JPH0553504A - Vehicle guiding device - Google Patents

Abstract

PURPOSE:To prevent the capacity of a memory for storage from increasing by determining the best course which is corrected without any course calculation even if a travel course is out of the best course which is recalculated and showing it to a driver, and storing only calculated course data within a constant range at the periphery of the best course. CONSTITUTION:Map data within a range including a starting point and a destination point are retrieved on a map memory according to the setting of the destination point to calculate the best course (f) (white line) extending from the destination side to the starting point in an opposite order from the travel of a vehicle (e), and the course calculation process data A1, A2,...B2, B3,..., and C2,..., and D2,... within the constant range at the periphery of the best course (f) are stored; if the position of the vehicle (e) is out of the best course (f), a new course is determined according to the calculation process data stored in the memory on condition that the corresponding position or place is in an area stored wherein the course calculation process data are stored.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention includes a departure point (which may be the current position of a vehicle) and a destination point (which may be a specific waypoint) from a road map memory according to the setting of a destination point by a driver. The road map data of the range is read, the optimum route from the destination to the departure point is calculated based on this road map data, the optimum route is shown to the driver, and the calculated calculation progress data is stored in the memory. When the travel route deviates from the optimum route, if the travel route is within the area where the calculation progress data of the previous route calculation is stored, a new route is calculated based on the stored calculation progress data without special route calculation. The present invention relates to a vehicle guidance device capable of showing a route to a driver.

[0002]

2. Description of the Related Art Conventionally, there has been known a navigation device developed to display the position and orientation of a vehicle on a screen for convenience of traveling on a strange land or at night. The navigation device has a display, an orientation sensor, a distance sensor, a road map memory, and a computer mounted on a vehicle, and is stored in the orientation data input from the orientation sensor, the traveling distance data input from the distance sensor, and the road map memory. The vehicle position is detected based on the matching with the existing road pattern, and the vehicle position and the destination are displayed on the display together with the road map.

In this case, the driver himself / herself has to select the traveling route from the starting point to the destination point. But,
In recent years, the route from the current starting point to the destination point is automatically calculated by the computer using the Dijkstra method according to the destination setting input by the driver, and the route is superimposed on the road map before the vehicle travels. It has been proposed to display it (Japanese Patent Laid-Open No. 2-277200, Development Research Report of Emergency Vehicle Driving Guidance System, Japan Traffic Management Technology Association, March 1986, Dirck Von Vliet, "Improved
Shortest Path Algorithm for Transportation Networ
k ", Trans-portationResearch, Vol.12, 1978). This method divides a number of roads to be calculated, defines the separated points as nodes, and links routes connecting the nodes to the starting point ( A node or link that is closest to the destination (may be the destination) is the starting point, a node or link that is closest to the destination (which may be the starting point) is the end, and a tree of links from the start to the end is assumed, and all the trees are configured. This is a method of sequentially adding the link costs of the routes of and selecting only the route with the lowest link cost to reach the destination or the departure point. , Driving time, availability of highways, number of right and left turns, highway running probability,
Avoiding accident-prone areas, and other items set according to driver preferences.

If the route is calculated by this method, the destination is surely reached if the vehicle travels along the route, which is convenient for a driver who does not know the road.

[0005]

However, the vehicle may be changed depending on, for example, the driver's oversight or traffic conditions.
The vehicle may deviate from the optimum route calculated by the route calculation. In this case, even if the optimum route calculated first is displayed, it is not useful for the driver who is aiming for the destination because he is not traveling on that route.

It is conceivable to re-calculate the route each time the vehicle deviates from the optimum route, but since it takes a long time to calculate, a new route cannot be shown to the driver immediately, and the vehicle may become more and more off the route. is there. The present invention has been made in view of the above problems, and an object thereof is to provide a vehicle guidance device that can immediately show a corrected optimum route from a departure point even if a driver deviates from the optimum route. And

[0007]

According to a first aspect of the present invention for achieving the above object, an optimum route is calculated in the reverse order from the destination side to the starting point based on the read map data. An optimum route calculating means, a memory for storing route calculation progress data within a certain range around the optimum route calculated by the optimum route calculating means, and a case where the traveling route of the vehicle deviates from the optimum route or is not on the optimum route When the departure point is set, if the position or the point is within the area where the route calculation progress data is stored, a corrected route determination means that determines a new route based on the calculation progress data stored in the memory. And have.

