatus, when a vehicle drive | works like that.

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

  A navigation device according to an embodiment of the present invention is configured as shown in FIG. This navigation device is mounted on a 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 various information necessary for processing in the processing unit 11, in particular, map information including information on road links, information necessary for map display and navigation processing such as information about facilities, and the like.

  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 displays a map on the display unit 13 based on the map information stored in the storage unit 14 or information about the facility, or the facility (destination) designated as the destination by the operation of the operation unit 12. A route obtained by the search using the detected position information and map information, and further detecting the position of the vehicle based on various detection signals from the navigation sensor group 17. A navigation process for guiding the vehicle is performed. Then, the processing unit 11 causes the navigation unit to display a mark indicating the position of the vehicle along with the map on the display unit 13 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 determines whether or not the vehicle is in a building such as a multi-story parking lot based on the map information stored in the storage unit 14, the facility information, and the detection signal from the navigation sensor group 17. ing. For example, in order to determine whether or not the vehicle is in a building such as a multi-story parking lot, the vehicle is calculated based on the reception state of the detection signal at the GPS receiver, the detection signals from the wheel speed sensor and the acceleration sensor. And the information such as the number of floors of the parking floor on which the vehicle is detected, which is detected based on the relative altitude difference of the vehicle, and the traveling pattern of the vehicle (including traveling in an inclined state, traveling on a landing, etc.).

  When it is determined that the vehicle is in an outdoor parking lot and the vehicle is not in the building, the processing unit 11 sets a route to the destination according to the procedure shown in FIG. 2 when the vehicle starts. Perform this process.

  In FIG. 2, the processing unit 11 repeatedly determines whether or not the route to the destination should be set based on the operation on the operation unit 12 (S11). When the user (vehicle occupant) performs an operation for setting a route to the destination on the operation unit 12 (YES in S11), the processing unit 11 sets a first reference distance rth1 described later (S12: As shown in FIG. 3, the position on the road closest to the current position Pcs (initial position) of the vehicle in the parking lot EP detected based on the detection signal from the navigation sensor group 17 as shown in FIG. Is determined as the route start point Prs0 (initial route start point) (S13). A detailed method for setting the first reference distance rth1 will be described later. After determining the route start point Prs0, the processing unit 11 performs the above-described processing according to a predetermined algorithm under the conditions (for example, shortest distance, highway priority, general road priority, etc.) designated by the operation of the operation unit 12. A route R0 from the route start point Prs0 to the destination is searched, and the route R0 is set as a route for guiding the vehicle (S14). Then, the processing unit 11 causes the display unit 13 to display the route R0 starting from the vehicle position Pcs (vehicle mark) and the route starting point Prs0 together with the map as shown in FIG. 3 (S15).

  Thereafter, the processing unit 11 detects the current position Pc of the vehicle based on the detection signal from the navigation sensor group 17 (S16), and determines whether or not the current position Pc is a position that meets the road mapping conditions. Determine (S17). When the vehicle is traveling in the parking lot EP and the current position Pc of the vehicle does not meet the road mapping conditions (NO in S17), the processing unit 11 displays the current position Pc of the vehicle and the display unit 13 on the display unit 13. It is determined whether or not the absolute value of the difference between the displayed route R0 and the route start point Prs0 exceeds the first reference distance rth1 (S18: first determination means). That is, it is determined whether or not the current position Pc of the vehicle is out of the range of the first reference distance rth1 (the range of the first predetermined distance) from the route start point Prs0 of the previously set route R0 displayed on the display unit 13. Is done.

  The first reference distance rth1 is set to a distance according to the size of the parking lot EP. For example, based on the map information, the first reference distance rth1 is the maximum in the planar quadrangular shape (polygonal shape) of the parking lot EP surrounded by the road. It is set to a distance of a predetermined ratio of the length L of the diagonal line (see FIG. 3), for example, a distance of 1/2.

