JPH03154200A - Route guiding device for vehicle - Google Patents

Abstract

PURPOSE:To previously decide a direction to advance a car or a lane to travel the car at a guide point such as a crossing, etc., by displaying the lane to travel the car together with the next guide point shown by an abstract graphic when the car arrives in front of the guide point such as the crossing, etc. CONSTITUTION:A guide point information storing means (b) stores guide point information concerning the middle guide point such as the crossing, etc., in a set guide route corresponding to each middle guide point. Further, a current traveling position calculating means (c) calculates the current traveling position of the car and a next guide point specifying means (d) specifies the middle guide point to be next arrived by monitoring the current traveling position. A traveling lane judging means (e) judges the lane to travel the car at the next guide point based on the guide point information and a traveling lane display means (f) displays the lane to travel the car together with the next guide point shown by the abstract graphic before the current traveling position arrives at the position of the next guide point. Thus, since the direction to advance the car or the lane to travel the car, etc., are clearly displayed at the guide point such as the crossing, etc., the burden of a driver is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a device for guiding a vehicle along a preset route, and particularly to a device for guiding a vehicle along a preset route, and in particular, for guiding a vehicle along a predetermined route. The present invention relates to a vehicle route guidance device that has been improved.

(Prior Art) Conventionally, as this type of device, for example, Japanese Patent Application Laid-Open No. 62-93
The one described in Japanese Patent No. 617 is known.

Now, to explain this based on FIG. 31, when the vehicle enters within a predetermined distance of an intersection on the route to the destination, the display contents of the display 1 mounted in the vehicle are displayed. Lane designation marks M1, M2. M3 (same figure (
a)) or destination designation mark Ma (see figure (b)), and display these lane designation marks M,,M.
2. The vehicle is configured to be able to select a lane at an intersection based on instructions from M3 or destination designation mark M4.

(Problem to be Solved by the Invention) However, with the conventional device as described above, only a lane designation mark or an undesignated direction mark is displayed when approaching an intersection, so special attention is required. There has been a problem in that it is a burden to drivers when passing through an intersection.

This invention was made in view of the above-mentioned problems.
The purpose of this is to, at guidance points such as intersections,
It is an object of the present invention to provide a route guidance device for a vehicle that can reduce the burden on a driver by displaying the direction in which the vehicle should travel, the lane in which it should travel, etc. in an easy-to-understand manner.

(Means for Solving the Problems) In order to solve the above problems, the present invention is constructed as shown in FIG. 1.

In the figure, a guide route setting means a sets a guide route for the vehicle.

Further, in the guidance point information storage means, guidance point information regarding intermediate guidance points such as intersections on the set guidance route is stored in correspondence with each intermediate guidance point.

Furthermore, the current traveling position calculation means C calculates the current traveling position of the vehicle.

The next guidance point specifying means d identifies the next intermediate guidance point that the vehicle should reach along the guidance route by monitoring the current traveling position.

The driving lane determining means e determines the lane in which the vehicle should travel at the next guidance point based on the guidance point information specified in the guidance route settings.

The driving lane display means f displays the lane in which the vehicle should travel together with the next guiding point, which is an abstract figure, before the current driving position reaches the position of the next guiding point given by the corresponding guiding point information. .

(Operation) In this invention, when a vehicle approaches a guidance point such as an intersection, the next guidance point as an abstract figure and the lane in which the vehicle should travel are displayed.

(Description of Embodiments) Hereinafter, preferred embodiments of the apparatus according to the present invention will be described based on the drawings.

In the traveling distance sensor 10 in FIG. 2, a distance pulse is obtained each time the vehicle travels a predetermined distance, and the traveling direction of the vehicle is detected by the direction sensor 12.

Distance pulses and direction detection signals from these mileage sensor 10 and direction sensor 12 are supplied to a processing device 14.

The processing device 14 includes an arithmetic unit 16 mainly composed of a microprocessor and a processing data storage device 18.
The arithmetic unit 16 uses the distance pulse from the mileage sensor 10 and the azimuth detection signal from the azimuth sensor 12 to determine the current traveling position of the vehicle.

Signals from a keyboard 20 and a start switch 22 are supplied to this arithmetic unit 16, and map data is supplied from a map data storage device 24.

Further, the image display command obtained by the arithmetic unit 16 is given to a display control device 26, and the display control device 26 controls the display of a display device 28 (comprised of a CRT or the like).

Here, on the display device 28, when the vehicle reaches a guidance point such as an intersection or a lane change point on the way, the traveling direction of the vehicle, the lane in which it should travel, etc. at the guidance point are displayed. Such a front door device may be provided near the driver's seat, but preferably it may be displayed directly on the windshield using a HUD (head-up display) or the like.

For these displays, the map data in the early map data storage device 24 is used, and in particular, the map data used for displaying the direction of travel at intersections, etc., is stored as shown in FIG. 3.