[0008]

According to this vehicle guidance device, the road map data of the range including the starting point and the destination point is read from the road map memory according to the setting of the destination point by the driver, and the purpose is based on the road map data. Since the optimum route from the point to the departure point is calculated and the calculated calculation progress data is stored in the memory, if the travel route deviates slightly from the optimum route, the vehicle position is the calculation progress data of the previous route calculation. If it is within the area where is stored, the corrected optimum route from the current position of the vehicle to the destination is re-calculated without using the calculation process data remaining when the previous route is calculated. Can be shown to the driver. The reason why the optimum route calculation means calculates the optimum route in the reverse order from the destination side to the departure point is to always obtain the route that converges to the destination point when the route deviates slightly from the optimum route. ..

[0009]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. FIG. 2 shows a schematic configuration of a navigation device incorporating the vehicle guidance device of the present invention. The navigation device includes a console 11, a display 12, an orientation sensor 13, a distance sensor 14, a map memory 15 that stores route map data, road map data, and the like, and a memory that reads data from the map memory 15. Drive 16
The traveling distance detected by the distance sensor 14 and the traveling direction change amount detected by the azimuth sensor 13 are integrated, and the vehicle position is detected based on a comparison between the integrated data and the road map data read by the memory drive 16. Locator 17, calculation of an optimum route using route map data, search / read of a route map within a predetermined range, creation of graphic display data for guiding a driver, control of display 12, audio output device 18, and It has a controller 19 for performing various arithmetic control such as control of the locator 17.

The console 11 will be described in more detail.
Has a key input board (not shown) for starting / stopping this device, moving a cursor on the screen, scrolling a route map displayed on the screen, and the like. The azimuth sensor 13 detects a change in azimuth as the vehicle travels, and uses a geomagnetic sensor, a gyro, or a turning angle sensor that detects a turning angle based on the difference in the rotational speeds of the left and right wheels. It is possible.

The distance sensor 14 detects the traveling distance on the basis of the speed of the vehicle or the number of rotations of the wheels, and a wheel speed sensor, a vehicle speed sensor, etc. can be used. The map memory 15 is composed of a mass storage medium such as a CD-ROM, an IC memory card, and a memory such as a magnetic tape. The map memory 15 stores route map data for graphic display, which performs route calculation and graphically displays the road form, coordinate position, etc., and road map data for vehicle position detection.

The route map data is a mesh of a road map (including highway national roads, motorways, general national roads, major local roads, general prefectural roads, general city roads of designated cities, and other living roads). Divide the route consisting of a combination of nodes and links in each mesh unit into a high-level map including highways (including highways, highways, general highways, and major local roads), and highways along with highways. It is stored separately in a lower hierarchy map including roads that are not main roads (hereinafter referred to as “general roads”) such as prefectural roads, general city roads of designated cities, and other living roads.

Here, a node is generally a coordinate position for identifying an intersection or a bend of a road, and a node representing the intersection is an intersection node and a bend of the road (excluding the intersection). The represented node may be referred to as an interpolation point node. The node data includes a node number, a node address of an adjacent mesh corresponding to the node, an address of a link connected to the node, and the like.

A link is formed by connecting the intersection nodes. The link data is the link number, the address of the start and end nodes of the link, the distance of the link, the direction of passing the link, the required time data in that direction, the road type, the road width, one-way, right turn prohibited, left turn prohibited and toll roads. It consists of traffic regulation data such as. However, traffic regulation data is complete for highways, but not for general roads.