  If the current position Pc of the vehicle is not outside the range of the first reference distance rth1 from the route start point Prs0 of the previously set route R0 displayed on the display unit 13 (NO in S18), that is, the current vehicle position If the distance between the position Pc and the route start point Prs0 is equal to or less than the first reference distance rth1, the processing unit 11 displays the current position Pc (vehicle mark) of the detected vehicle and the route R0 together with the map on the display unit 13. It is displayed (S15). Thereafter, while the vehicle travels a position within the range of the first reference distance rth1 from the route start point Prs0 of the route R0, the processing unit 11 performs the same processing (NO in S1 to S18) to detect The current position Pc (vehicle mark) and the route R0 of the vehicle to be displayed are displayed on the display unit 13 together with the map (see FIG. 3).

  In the course of such processing, as shown in FIG. 4, when the current position Pc of the vehicle deviates from the range of the first reference distance rth1 from the previously set route start point Prs0 of the route R0 displayed on the display unit 13. (YES in S18), the processing unit 11 determines the position on the road closest to the current position Pc of the vehicle as a new route start point Prs1 (S19: route start point determination means). Then, the processing unit 11 searches for a new route R1 from the newly set route start point Prs1 to the destination, and sets the route R1 as a route for guiding the vehicle (S14). Then, the processing unit 11 causes the display unit 13 to display the route R1 starting from the route start point Prs1 instead of the previously set route R0 as shown in FIG. 4 (S15).

  Thereafter, in the same manner, the processing unit 11 detects the current position Pc of the vehicle (S16), and the first reference distance rth1 is determined from the route start point Prs of the route R where the current position Pc of the vehicle is displayed on the display unit 13. Every time it is out of range (YES in S18), the position on the road closest to the current position Pc of the vehicle is determined as a new route start point Prs (S19), and a new route R from the route start point Prs to the destination is determined. Set. Then, instead of the route R that has been displayed on the display unit 13 until now, a newly set route R is displayed on the display unit 13.

  If the current position Prs of the vehicle traveling toward the road meets the road mapping conditions in the above process (YES in S17), the processing unit 11 determines the current position Pc of the vehicle mapped to the position on the road. After determining a new route start point and setting a route R from the route start point to the destination (reroute), a process for guiding the vehicle to travel along the route R (route guide process) is started ( S20).

  In a navigation apparatus in which the processing unit 11 performs the process related to the route setting as described above (see FIG. 2) in a situation where it is determined that the vehicle is in an outdoor parking lot and the vehicle is not in the building. If the current position Pc of the vehicle is out of the first reference distance rth1 from the route start point Prs of the route R displayed on the display unit 13, a new route start point Prs is determined based on the current position Pc of the vehicle. Then, a new route R from the route starting point Prs to the destination is displayed on the display unit 13. For this reason, the distance between the current position Pc of the vehicle and the route start point Prs can be at most within the range of the first reference distance rth1 (see FIG. 4). Thereby, even if the exit information of the outdoor parking lot is not provided, the map including the current position Pc (vehicle mark) of the vehicle and the route start point Prs of the set route R when the vehicle enters the road from the exit of the parking lot. Can be displayed on the display unit 13. Therefore, when the vehicle enters the road from the outdoor parking lot, the user (driver) can determine the relative position between the vehicle position Pc displayed on the display unit 13 and the route R extending from the route start point Prs. The direction in which the vehicle is advanced can be grasped.

  Next, in a situation where it is determined that the vehicle is in a building, for example, in a multilevel parking lot, the processing unit 11 performs processing related to setting a route to the destination according to the procedure shown in FIG. Do. In FIG. 5, the same reference numerals as those shown in FIG. 2 indicate the same processing.

  In FIG. 5, when an operation for setting a route to a destination is performed by the user (occupant of the vehicle) at the operation unit 12 (YES in S11), the processing unit 11 is as shown in FIG. The position on the road closest to the current position Pcs of the vehicle in the multi-story parking lot EPin detected using autonomous navigation or the like is determined as the route start point Prs0 (S13), and the conditions specified by the operation on the operation unit 12 ( For example, a route R0 from the route starting point Prs0 to the destination is searched according to a predetermined algorithm under the shortest distance, expressway priority, general road priority, etc., and the route R0 is set as a route to guide the vehicle. Set (S14). Then, the processing unit 11 displays the current position Pcs (vehicle mark) of the vehicle and the set route R0 on the display unit 13 together with the map as shown in FIG. 6 (S15).