The storage area 30 in the figure actually corresponds to a large vehicle driving area such as the Kanto-Koshinetsu region, and here, 9 blocks 30-1.30-2.30-3.30-4.30-
It is divided into 5.30-6.30-7°30-8.30-9.

For example, block 30-1 has guidance point numbers 1 and 2.
．． 3.4. It is divided into a number of guidance point areas with numbers 5...15, 16..., and each guidance point area has an area 31 specific to the guidance point indicated by its guidance point number, and an adjacent guidance point area. 32, a guide sign information area 33, a shape/direction/traveling lane information area 34, a free running information area 35, and a simplified traveling direction information area 36.

Among them, the unique area 31 contains guidance point type information indicating the type of guidance point and the XY coordinate position of the guidance point.

The guiding point name is memorized.

Note that the guidance point type information stored in the unique area 31 is as follows:
Whether the relevant guidance point is a guidance point on a general road, or a guidance point where an expressway and its approach/exit road intersect, or guidance at an interchange where an expressway approach/exit road intersects with a general road. It identifies whether or not it is a point, and furthermore, whether it is a guidance point for instructing a lane change.
- If it is a guidance point on a ship road, it is set to "0", and if it is an intersection where an expressway and its approach road intersect, it is set to [1].
], and when it is an intersection where an expressway and its exit road intersect, it is set as "2", and when it is an intersection where an expressway's approach/exit road intersects with a general road, it is set as "3", and the lane change point is set as "3". It is considered to be ``4'' when .

Also, adjacent guide point areas 32-■, 32-■.

32-■, 32-■... stores the number of the guidance point adjacent to the guidance point of the unique area 31, the number of the road connecting both guidance points, the direction of the road, and the distance distance between the two guidance points. has been done.

Further, the guide sign information area 33 indicates that the guide point is an intersection on a general road or an intersection on an expressway adjacent to the interchange intersection.'1. ) is an intersection on a general road where a guide sign is installed, and is a kanji code with the same content as one of the guide signs installed at general intersections or interchange entrances and exits indicating the direction or destination of those crossroads. Guide sign information is stored.

For example, if the adjacent guidance point number is 32-■ and the content of the guide sign in that direction is "Ueno, Ginza," the kanji code for "Ueno, Ginza" is stored in the guide sign information area 33-■.

In addition, in the shape, direction of travel, and driving lane information area 34,
Corresponding to the guidance points stored in the adjacent guidance point area 32,
The direction of travel when traveling in the direction of the corresponding adjacent guidance point,
An abstract figure indicating the shape of the guide point of the lane to be traveled is also stored.

FIG. 4 shows an example of an interchange on an expressway, with a guide point name 50 on the upper right side of the display device 28, guide sign information 52 on the lower right side, and shape, direction of travel, and travel information on the left side. Lane information 54 is displayed. To explain this left side part, this guidance point has a Y-shape, and all you have to do is proceed to the left as shown by the diagonal line.
You can immediately see that you can proceed to the left no matter which side of the lane there is.

Further, FIG. 5 shows a case where the guidance point is a lane change point, and shape/direction/travel lane information 54 is displayed on the left side of the marking device 28.

In other words, when reaching the next guidance point, the vehicle must be traveling in the left lane (indicated by diagonal lines) of the two lanes currently available. Furthermore, it is shown that the lane change must be made by the line indicated by ZL.

Although only the lane change point is displayed in Figure 5, it is also possible to display an abstract figure that combines the next guiding point as shown in Figure 4 and the lane change point in Figure 5. is also effective.

In addition, in the free running information area 35, when the distance to an adjacent guiding point is long, lanes and road shapes that can be freely traveled when proceeding in the direction of the corresponding adjacent guiding point are stored as graphic data of abstract shapes. ing.

An example of this case is shown in FIG.
Free running information 56 is displayed on the left side of the screen.

Furthermore, the simplified traveling direction information area 36 stores graphic data of abstract shapes that are further simplified from the graphic data stored in the shape/travel direction/traveling lane information area 34. A display example in this case is shown in FIG. 6, in which simplified traveling direction information 58 is displayed above the screen on which free running information 56 is displayed.

The present embodiment has the above configuration, and its operation will be explained below according to the flowchart.

When the device of this embodiment is powered on, the starting position of the vehicle,
Data input regarding the target position to be reached is performed by operating the keyboard 20, and the data input is performed by teaching the exact coordinate positions of the starting position and target position of the vehicle, or by specifying the approximate position by specifying the unit area to which the starting position and the target position belong. It is done by teaching.

When approximate position teaching is to be performed, the one to which the starting position and the target position belong is selected by operating the keyboard 20 from the list of unit areas displayed on the display device 28 as shown in FIG.

When the above data input regarding the starting position and the target position are confirmed, the initial guidance point as the temporary target position and the final guidance point as the temporary target position are automatically determined (see Figure 8). Step 100.102).