As described above, since the link data includes the addresses of the start point node and the end point node of the link, the point can be specified only by the node or only by the link. The link is called an "exit link" when the start point of the link is specified by the link, and the "entry link" is specified when the end point of the link is specified by the link. Further, since the link data includes the direction of passing through the link, the traveling direction of the vehicle can be identified by identifying one link. FIG. 3 illustrates four exit links that specify a crossroads, and FIG. 4 illustrates four entry links that specify a crossroads.

On the other hand, the road map data for position detection is 2
It is composed of map data for identifying roads, place names, famous facilities, railways, rivers, etc. created from a 1/500 map database. This road map data is more detailed and precise data than the route map data,
This is one-layer structure data consisting of node position information and some link information (road width, etc.). The type of link information is small because it does not include required time data and traffic regulation data that are not directly required for position detection (however, the road width may be useful for position detection, so it is included). Have been).

The road map data for position detection and the route map data are separated as described above. The former requires detailed accuracy for map matching, and the latter requires various data for route calculation rather than accuracy. It is necessary to have attached. The display 12 displays a menu screen, a route map, a current position and direction of the vehicle, an optimum route, a destination or a mark point, a direction and distance to the destination, an intersection. The window of the shape enlargement screen is displayed.

The display 12 is provided with a transparent touch panel on the screen of a CRT, liquid crystal panel or the like. On the touch panel, the selection criteria for the optimum route on the initial setting menu screen (for example, shortest time route, shortest distance route,
It is used to input roads with few right turns and left turns, wide roads), map magnification, destinations, etc. That is, it mediates the dialogue between the controller 19 and the driver. The destination may be input by operating the keys of the console 11. In addition to this, spot data such as a place name column of a route map, a famous facility column, or a spot registered in advance by a driver may be selected and input. In addition, it is possible for the driver to specify the midway point.

The locator 17 integrates the distance data detected by the distance sensor 14 and the azimuth change data detected by the azimuth sensor 3 to calculate traveling locus data, which is stored in the traveling locus data and the map memory 15. The vehicle position on the road in which the existence probability of the vehicle is taken into consideration is detected based on the comparison with the existing road pattern (so-called map matching method, see JP-A-64-53112).

The details of the controller 19 are shown in FIG. The controller 19 includes a memory drive control unit 21 for obtaining necessary data from the map memory 15 through the memory drive 16, a voice control unit 22 for uttering a voice electronically recorded in the voice output device 18, and an image required for the display 12. A display control unit 23 for displaying, an input processing unit 24 for processing input information set by the console 11, a registration unit 25 for registering display data in a frame memory, and a vehicle for taking in the vehicle position calculated by the locator 17 as data. Position recognition processing unit 26, route guidance processing unit 2 functioning as CPU
8. A route calculation processing unit 29 for calculating an optimum route from a destination to a departure place by the Dijkstra method, optimum route links, peripheral link information along the optimum routes, and destinations connected to these peripheral links. A main memory 27 for storing exit link information, and all link information within a certain range including a departure place and a destination taken out from the map memory 15 are temporarily stored as a link table, and an ingress link of each link is referred to. A buffer memory 30 for temporarily storing as an arc table is connected, a memory drive 16 is connected to the memory drive control unit 21, and an audio output device 18 is connected to the audio control unit 22.
The console 11 is connected to the input processing unit 24, the display 12 is connected to the display control unit 23, and the vehicle position recognition processing unit 2 is connected.
In this configuration, the locator 17 is connected to 6.

The structures of the link table and arc table stored in the buffer memory 30 are shown in Table 1 and Table 2, respectively.
Shown in.

[0022]

[Table 1]

[0023]

[Table 2]

The link table stores all links within a certain range including the starting point and the destination extracted from the map memory 15 in correspondence with the sequence number, and the address of the starting node and the ending node for each link. Address, the pointer of the exit link corresponding to each link, which is the route calculation progress data after the route calculation, the pointer to the arc table for searching the entry link to each link, and the peripheral link registration processing (described later) , And the link cost are stored.

