JPH01173815A - Navigation device for vehicle with off-course guide means - Google Patents

Abstract

PURPOSE:To enable a driver to drive in safety by indicating an off-course point to the driver when the driver's vehicle deviates off a course, and then searching for the course from the position where the vehicle stops to a destination and performing an indication for traveling along the new course or returning to the off-course point. CONSTITUTION:When the vehicle deviates off the course, a guide processing part 15 displays the off-course position and direction on the screen of a display part 31 and a speech output part 33 voices them to indicate a stop. When the vehicle stops, a course form a nearby intersection is searched for and compared with the current course to indicate whether the vehicle should takes the new course or return to the off-course point. Thus, the off-course state is known immediately and proper indications are performed, so the driver reaches the destination speedily by following the indications, so the driver drives in safety.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is a device for navigating along a predetermined route, which detects when the user deviates from the course, and when the device deviates from the course, provides instructions on what to do next. The present invention relates to a vehicle navigation device having a guide means for guiding a new course when the user deviates from the course.

[Conventional technology]

Conventionally, vehicle navigation devices include a distance sensor that detects the distance traveled by a vehicle, a direction sensor that detects the direction in which the vehicle is traveling, a video disc, a videotape, and a CD-ROM.
It is equipped with a map storage device consisting of a map storage device, etc., and reads map data of a specific area from the map storage device as necessary to display a map surface image, display the vehicle's travel trajectory and current position on this display screen, and display Check its position visually, or use a buzzer or other device to notify you that it has come off.

[Problems to be solved by the invention]

However, in such a system that displays a planned driving route and a driving trajectory, the driver must constantly check whether he or she is following the planned route while driving, which tends to make the driver less attentive to driving, which can lead to danger.

In addition, the system that detects when the driver has deviated from the planned route and notifies the driver with a buzzer does not give any instructions on what to do when the driver deviates from the course, leaving the driver confused and making it difficult to return to the planned route. It is.

The present invention is intended to solve the above-mentioned problems, and it is possible to immediately know that the driver has deviated from the course, and when a new course is discovered, there is no need to necessarily return to the previous point, and a new course can be found. To provide a navigation device for a vehicle that has a guide means when going off course, allowing a driver to quickly return to the point where he or she went off course even when a suitable course cannot be found, and allowing a driver to drive with peace of mind.

[Means for solving problems]

To this end, the vehicle navigation device according to the present invention having a guide means when off course is provided with a distance sensor, a rudder angle sensor, a distance signal, and a rudder angle signal. There is a curve detection section that calculates changes in the direction of travel, a route search section that receives the current location and destination and searches for a route from intersection data, road data, and node data, and compares the searched route data with the curve detection results and calculates a plan. A comparison/judgment unit that determines whether or not you are on the course; a guidance processing unit that instructs you to deviate from the course and instructions for subsequent countermeasures when it is detected that you are on the course; and display or audio instructions from the guidance processing unit. The present invention is characterized by comprising an output section that outputs the output.

[Action and effect of the invention]

The vehicle navigation device including the guide means when going off course according to the present invention compares the planned route data with the curve detection results to determine whether or not the user is on the planned course, and when it is determined that the user is off the course, the vehicle navigation device makes the turn. In addition to informing the driver whether the driver has passed the intended intersection but turned at the wrong intersection or turned in the wrong direction, the system also instructs the driver to stop and searches for a course from the point of stopping to the destination. If a new course is discovered, the new course is compared with the original course, and depending on the comparison results, instructions are given to drive on the new course or to return to the point where the course deviated. If a suitable route cannot be found, it will instruct you to return to the point where you deviated from the course.
You can instantly know that you have gone off course, and if you can find a new course, you do not necessarily have to return to the point you were traveling before, and even if you cannot find a new course, you can quickly return to the point where you went off. By following these instructions, the driver can drive with peace of mind.

〔Example〕

Examples will be described below with reference to the drawings.

FIG. 1 is a diagram showing the configuration of a vehicle navigation device according to the present invention having a guide means when going off course, in which 1 is a distance sensor, 3 is a steering angle sensor, 5 is a current location/destination input unit,
7 is a navigation processing unit, 9 is a curve detection unit, 11 is a comparison/judgment unit, 13 is a route search unit, 15 is a guidance processing unit,
17 is a steering angle-direction conversion table, 19 is an intersection data file, 21 is a node date tour, 23 is a road data file, 25 is a search route data file, 27
is a photo data file, 29 is a map data file, 3
1 is a display section, and 33 is an audio output section.

The distance sensor 1 measures the traveling distance of the vehicle, and may be, for example, one that detects and counts the number of rotations of a wheel, or one that detects acceleration and integrates it twice, but other measurement means may also be used. The steering angle sensor 3 detects whether or not the intersection has been turned. For example, an optical rotation sensor or rotation resistance volume attached to the rotating part of the steering wheel can be used, but the steering angle sensor 3 can be The current location/destination input unit 5, which may be a sensor, may be a joystick, keys, touch panel, or may be combined with the screen of the display unit 8 to display keys and menus on the screen and input from that screen.