Fig. 9 explains the setting action of the initial guidance point, and the position Zs (Xs, Ys) is set as the position when an accurate starting position is taught, and when the approximate position is taught using a unit area. In this case, it is assumed to be the center position of the unit area, and the memory induction points Za, Zb, Zc, Z that exist around it are
The nearest memory guidance point Za among d is set as the initial guidance point.

Note that if the position Zs is given by specifying the unit area, when the vehicle is guided to the initial guidance point using the direction display as described later, the guidance will be inaccurate or incorrect. Since there is a risk, please set the position Z as shown below.
It is preferable to set a point a certain distance from s as the initial guidance point.

In this case, the memory induction points Za, Zb, Zc,
Among Zd, the one that satisfies the following equations (1) and (2) and is the closest is taken as the initial induction point.

Note that here, the unit area is IKm square, and the value is 300.
0 (m) shall be adjusted and set according to the size of the unit area.

Y (Yo-Ys)<X (Xo-Xs)-(1)(X
-Xs) 2+ (Y-Ys) 2≦30002...
(2) However, the position Zo (Xo, Yo) is the coordinate of the target position ZO, and the initial guidance points are determined from those on the target position side shown by the hatched area in FIG.

FIG. 10 explains the final guidance point determination operation, and the final guidance point is the target position 20 (Xo, Yo) of the vehicle.
Memory induction point z that exists around ! .

The closest memory guidance point Zm is set among Zm, Zn, and Zo.

Note that in this embodiment, the memorized guide point at which the value of the following equation (3) is the minimum is determined as the final guide point.

D2= (X-Xo) 2+ (Y-Yo) 2- (
3) The above is the method for setting the initial guidance point and final guidance point. Here, the initial guidance point is the guidance point excluding intersections where the expressway intersects with its exit road, interchanges on the expressway, and lane change points. The selection is made based on the type code.

Further, the final guidance point is similarly selected from among the guidance points excluding intersections where the expressway intersects with its approach road, interchanges on the expressway, and lane change points.

Once the initial guidance point and final guidance point are determined in this way (steps 100 and 102 in Figure 8), the shortest travel route from the initial guidance point to the final guidance point is set (Figure 8). Step 104).

Figure 11 explains the procedure for setting this shortest route.
The induction point order K, which has been set to 0 in advance, is incremented to 1.
(step 106). Note that the order K is rlJ,
Preferably, the device is configured to repeat rOJ.

Then, all guide points adjacent to the initial guide point are searched as primary guide points from the data in FIG. .

32-■, 32-■, 32-■...) are read (
Step 110). Note that after the light processing, lane change points are included in intermediate guidance points such as -th guidance points.

Further, when the travel distance to each next guidance point is read (step 112), the travel distance and the guidance point number of each next guidance point are stored in correspondence (step 114).

When it is confirmed that the final guide point is not included in these next guide points (negative determination in step 116)
, after the guidance point order K is incremented, all secondary guidance points are searched (step 108), their guidance point numbers are read (step 110), and further, those secondary guidance points are incremented from the initial guidance point. The distance traveled to the next guidance point is calculated (step 112).

If the guidance point numbers of all the secondary guidance points and the distance from the initial guidance point to each secondary guidance point are determined in this way, then whether there is an identical secondary guidance point that matches the -th guidance point? Whether or not it is determined based on the guidance point number (step 118
).

At that time, if there are no such secondary guidance points, the guidance point numbers and route distances of those secondary guidance points are stored in correspondence (step 114L). On the condition that it is confirmed (No in step 116), the same process is repeated.

Also, if it is detected from the guidance point number that a search has been performed for a guidance point that matches an already searched guidance point, such as when the existence of a secondary guidance point that is the same as the next guidance point is confirmed (
(affirmative determination in step 118), the distance to the already searched guidance point stored corresponding to the guidance point number and the distance from the initial guidance point to the search intersection via another route are determined. are compared (step 120).

At this time, if the distance (stored value) to the already searched guidance point is smaller than the distance (calculated value) to the searched guidance point, the calculated value is invalidated (step 122) and the stored value is left unchanged.

If the calculated value is smaller than the stored value, it is stored in correspondence with the guidance point number (step 114), thereby erasing the stored value up to that point.

When the above process is repeated, all guide points leading to the initial guide point are searched, and their guide point numbers and distances from the initial guide point are stored in correspondence.

If the existence of the same guide point is confirmed during a guide point search, the smaller of the route distance calculated at the time of the search and the route distance memorized up to that point is stored, so all Each distance stored corresponding to the guidance point number of the search guidance point is the shortest distance from the initial intersection.

After that, when the final guidance point is retrieved (affirmative determination at step 116), the guidance point number of the final guidance point and the distance from the initial guidance point are set in correspondence (step 124). When all guide points are searched (step 125, affirmative), all guide points adjacent to the final guide point are searched (step 126L). A point number and its travel distance are set correspondingly (step 128).