The arc table stores a pointer to a link table for identifying an ingress link to each link corresponding to a sequence number, and an arc end identifier and a cost ( The arc cost, for example, the cost is infinite if the entry is prohibited) is stored. Further description will be made with reference to a specific example (FIG. 6). In FIG. 6, when a point is specified by a node, the nodes within the range of the route calculation target including the departure point P and the destination Q are 1, 2, 3 and 4, and 1 is the node of the departure point P. 4 shows a link route diagram in which 4 is a node of the destination Q. The total number of links is 1 →
2,1 → 3,2 → 1,2 → 3,2 → 4,3 → 1,3 →
There are 10 links of 2, 3 → 4, 4 → 2, 4 → 3, and each link is specified by the sequence number, the address of the start node, and the address of the end node. For example, the link with the sequence number 0 is link 1 → 2 specified by the start node 1 and the end node 2.

The exit link pointer indicates the exit link sequence number that can be reached at the shortest cost because the destination is reached from the link. For example, 4 is designated for the link 1 → 2 on the optimum route. Therefore, it can be seen that the exit link on the optimum route for reaching the destination is sequence number 4, that is, link 2 → 4.

A method for obtaining the exit link will be described in detail. The link cost of each link in FIG. 6 is as shown in Table 1. When the route between the starting point and the destination is traced backward from the destination Q, there are links 2 → 4 and 1 → 2, and the total cost thereof is 10 + 15 = 25. When the route of link 2 → 3 is selected from link 3 → 4, the link cost is 15 + 5 = 20, which is the cost considering the history of link 2 → 3. When the route of link 1 → 2 is selected from link 2 → 3, the total cost is 20 + 15 = 35 because it is the sum of the cost 20 considering the history of link 2 → 3 and the cost 15 of link 1 → 2. Therefore, the costs considering the history of the link 1 → 2 are 25 and 35, and the memory of the link 1 → 2, 2 → 3, 3 → 4, which has a high link cost, is deleted in the conventional case. Record links 3 → 4 as exit links for 2 → 3. Therefore, if the vehicle leaves the optimum route and passes through the link 2 → 3, it is understood that the exit link for reaching the destination is the sequence number 7, that is, the link 3 → 4. There are link 2 → 4 and link 2 → 3 as exit links of link 1 → 2, but in this case, link 2 → 4 with a low cost is selected. In this way, each link can be associated with an exit link.

The arc table in Table 2 is used to identify the incoming link to each link. For example, to find an ingress link for 2 → 4, look for the pointer to the arc table in Table 1 and you will see the number 6. Then, when the sequence number 6 in the arc table in Table 2 is searched, it is found that the pointer to the link table is 0. Therefore, it can be seen that the link is sequence number 0 in the link table, that is, link 1 → 2.

Of the operation of the navigation device having the above-mentioned structure, a flow chart of the peripheral link registration processing procedure (see FIG. 7-
11), and then the route guidance procedure will be described using a flowchart (FIG. 12). First, as a preliminary step, display a menu screen (not shown),
A desired condition is selected by touching display items such as map magnification and selection criteria for the optimum route. When this operation is completed, the route map is displayed on the screen.

The driver scrolls the route map to search for a destination (may be a waypoint) and touches the destination position. When you touch the destination, the input processing unit 24
Obtains the destination information, and the vehicle position recognition processing unit 2
6 obtains current position information based on the vehicle position signal from the locator 17. The route guidance processing unit 28 transfers information about the current location and the destination to the route calculation processing unit 29, and all links within a certain range including the starting point and the destination retrieved from the map memory 15 through the memory drive control unit 21. , And an arc table for referring to the incoming link are created and stored in the buffer memory 30.

The route calculation processing unit 29 adopts the calculation criterion according to the selection criterion set on the initial screen and selects the optimum route from the present location to the destination by the Dijkstra method. At this time, the route guidance processing unit 28 stores the link connection information related to the optimum route calculated from the destination to the departure place as described above, specifically, the exit link pointer of the link table stored in the buffer memory 30. Record for each link.