The navigation processing section 7 is the core of the navigation device, and includes a curve detection section 9, a comparison/judgment section 11, a route search section 13, and a guidance processing section 15.

When the current location and destination are input from the input unit 5, the route search unit 13 reads intersection data, node data, and road data as described later from each file, searches for a route, and sends the search route to a file 25. Store. The curve detection unit 9 reads the detection outputs from the distance sensor 1 and the steering angle sensor 3, as described later, and converts the steering angle to traveling direction conversion table 1.
7 to detect a change in the direction of the vehicle. The comparison/judgment unit 11 compares the searched route data near the X-white mark difference point on the course and between the guide intersections with the travel data from the curve detection unit 9, and determines whether or not the vehicle is traveling along the course. . While driving, the guidance processing unit 15 sequentially displays characteristic photographs of guidance intersections and mid-course locations on the search route, displays a guidance map, and displays remaining distance to the next intersection and other guidance information. Along with
A voice output section 25 provides voice guidance, and when a deviation from the course is detected, it is displayed to that effect, the driver is informed of the deviation by voice, and subsequent instructions are given as will be described later.

Next, the processing of the curve detection section will be explained with reference to FIGS. 2 and 3.

When the curve detection unit 9 receives detection signals from the distance sensor 1 and the steering angle sensor 3, it calculates a change in the traveling direction of the vehicle with reference to the steering angle-travel direction conversion table 17. As shown in FIG. 2, the steering angle/direction conversion table 17 converts the steering angle θ into a change in the traveling direction Δα per unit distance. Then, as shown in FIG. 3, the curve detection unit 9 adds (integrates) Δα to the detected steering angle from when the steering angle exceeds the threshold value a until it returns to within the threshold line. From this added value, it is calculated how much the direction of travel of the vehicle has changed from when the steering wheel starts to be turned until it is completely turned back. 3 represents the intersection detection range, β represents the inspection range after angle detection, a certain distance from when the steering wheel is turned back in consideration of lane changes, etc., and d represents the distance from the bending point to the determination.

Next, the intersection data, node data, and road data used for route searching will be explained.

Intersection data is information about roads that intersect at intersections, node data is information about crosswalks and tunnels that are feature points on the course that can be detected by sensors, etc., and road data is information about the road, such as starting points and ending points.

FIG. 4 is a diagram showing an example of a road network, intersection data, road data, and node string data.

In order to accurately determine the distance from a vehicle's current location to its destination at any time, a road network such as that shown in Figure 4 (
If the intersection numbers I~■ and road numbers ■~■ are shown in 5), the intersection data will be as shown in the same figure (
bl, the road data is configured as shown in the same figure (C1, and the node data is configured as shown in +d+ in the same figure).

That is, as shown in tb+ in the same figure, the intersection data includes the intersection name, the lowest road number among the roads where the intersection is the starting point, and the road number where the intersection is the ending point, corresponding to the intersection numbers 1 to ■. It consists of the lowest road number among the roads in the area and the presence or absence of traffic lights.

In addition, as shown in the same figure (cl), the road data includes starting points and ending points by intersection numbers corresponding to the road numbers ■ to ■, roads with the same starting point with the next number, and roads with the same ending point. The number consists of the following items, road thickness, prohibition information, non-guidance information, photo number, number of nodes, start address of node string data, length, etc.

The node data consists of east longitude, north latitude, attributes, etc. as shown in the figure (dl), and as is clear from the road data, the unit of road number consists of multiple nodes.In other words, the node data is Data related to one point, and the connection between nodes is called an arc.A road is expressed by connecting each of a plurality of node strings with an arc.For example, when looking at the road number ■,
According to the road data, the number of nodes is 15 and the start address of the node data is 100, so the road number ■ is 1.
It is composed of node data of addresses from 00 to 114.

According to these network data, for example, if we focus on intersection number I, for a course starting from this point, we will first search for the road number ■ based on the starting point information of the intersection data, and then search for the road number ``same starting point'' in the road data related to this road number ■. The road number ■ is searched from "roads with the following numbers".

Contrary to the similar information regarding the road number ■, since it is the road number ■, it can be determined that there are no surrounding roads with other road numbers. This also applies to the end point. In addition, the road number ■ in the road data is
Since the road number ■ is prohibited, Figure 4 (al
At the intersection number ■ of the network shown in , it is impossible to enter from road number ■ to ■ because right/left turns are prohibited, and the only road that can be entered is road number ■. Therefore, there is no need for guidance when entering this road number ■.

When the current location and destination are input, the route search unit 13 searches for a route by referring to the intersection data, road data, and node data.