Next, when it is confirmed that the guidance point with the minimum travel distance is not the initial guidance point (negative determination in step 130), an adjacent guidance point is searched (step 126), and a corresponding set of guidance point number and minimum storage value ( Step 128) is repeated.

As a result, the guide point numbers and distances of the guide points with smaller travel distances from the initial guide point are successively set from the final guide point side, and the setting continues until the initial guide point is retrieved.

Thereafter, if an initial guiding point is found (step 130
If the determination is affirmative), the process in FIG. 11 is terminated.

FIG. 12 shows the operation of the above processing. When the data regarding the starting position ST and the target position OP in the same figure are manually entered by operating the keyboard 20, the initial guidance point CPO is
The guide point numbers and route distances of the guide points are sequentially memorized along the countless routes drawn from C, and then the final guide point C
When PK is searched, the guidance point with a small distance from the initial guidance point CPo is searched from the final guidance point CPK side to the guidance point CPK.
-Bi...CP,,CP3. CP2. CP.

In this way, in this embodiment, guidance points such as intersections and lane change points that exist in the middle of the route where the vehicle is to be guided are automatically specified, and the shortest guidance route is thereby set (No. 8 Figure step 104).

When the shortest guidance route is set, if the starting position has been taught, initial guidance point direction information 60 is displayed as shown in FIG. 13, and the vehicle is thereby guided to the initial guidance point. Note that this display is also performed when heading from the final guidance point to the destination.

When the vehicle reaches the initial guidance point Za according to the above-mentioned initial guidance point guidance display and this is confirmed, the start switch 22 shown in FIG. 2 is operated.

By operating the start switch 22, guidance processing is started for instructing the direction of travel and driving lane at the guidance point, and for lane change instructions at the lane change point.

This guidance processing is performed based on the current traveling position of the vehicle obtained by measurement, and the measurement is performed as follows.

When a distance pulse is input from the mileage sensor 10 (affirmative determination at step 138 in FIG. 14), the above process for guiding the vehicle is temporarily interrupted (step 140).
), the measurement calculation of FIG. 15 is started (step 142
).

In this process, first, the traveling direction θ of the vehicle detected by the direction sensor 12 is read (step 144), and then the traveling distance ΔX in the X direction and the traveling distance ΔY in the Y direction are determined (
Step 146).

Further, these distances ΔX and ΔY are added to the previous cumulative distance X in the X direction and cumulative distance Y in the Y direction, thereby creating a coordinate Z (X) indicating the current traveling position of the vehicle.

Y) is determined (step 148).

Then, the travel distance ΔD corresponding to the distance pulse generation interval is subtracted from each travel distance I)cp to the guidance point on the way to the next destination of the vehicle (step 150). The coordinate position of is determined based on the traveling direction and distance of the vehicle, and the distance to the next intermediate guidance point is calculated by sequentially subtracting the travel distance corresponding to the distance pulse generation interval from the distance between guidance points. I) cp is required.

As can be understood from FIG. 14, this traveling position measurement calculation is performed as an interrupt to the guidance processing, and when this processing is completed, the guidance processing is restarted (step 1).
52).

In this guidance process, as will be described in detail later, free running information 59 is displayed between each intermediate guidance point (see Fig. 6).
In addition, near each guidance point, information such as shape, traveling direction, driving lane information 54, etc. is displayed (see Figures 4 and 5) (Steps 154, 156, and 158 in Figure 16).
).

In order to guide the vehicle through these displays, the process shown in FIG. 17 is performed when the vehicle passes through a guidance point.

When the vehicle reaches an intermediate guidance point, the guidance point number of that intermediate guidance point, the guidance point number of the next intermediate guidance point, and the guidance point number of the next intermediate guidance point are set (Step 160 in Fig. 17). .

Next, when the position 209 of the intermediate guidance point, the position Z of the next intermediate guidance point, and the position Z2 of the next intermediate guidance point are set (step 162), the position from that intermediate guidance point (Zo) to the next intermediate guidance point is set. (Z,), and the distance L2 from the next intermediate guide point (Zl) to the next guide point (Z2) are set (step 164).

Then, the position ZO of the intermediate guidance point that the vehicle has reached is the first
The current traveling position Z of the vehicle measured by the process shown in Figure 5 (
X, Y) is set, and the distance L1 to the next intermediate guidance point (z2-1-z,) is the distance to the next guidance point (Z+→Zo) that was previously determined. [) Set in place of cp.

In this way, each time the vehicle passes an intermediate guidance point that exists on the shortest guidance route, the position Zo of the guidance point is measured by the process shown in FIG. 15, and the current traveling position Z (X,
Y), the correction is made.

When the above process (step 166) is performed in FIG. 17, the vehicle is directed to the next en route guide point Z based on the direction data retrieved using the guide point numbers of these three consecutive guide points. An approach direction and an exit direction are calculated (step 168).

Next, the approach determination area, error determination area, and reset direction are set as follows (step 170).
.