  The processing unit 11 continues to detect the current position Pc of the vehicle using autonomous navigation or the like (S16), and determines whether the vehicle has exited from the multi-story parking lot EPin based on the detection signal from the navigation sensor group 17. (S17a: Building exit determination means). As described above, the reception state of the detection signal at the GPS receiver, the relative altitude difference of the vehicle calculated based on the detection signals from the wheel speed sensor and the acceleration sensor, the traveling pattern of the vehicle (in the inclined state) It is possible to determine whether or not the vehicle has exited from the multi-story parking lot EPin using information such as the number of parking floors on which the vehicle is present, which is detected on the basis of traveling and running at a landing). In a state where the vehicle has not left the multistory parking lot EPin (NO in S17a), the processing unit 11 displays the current position Pc of the vehicle and the set route R0 while detecting the current position Pc of the vehicle (S16). The state displayed on the unit 13 is maintained (S15 to S17aNO).

  If it is determined in the course of such processing that the vehicle has exited from the multistory parking lot EPin (YES in S17a), the processing unit 11 determines whether the current position Pc of the detected vehicle is a position that meets the road mapping conditions. It is determined whether or not (S17). If the current position Pc of the vehicle determined to have exited from the multi-story parking lot EPin does not yet meet the road mapping conditions (NO in S17), the processing unit 11 is displayed on the display unit 13 with the current position Pc of the vehicle. It is determined whether the absolute value of the difference between the route R0 and the route start point Prs0 exceeds a second reference distance rth2 (second predetermined distance: for example, 50 m) (S18: second determination means). That is, it is determined whether or not the current position Pc of the vehicle is out of the range of the second reference distance rth2 (the range of the second predetermined distance) from the route start point Prs0 of the previously set route R0 displayed on the display unit 13. Is done. The second reference distance rth2 is set in advance so as to be a value (for example, 50 m) smaller than the first reference distance rth1 described above.

  As shown in FIG. 6, when the current position Pc of the vehicle is out of the range of the predetermined distance rth2 (for example, 50 m) from the route start point Prs0 of the route R0 displayed on the display unit 13 (YES in S18), The processing unit 11 determines the position on the road closest to the current position Pc of the vehicle as a new route start point Prs1 (S19: route start point determination means). Then, the processing unit 11 searches for a new route R1 from the newly set route start point Prs1 to the destination, and sets the route R1 as a route for guiding the vehicle (S14). Then, the processing unit 11 causes the display unit 13 to display the route R1 starting from the route start point Prs1 instead of the previously set route R0 as shown in FIG. 6 (S15).

  Thereafter, while the vehicle leaving the multistory parking lot is traveling within the range of the second reference distance (for example, 50 m) from the newly set route start point Prs1 of the route R1, the current position Pc of the vehicle and the aforementioned The state in which the route R1 is displayed on the display unit 13 together with the map is maintained (S15, S16, S17a, S17, S18). In this process, when the current position Pc of the vehicle that goes out of the multi-story parking lot and heads for the road meets the conditions for road mapping (YES in S17), the processing unit 11 displays the current position of the vehicle mapped to the position on the road. After determining the position Pc as a new route start point and setting a route R from the route start point to the destination (reroute), a process for guiding the vehicle to travel along the route R (route guide process) Start (S20).