Figure 5 shows the data generated by route search, ta+
is intersection sequence data, and mountain) is node sequence data.

It consists of information such as the intersection name, intersection number, photo number of the characteristic landscape of the intersection, turning angle, distance, etc. Also, the node string data includes the east longitude, which represents the node position, as shown in the same figure) It consists of information such as northern latitude, intersection number, attributes, angle, and distance. Moreover, these data consist only of intersections that require guidance, excluding intersections that do not require guidance. The guide processing section 15 reads out the route data thus generated and sequentially reads out this data at any time according to the traveling position, and also reads out photograph data and map data as necessary and displays them on the display section 31.

Next, navigation processing according to the present invention will be explained with reference to the flowchart shown in FIG.

First, input the exit of the parking lot where the vehicle is normally parked as the starting point (step 101).
Read the distance sensor and rudder angle sensor detection values (Step 1)
02.103), the amount of change in the detected value of the distance sensor is calculated (step 104).

If it is detected that the amount of change in the detection value of the distance sensor is not 0 and that the driver is traveling, the curve detection routine described later is performed (step 106), and the course is changed to determine whether or not the distance sensor is off the course. After passing through the departure routine (steps 107 and 108), the distance traveled is subtracted from the remaining distance to the next guidance intersection (step 109), and the next guidance intersection is displayed as a guidance. By repeating this process, the driver reaches the entrance of the destination parking lot.

Next, the curve detection routine will be explained based on FIG.

First, a curve detection routine is entered at a start step 201, and it is determined whether the steering angle is larger than a predetermined value a (step 202). If it is larger, the change in traveling direction Δα corresponding to the current steering angle θ is added to the previous direction of the vehicle (step 204), and from the travel distance data, the current location is detected from the intersection where the turn should be made to the detection box 0! Determine whether it is within the range (Step 205); if it is within the range, turn on the within-range/curve detection flag (step 206); if not, turn off the within-range/curve detection flag (step 207). ). Next, it is determined whether the steering angle θ is the maximum or not (step 20B), and if the steering angle is the maximum, a distance counter is initialized to count the distance from the maximum steering angle point (step 209), and i is not large. Assuming that you are not turning at the intersection, the distance is i! 1ltd is added (step 210), and the process proceeds to step 211. Also, step 20
2, if the steering angle is smaller than the predetermined value a (not a right or left turn), it must be determined whether the added value of the change in the traveling direction calculated based on the steering angle-travel direction conversion table is larger than the predetermined value a. In step 203), if there is a change in the traveling direction by more than a predetermined value, the vehicle jumps in step 210. Also, if there is no change in direction more than a predetermined value in step 203, each parameter value is initialized and a judgment is made as to whether or not the guide intersection has passed within the range (step 222). If not, return.

Next, in step 211, it is determined whether the vehicle has traveled one or more times since the steering angle became smaller than a, and if the vehicle has not traveled one or more times, the process jumps to step 224 and returns. In addition, if the vehicle is traveling by 1 or more, it is determined that the steering wheel has been returned and the right or left turn has been completed, and the added value of the change in the direction of travel calculated based on the steering angle - direction of travel conversion table is greater than the predetermined value. , it is determined whether or not there has been a change in the traveling direction more than a predetermined value (step 212). If it is smaller than the predetermined value, initialize each parameter value (step 221) and judge whether or not you have passed within the range of the guidance intersection.Step 2
22), if it is passing, turn off course flag ONL,
Returns if it has not passed the range. Further, in step 212, if there is a change in the direction of travel by more than a predetermined value, it is determined whether the within-range/curve detection flag is ON (step 213), and if it is ON, the road crossing angle is detected as the intersection at which the turn should be made. It is determined whether the difference from the turning angle is less than a certain value C (step 214), and if it is more than a certain value, it is determined that the vehicle has turned in a different direction and has deviated from the course, and the off-course flag is set to 0NL (step 220), within a certain value. If so, it is determined that the intersection that should have been turned was turned correctly.Step 225), the distance from the maximum steering angle point is i%l.
Subtract ld from the distance to the next intersection as the remaining distance (step 226), initialize each parameter value (
Step 221) Return is made since the vehicle has not passed within the range of the guidance intersection.

In addition, in step 213, if the area is not near the guidance intersection and the within-range/curve detection flag is not ON, the remaining distance ±α
(step 217), and checks whether there is a node where the azimuth addition value and angle difference are less than a certain value (step 218). If there is no node that meets the above conditions, it is determined that the curve was caused by a bend at a different intersection and has deviated from the course (step 219).

Through the above processing, deviation from the course can be detected by detecting guide intersections and curves between guide intersections.

Next, the off-course routine will be explained based on FIG.