FIG. 18 explains these setting effects, and in the figure, the vehicle is in position Z. From the intermediate guidance point, the vehicle passes straight through the intermediate guidance point at position Z1, and then turns left and passes through the intermediate guidance point at position Z2.

When a vehicle passes straight through an intermediate guidance point (Zo) toward the next intermediate guidance point (Z,), an approach determination area 300 is set for the next intermediate guidance point (Z,), and the vehicle passes through the guidance point (
When passing through Zl), an approach determination area 302 is set for the next guidance point (Z2).

Among them, the area 300 is centered at position Z1 and is 0.15L,
The area 302 is a circular area having a radius of (travel distance from position zo to position Z1), and the area 302 is centered at position Z2 and has a radius of 0.1L2 (travel distance from position z1 to position Z2). It is considered to be a circular area. However, in both cases, a lower limit value is set so that the radius does not become less than 500 m, for example.

Further, an error determination area 304 is set when the vehicle passes through the guidance point (Zo), and an error determination area 306 is set when the vehicle passes through the guidance point (Zl).

These error determination areas 304 and 306 are approximately rectangular, and their long sides are in the Z direction. The Zl s direction is Z1Z2.

Furthermore, their short sides are at position Z. Radius 1, each centered at SZl. LL, circle, position Z1. Radius 1, each centered on Z2. It is a partial arc of the circle of LL2. In addition,
This calculation of the error determination area is not performed when the guidance point is a lane change point.

In Fig. 18, when the vehicle reaches position Z1 (
(already updated to Zo=Z+), the next induction point Z2 (Z
24Z, updated) is not a straight guiding point,
A reset direction is required.

This reset direction is selected to be an intermediate direction between the approach direction and the exit direction of the next guidance point (Z2→Z+) and within the turning angle range of the vehicle at that guidance point. Note that since all lane change points serve as straight-ahead guidance points, the reset direction is calculated only when the guidance point is an intersection.

As can be understood from the above explanation, each time the vehicle passes an intermediate guidance point (Zo) on the shortest guidance route, the approach determination area 300 or 302, the error determination area 304 or 306, and the reset direction should be passed next. En route guidance points are set (Step 170 in Fig. 17).

Note that when the intermediate guidance point (Zl) that the vehicle should pass next is the final guidance point, a comment to that effect is displayed (steps 184, 186).

Next, a description will be given of a process for preventing deviation from the guidance route, which is performed using these approach determination areas and error determination areas.

It is confirmed that the vehicle has escaped the approach determination area (area 300 or 302 in Figure 18) of the guidance point (Zo) (Step 187 in Figure 19), and the next guidance point (Zo) is confirmed.
When the vehicle has not reached the approach determination area (No in step 188), free running information 56 as shown in FIG. 6 is displayed (step 156 in FIG. 16), and the vehicle has reached the error determination area (in 304 or 306) is constantly monitored (step 190).

In the meantime, the position Z (X.

When it is determined that the vehicle has left the error determination area by monitoring Y), a message to that effect is displayed (step 19).
2), this provides a warning that the vehicle will deviate from the shortest guidance route.

After that, if the vehicle reaches the approach determination area of the next intermediate guidance point (Zl) without making a mistake on the shortest guidance route (affirmative determination in step 187), it is determined whether the vehicle has passed through that guidance point (Zl). It is monitored (step 194).

In this embodiment, if the next guidance point (Z,) is a straight-ahead guidance point, when the distance I)cp becomes 0, if it is a right or left turn guidance point, the vehicle will move to the reset direction. When the vehicle turns, it is determined that the guidance point (Zl) has been passed, and at that time, the process shown in FIG. 17 is restarted.

If the vehicle has not passed the guidance point (Zl), it is determined whether the vehicle is traveling within the error determination area (step 196), and if the vehicle deviates from the error determination area, an error message is displayed. (Step 192
), when the vehicle is traveling within the error determination area, determining whether the vehicle is within the approach determination area (step 188);
A determination (step 194) as to whether the vehicle has passed the guidance point (Zl) is repeatedly performed.

After that, if it is confirmed that the vehicle has passed the guidance point (Zl), or if an error message is displayed, this process is terminated.

As described above, in this embodiment, whether or not the vehicle deviates from the shortest guidance route is constantly monitored using the error determination area and the approach determination area, and when the vehicle deviates from the shortest guidance route, a message to that effect is displayed. .

Furthermore, if a vehicle approaching the next guidance point (Zl) is detected using the approach determination area (No in Step 154 in Figure 16), processing for displaying the traveling direction and driving lane indication at the guidance point (Step 16 in Figure 16) is performed. 158) is started instead of the free running information display process (step 156 in FIG. 16).

FIG. 20 explains the process of displaying directions of travel and driving lanes at this guidance point. First, step 198
In this case, it is determined whether the remaining distance Dcp obtained by the process shown in FIG. 15 is less than or equal to a predetermined distance. When proceeding in the direction, the guidance point part (Z
1) is displayed as an abstract figure (step 200).