  In the navigation apparatus in which the processing unit 11 performs the process related to the route setting as described above (see FIG. 5) in a situation where the vehicle is in the multi-story parking lot and it is determined that the vehicle is in the building. When it is determined that the vehicle traveling in the multi-story parking lot has left the multi-story parking lot (YES in S17a), the current position Pc of the vehicle is determined from the route start point Prs of the route R0 displayed on the display unit 13. If it is out of the range of the second reference distance rth2 (for example, 50 m) (YES in S18), a new route start point Prs is determined based on the current position Pc of the vehicle, and it reaches the destination starting from the route start point Prs. Since the new route R is displayed on the display unit 13, the distance between the current position Pc of the vehicle leaving the multistory parking lot and the route start point Prs is at most within the range of the second reference distance rth2 (for example, 50 m). Get. Thereby, even if the exit information of the multistory parking lot is not provided, a map including the position Pc of the vehicle and the route start point Prs of the set route R when the vehicle exiting the multistory parking lot enters the road from outside the road. It can be displayed on the display unit 13. Therefore, when the vehicle that has left the multi-story parking lot further enters the road, the user (driver) can compare the position Pc of the vehicle displayed on the display unit 13 and the route R extending from the route start point Prs. From the relationship, the direction in which the vehicle is advanced can be grasped.

  In the above-described navigation device, the second reference distance rth2 (for example, 50 m), which is a criterion for determining a new route start point Prs based on the position Pc of the vehicle when the vehicle leaves the multistory parking lot (building). ) Range is shorter than the range of the first reference distance rth1, which is a criterion for determining a new route start point Prs based on the position Pc of the vehicle when the vehicle originally travels in the outdoor parking lot. Therefore, when the vehicle leaves the multistory parking lot (building), that is, in a situation where there is a higher probability that the vehicle will leave the building and enter the road, a new route start point Prs is likely to be determined.

  Further, when the vehicle travels outside the road (outdoor parking lot), the range of the first reference distance rth1, which is a determination criterion for determining a new route start point Prs based on the position Pc of the vehicle, is surrounded by the road. Since it is variably set according to the size of the area outside the road (outdoor parking lot), a new route start point more accurately according to the size of the area outside the road (outdoor parking lot) where the vehicle runs Prs can be determined.

  In addition, although the case where a vehicle leaves a multi-story parking lot was demonstrated, also when a vehicle leaves an underground parking lot or another building, a process can be performed according to the same procedure (refer FIG. 5).

  When the vehicle travels outside the road (outdoor parking lot), the first reference distance rth1, which is a criterion for determining a new route start point Prs based on the position Pc of the vehicle, is the size of the area outside the road However, it may be a fixed value determined by assuming a parking lot with a certain size.

  As described above, the navigation device according to the present invention does not include information on the position (for example, the position of the parking lot exit) that enters the road from outside the road, and the vehicle moves from the road to the road. When entering, there is an effect that a map including the position of the vehicle and the route start point of the set route can be displayed on the display unit, and the route to the destination of the vehicle is set, the position of the vehicle This is useful as a navigation device that displays a route on a display unit.

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

Claims (4)

A navigation device for determining a route start point on a road according to a predetermined rule when the vehicle is outside the road, and displaying a route from the route start point to a destination together with a map on a display unit,
First determination means for determining whether the vehicle travels outside the road and the position of the vehicle is out of a first predetermined distance from the route start point of the route displayed on the display unit;
A route for determining a new route start point according to the position of the vehicle and the predetermined rule when the first determination means determines that the vehicle position is out of the first predetermined distance from the route start point. have a starting point and the decision means,
Furthermore, a building exit determination means for determining whether or not a vehicle traveling inside the building outside the road has exited the building,
Whether or not the position of the vehicle is out of the second predetermined distance range from the route start point of the route displayed on the display unit when the vehicle exit determination means determines that the vehicle has moved out of the building. Second determining means for determining whether or not
The route start point determining means, when the second determination means determines that the position of the vehicle is out of the second predetermined distance from the route start point, newly determines the route start point determination means according to the vehicle position and the predetermined rule. Determine the starting point of the route,
The range of the second predetermined distance is a navigation device which is a distance range shorter than the range of the first predetermined distance . When determining the route start point according to the predetermined rule, determining the position on the road closest to the vehicle position as the route start point;
The navigation device according to claim 1 . The navigation device according to claim 1 or 2 , further comprising range setting means for variably setting the range of the first predetermined distance according to the size of an area outside the road surrounded by a road. The navigation device according to claim 3, wherein the range setting means variably sets the range of the first predetermined distance according to the length of the maximum diagonal line in the planar polygonal shape of the area outside the road surrounded by the road.

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