At start step 301, the vehicle enters the off-course routine, and determines whether it has passed the intersection it should have turned at, or whether it has turned at a different intersection, or whether it has turned in a different direction (step 302).If it is determined that it has passed the intersection it should have turned at. (See step 219 in Figure 7)
As shown in FIG. 9(a), a screen indicating that you have passed the course is displayed, and a sound informs you that you have passed and have deviated from the course (steps 303 and 304).
, If it is determined that the vehicle turned at a different intersection (see step 219 in Figure 7), it will notify the driver by voice that the vehicle turned at a different intersection and deviated from the course (steps 305 and 306).
If it is determined that the vehicle has turned in a different direction (see step 220 in FIG. 7), a screen indicating that the vehicle has turned in a different direction is displayed, and a voice message informs the driver that the vehicle has turned in a different direction and has deviated from the course (step 220). 307.308
).

In the case of any of these deviations from the course, a stop message is displayed once, and a judgment is made as to whether or not the vehicle has stopped (step 309).
, while the vehicle has not yet stopped, add the distance from the point where it deviated from the course (step 310); once the vehicle has stopped, determine whether there is intersection data in the vicinity (step 3).
11). When there is intersection data, a route search is displayed on the screen as shown in Figure 9 (b) and the route is searched (
Steps 312 and 313), Determine whether there is a new course (Step 314), If there is a course, add a coefficient to the remaining distance to the destination on the new course and the remaining distance to the destination on the previous course. For example, compare the distance calculated by multiplying by 1.5 (step 317), and if the new course is not longer, display a message screen indicating that the course is available as shown in Figure 9(d) (step 318), and then start driving. start (step 319), and when there is no intersection in step 311 and when there is no course in step 314,
Alternatively, if the new course is longer than the remaining distance multiplied by the coefficient in step 317, the message "No course" and return to the off-course point (
Display a message instructing you to touch (resume) (step 315), return to the off-course point and input (resume) on the touch panel (step 316), this action allows you to return to navigation on the original course. .

As described above, according to the present invention, when it is determined that the route has deviated from the planned route based on the intersection data and node data, it is notified that the route has been deviated from the course and instructions are given, and a new route is created as necessary. The driver can guide the driver or instruct the driver to return to the point where he/she deviated, so it is immediately clear that the driver has deviated from the course, and there is no need to necessarily return to the point where the driver was previously traveling. By following the instructions, the person can quickly reach the destination and travel with peace of mind.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the configuration of a vehicle navigation device having a guide means when going off course according to the present invention, FIG. 2 is a diagram showing changes in traveling direction per unit distance with respect to steering angle, and FIG. 3 is a diagram showing changes in traveling direction. Figure 4 (fa) is a diagram for explaining the calculation of
l is the searched guidance intersection data, fbl is a diagram showing the searched course node string data, Figures 6, 7, and 8.
9 is a diagram for explaining navigation processing according to the present invention, and FIG. 9 is a diagram for explaining guidance instructions when the vehicle deviates from the course. 1... Distance sensor, 3... Rudder angle sensor, 5... Current location/destination input unit, 7... Navigation processing unit,
9...Curve detection section, 11...Comparison/judgment section, 13
...route search section, 15...guidance processing section, 17...
Rudder angle-direction conversion table, 19... Intersection data file, 21... Node data file, 23...
- Road data file, 25... search route data file, 27 is a photo data file, 29... map data file, 31... display section, 33... audio output section. Applicant Agent: Aisin Warner Co., Ltd.
Patent Attorney Hirukawa Masanobu (3 others) Figure 1 Figure 2 Figure 3 d-J*,! ,,fI'5flL(7-r)Ugyouhadaten (b) (C) Fig. 4(d) Fig. 5(a) (b) Fig. 7

Claims (3)

[Claims] (1) A distance sensor, a steering angle sensor, a curve detection unit that receives a distance signal, a steering angle signal, and calculates a change in the vehicle's direction by referring to a steering angle-direction conversion table, and detects the current location and destination. a route search unit that searches for a route based on input intersection data, road data, and node data; a comparison/judgment unit that compares the searched route data with curve detection results to determine whether or not you are on the planned course; The vehicle has a guidance means for off-course, which includes a guidance processing section for issuing an instruction for off-course and instructions for subsequent countermeasures when a deviation from the course is detected, and an output section for displaying or audio outputting the instruction from the guidance processing section. Vehicle navigation device. (2) When a deviation from the course is detected and a new route from the stopping point to the destination is discovered, the guidance processing unit compares the new course with the original course and creates a new route according to the comparison result. A vehicular navigation device comprising a guide means for off-course, as set forth in claim 1, which instructs to travel along the course or to return to a point where the course has deviated. (3) The guidance processing unit according to claim 1, which instructs to return to the off-course point when a new route from the stop point to the destination cannot be found due to the detection of off-course. A vehicle navigation device having a guide means when going off course.