At the same time, the direction of travel at the guidance point (Zl) and the lane in which the vehicle should travel are displayed as a hatching display 62 as shown in the figure.
Furthermore, the remaining distance to the guidance point (Zl) is displayed on the segment display 64 (step 202).

When it is confirmed by the remaining distance 1) cp that the vehicle has arrived before the next guidance point (Zl) (affirmative determination in step 198), the hatching display 62a at the guidance point (Zl) flashes. The driver is alerted (step 204).

Furthermore, when passing the next guidance point (2,) is confirmed (step 206), the display of the direction of travel and driving lane indication at this guidance point is finished (step 208), and then the free travel display process shown in FIG. will be resumed.

In the above explanation, the case where the guidance point is an intersection has been explained, but as shown in FIG. 5, the same processing is performed when the guidance point is a lane change point.

In this way, a free driving display is displayed between each intermediate guidance point, and before each intermediate guidance point, the direction of travel and the lane to drive at that guidance point are displayed, so that the vehicle can take the shortest guidance route to the final guidance point. guided along.

Here, details of the display processing shown in FIG. 4 will be explained based on FIG. 21.

In this process, first, the data of the next guiding point (Zl) and the guiding point number of the successive guiding point (Z2) are read out (steps 210, 212).

Next, adjacent guidance point numbers corresponding to the next guidance point number (Z2) are selected from the adjacent guidance point area 32 of the next guidance point (Zl) (step 214).

Then, the shape/direction/travel lane information 54 and guide sign information 52 corresponding to the adjacent guidance point number are read out and displayed on the display device 28 (steps 216 and 218).

Further, the guide point name 50 is read out from the unique area 31 and displayed on the display device 28 (step 220).

For example, if guidance point numbers are stored one after another in 32-■ in the adjacent guidance point area 32, the adjacent guidance point corresponding number will be ■, and the shape/direction/traveling lane information area 34
The information stored in each of the and the guide sign information area 33 will be displayed.

On the other hand, as shown in FIG. 5, when the guidance point (Zl) is a lane change point, display processing as shown in FIG. 22 is performed.

That is, first, the data of the next guiding point (Zl) and the guiding point number of the successive guiding point (Z2) are read out (steps 222 and 2).
24).

Next, an adjacent guidance point number corresponding to the number of the next guidance point (Z2) is selected from the adjacent guidance point area 32 of the next guidance point (Zl) (step 226).

Next, the current vehicle speed V is V. It is checked whether the vehicle speed V is greater than V (step 228). If it is larger, the next guidance point (lane change point) (Zl) is displayed on the near side of the screen (downward in FIG. 5) (step 232).

Furthermore, if the vehicle speed V is less than or equal to Vo, the current traffic volume C
is larger than Co (step 230), and if the traffic volume (J) is larger than Co, the next guidance point (lane change point) (Zl) is similarly displayed on the near side of the screen (step 2
32).

On the other hand, the vehicle speed V is V. If the traffic volume C is less than co in the following (
(both negative judgments in steps 228 and 230), the fifth
As shown in the figure, the next guidance point (lane change point) (Zl) is displayed at the center of the screen (step 234).

This is the hatched part 70 of the right lane in FIG.
The tip ZL indicates the lane change limit, and the hatched portion 70 indicates the lane change margin zone, so the vehicle speed V
Alternatively, if the traffic volume C is larger than a predetermined value, by shortening the allowance zone, that is, the hatching part 70,
This is to complete the lane change early. The distance to the lane change limit ZL is displayed on a segment display 64.

Note that in FIG. 22, the following steps 236 and 238 are exactly the same as steps 218 and 220 in FIG. 21 when the guidance point is an intersection, so a description thereof will be omitted.

On the other hand, the display process of the free traveling information 56 shown in FIG. Although it is displayed at certain times (for example, over 500m) (the first
Step 156) in FIG. 6), the display processing in this case will be described in detail below with reference to FIG.

In this process, first, the guide point (20) that is currently being passed
Read the data and the induction point number of the next induction point (zl) (
Steps 240.242).

Next, an adjacent guidance point number corresponding to the next guidance point number (Zl) is selected from the adjacent guidance point area 32 of the guidance point (Z, ) currently being passed (step 244).

Then, as shown in FIG. 6, the free running information 56 corresponding to this adjacent guidance point number is read out from the free running information area 35 and displayed on the display device 28 (step 246).

Next, the data of the next induction point (Zl) and the successive induction point (Z2)
Steps 248 and 250) to read the guidance point number of
Select adjacent guidance point numbers corresponding to the next guidance point (Z2) one after another from the adjacent guidance point area 32 of the next guidance point (Zl) (
Step 252).

Then, the traveling direction information of the next guiding point (Zl) corresponding to this adjacent guiding point number is read out from the simplified traveling direction information area 36 and displayed on the display device 28 as the simplified traveling direction information 58 (step 254).

In this embodiment, as described above, when the vehicle approaches each guidance point such as an intersection, the traveling direction and driving lane are displayed on the screen along with the abstract figure of the next guidance point, and the distance to the next guidance point is displayed on the screen. If is greater than a predetermined value, the direction of travel at the next guidance point is displayed in a simplified manner along with the free running information, which has the effect of making it easy to know in advance the direction in which the vehicle should travel and the lane in which it should travel at a guidance point such as an intersection. .

In addition, lane change points are added to guidance points, and when you reach the point where you should change lanes, the lane change area is displayed taking into account the vehicle speed and road congestion at that time, so you can change lanes smoothly. It has this effect.

Next, a second embodiment of the invention will be described. It should be noted that the same components as those used in the explanation of the first embodiment will be described with the same reference numerals.

By the way, in this embodiment, the guidance point type information stored in the unique area 31 shown in FIG. It is used to identify whether the intersection is an intersection where the entrance/exit road of an expressway intersects with a general road, or whether it is an interchange intersection where an expressway entrance/exit road intersects with a general road.If it is an intersection on a general road, it is set to "0". , if it is an intersection where an expressway and its approach road intersect, it is set as "1", when it is an intersection where an expressway and its exit road intersect, it is set as "2", and when it is an intersection of an interchange on a expressway, it is set as "1". 3". Therefore, in this embodiment, lane change points are not included in the guidance points.

In addition, in the shape, direction of travel, and driving lane information area 34,
The direction of travel and the lane in which to travel in the direction of the corresponding adjacent guidance point are stored together with an abstract figure representing the shape of the guidance point, but if the adjacent guidance point (Zl) If the vehicle is approaching, as shown in FIG. 24, graphic data is stored that can also display the shape, direction of travel, and travel lane of the next guide point (Z2). In addition,
If the next guidance point (Zl) is not close, the 25th
As shown in the figure, graphic data in which only the next guiding point (Zl) is displayed is stored.

On the other hand, the simplified traveling direction information area 36 stores graphic data of abstract shapes obtained by further simplifying the road shape and traveling direction stored in the shape/travel direction/traveling lane information area 35. Figure 72 in the upper frame of FIG.
74 shows this, and in this case, the next induction point (
Along with Zl), information on the guiding point (Zl) is also displayed one after another.

In this embodiment, unlike the first embodiment, free running display processing is not performed, and when the distance to the next guidance point is greater than a predetermined value, distance information 76 between both guidance points is displayed at the bottom of the screen.
is displayed.

Therefore, as shown in Fig. 27, the guidance point distance interval is displayed between each guidance point, and the guidance point traveling direction and driving lane indication are displayed near each guidance point (Fig. 27). Step 260.262.264).

Note that the display process shown in FIG.
), but this display process is exactly the same as that shown in FIG. 21 in the first embodiment, so a description thereof will be omitted.

Furthermore, the display processing in FIG. 25 is performed when the guiding points (Z2) are not close to each other one after another, but the display processing in this case is also exactly the same as that in FIG. 21, so a description thereof will be omitted.

In addition, the next induction point (Z,
) both show the case where the guiding point is an interchange; Fig. 24 shows a branch point, and Fig. 25 shows a confluence point. While the vehicle is running, the display screen changes continuously, providing a scrolling guidance display.

In addition, the display process as shown in FIG. 26 is performed when the vehicle has passed an intermediate guidance point (guidance point Z that it is currently passing through) and there is a sufficient distance to the next guidance point (2,) (for example, 50
0m or more) (step 262 in Figure 27).
This display processing will be described below with reference to the flowchart of FIG.

In this process, first the guidance point (Zo
) data and the induction point number of the next induction point (Zl) are read out (steps 266 and 268).

Then, the remaining distance DC2 to the next guidance point (Zl) is calculated as the first
Read out the process up to step 150 in FIG. 5 (step 279), and determine whether DcP is a distance that falls within the display range of the display screen (step 272).
.

Here, if it does not fall within the range, only the center line 78 is displayed (step 274), and this process ends.

On the other hand, if it falls within the range, proceed to the following process. That is,
Adjacent guidance point area 32 of the guidance point (Zo) you are currently passing through
An adjacent guide point number corresponding to the next guide point (Zl) is selected from among them (step 276).

Then, the simplified heading information corresponding to this adjacent guide point number is read out, and the remaining distance is calculated. , as a graphic 72 at the screen position corresponding to (step 278).

Furthermore, the data of the next induction point (Zl) and the successive induction point (Z2
) reads the guidance point number (steps 280 and 282)
.

And the distance from the next induction point (Zl) to the successive induction point (Zl). Pl is read from the adjacent guidance point area 32 (Step 284), and this is read out from the guidance point currently passing through (Zo
) to the next guiding point (Zl) I) Add it to cp, and add this added distance. It is determined whether P+DCP is a distance that falls within the display range of the screen (step 286
).

Here, if it is outside the range, this process ends, and if it is within the range, the adjacent guidance point number corresponding to the next guidance point number (Z2) is selected from the adjacent guidance point area 32 of the next guidance point (Zl). Select (step 288).

Next, information on the traveling direction of the next guiding point (Z2) corresponding to this adjacent guiding point number is read out from the simplified traveling direction information area 36 and displayed as a figure 74 at the screen position corresponding to the added distance DCP+DCPI (step 290 ).

As described above, the second embodiment displays the traveling direction and driving lane of the vehicle along with the next guiding point, which is an abstract figure, before the current driving position reaches the position of the next guiding point. When the points are close to each other, the next guiding point and the successive guiding point, which are abstract shapes, are displayed on the same screen. In this case, the behavior at the next guidance point can be determined by considering how to behave at each guidance point one after another.

If the distance to a further guidance point or the direction of travel at the guidance point is to be displayed, the process from step 280 onward in FIG. 28 may be repeated.

Next, a third embodiment of the present invention will be described based on FIGS. 29 and 28.

This is a guidance display when the intersections are close to each other on the ship road. For example, if the distance between the two intersections is 5
00m or less.

In this case, as shown in Figure 29, from intersection A to intersection B
If the current position of the vehicle is C, guidance display A at intersection A, which is the next guidance point. Guidance display B at intersection B, which is a guidance point one after another.

Make it bigger.

With this kind of display, even if two guidance points are displayed on the screen, the guidance display Ao at the intersection A that you will pass next
Since it is displayed larger, the guidance point display can be easily understood by the driver.

Further, as shown in FIG. 30, when the current position C passes through the intersection A, a guidance display B at the next departure point B is displayed.

is increased, and the guidance route A1 at the intersection A is increased.
Also display.

According to such a display, easier-to-understand driving lane information about the current driving lane can be obtained.

(Effects of the Invention) As described above, in the vehicle route guidance device according to the present invention, when a vehicle approaches each guidance point such as an intersection, the driving lane is displayed on the screen together with the abstract figure of the next guidance point. Therefore, it is possible to clearly indicate the lane in which the driver should drive at a guidance point such as an intersection.

[Brief explanation of the drawing]

FIG. 1 is a diagram corresponding to the claims of the present invention, FIG. 2 is a block diagram of a preferred embodiment of the device according to the present invention, FIG. 3 is an explanatory diagram of the data structure of the storage device, and FIGS. 4 and 5 is an explanatory diagram showing a display example when proceeding to a guidance point such as an intersection, Fig. 6 is an explanatory diagram when simplified traveling direction information is displayed together with free running information, and Fig. 7 is a screen table for inputting unit area. An explanatory diagram of an example, FIG. 8 is a flow chart explaining the operation of the first embodiment, FIG. 9 is an explanatory diagram of the initial guide point determination operation, FIG. 10 is an explanatory diagram of the final guide point determination operation, and FIG. 11 12 is a flowchart explaining the guidance route setting operation, FIG. 12 is an explanatory diagram of the guidance route setting operation, FIG. 13 is an explanatory diagram of the screen displaying the initial guidance point direction, and FIGS. 14 to 17 are the first implementation. FIG. 18 is a flowchart explaining the operation of the example; FIG. 18 is an explanatory diagram showing the operation of setting the error determination area and the approach determination area; FIGS. 19 to 23 are flowcharts explaining the operation of the first embodiment; FIG. 24 is an explanatory diagram of the display screen when the next guiding point and the successive guiding points are close to each other, Figure 25 is an explanatory diagram of the display screen when the next guiding point and the successive guiding points are far apart, and Figure 26 is the next guiding point 27 and 28 are flowcharts for explaining the operation of the second embodiment. , FIG. 29 and FIG. 30 are explanatory views of the operation of the third embodiment, and FIG. 31 is an explanatory view of the display screen in the conventional example. 10... Mileage sensor 12... Orientation sensor 14... Processing device 16... Arithmetic device 18... Processed data storage device 20... Keyboard 22... Start switch 24... Map data Storage device 26...Display control device 28...Display device

Claims (1)

[Scope of Claims] 1. Guidance route setting means for setting a vehicle guidance route; Guidance point information for storing guidance point information about intermediate guidance points such as intersections on the set guidance route in correspondence with each intermediate guidance point. a storage means; a current traveling position calculating means for determining the current traveling position of the vehicle; a next guiding point specifying means for identifying the next intermediate guidance point that the vehicle should reach along the guidance route by monitoring the current traveling position; Guidance on the lane in which the vehicle should travel at the guidance point: A driving lane judgment means that determines the lane in which the vehicle should travel based on the guidance point information specified in the route setting contents, and the current driving lane to the position of the next guidance point given by the corresponding guidance point information. A route guidance device for a vehicle, comprising: driving lane display means for displaying a next guidance point as an abstract figure and a lane in which a vehicle should travel before a position is reached.