Then, the route guidance processing unit 28 stores the determined optimum route information in the main memory 27, and displays one of them on the map in an overlapping manner. The description will be continued below with reference to FIG. FIG. 1 is a route map including a part of the optimum route f, and each link is denoted by reference characters A1, A2, ..., B.
1, B2, ..., And the vehicle is indicated by a triangular mark e. In FIG. 1, n = 1 is assumed. It should be noted that what is actually displayed is the route that constitutes each link, some line indicating the optimum route, the triangular mark of the vehicle and other facilities / buildings on the map, and the link symbols and arrows are not displayed.

After that, the route guidance processing unit 28 sets the link order n in step (1) of FIG. Here, the link order means, for example, a link on the optimum route is a 0th-order link, a link of a 0th-order link that is not a 0th-order link is a 1st-link, and a link of a 1st-order link is a 0th-order link,
Links that are not primary links are called secondary links. In the example of FIG. 1, the zero-order links are indicated by thin lines f1, f2, ... And the primary links are indicated by thick lines A1, A2 ,. Two
The next link is indicated by thin lines B1, B2, ..., B9. The tertiary links are indicated by thin lines C2, C6, ... And the quaternary links are indicated by thin lines D2, D6 ,. The route of the dotted line is a target of route calculation, but is a link that is not subject to peripheral link registration processing. In this way, by setting the degree n, when the vehicle deviates from the optimum route, if the vehicle is within the n-th link, it is possible to search for an exit link to the destination and show a corrected new route. Become. As the order n increases, the corrected new route can be shown even if the vehicle deviates farther from the optimum route.
The capacity of will increase. The smaller the order n is, the main memory 27
It requires less capacity, but cannot be corrected even if the vehicle deviates slightly from the optimum route. However, in reality, since the vehicle is traveling at a finite speed, it can be detected that the vehicle deviates from the optimum route before it deviates far from the optimum route, so it is necessary to select a very large value for the order n. Not expected.

Next, in steps (2) and (3), the optimum route links f1, f2, ...
In (4), the bit of the link traced on the link table stored in the buffer memory 30 is turned on. As a result, all the links on the optimum route f are bit-on. Next, the processing for peripheral links is started.

First, the degree m of the peripheral link to be processed is set to 1 (step (5)). In step (7), all the links on the link table stored in the buffer memory 30 are sequentially extracted, and it is checked whether the bit of the link is on (step (9)).
Proceed to step (21) of 1. to check the entry link to the link using the arc table. For example, for link A1, the incoming link is f1. Next, the arc cost is checked to see if it is possible to pass through the approach link (step (23)). For example, if you do not turn right or turn left,
It becomes impossible to enter. If the entry is possible, it is checked whether the entry link is bit-on, that is, whether it is on the optimum route f (step (24)). If it is on the optimal route f, the ingress link becomes the primary link of the optimal route link. In the above example, the link A1 is the primary link. In this way, the primary links around the optimal route (the bold links A1, A2, A3, ...) Are set as work tables (the work tables are set in the cache memory in the route guidance processing unit 28, for example). Register (step (25)). When the processing of the primary link is completed for one link on the link table, step (7) in FIG.
Then, the process of the primary link is performed for other links. When processing is completed for all links, the bit of the link stored in the work table is turned on in the link table to clear the work table, and m is increased by 1
Then (step (11)), the process when m = 2 is performed in the same manner. In this way, the bit of the secondary link around the optimum path is turned on. Thereafter, the bit-on processing of the links up to the n-th link is performed in the same manner (note that in FIG. 1, since n = 1 is assumed, the processing is terminated at m = 1).

When the process of registering the links up to the n-th link is completed, the process proceeds to step (31) in FIG. 9 to take out each link in the link table in order, and whether the code of the link is bit-on, in other words, Check if the link is the nth link or less around the optimum route (step (33) (3
4)), if YES, the exit link pointer on the link table is referred to and the exit links of the link are sequentially traced to the destination (step (35)). For example, for the link A2 in FIG. 1, the exit link B2, and the exit link C2 ... Are followed. Then, it is checked whether the exit link is on the optimum route f (step (37)), and the optimum route f
If not, the exit links are stored in the work table (step (39)). In this way, exit links are registered from each link of the nth order or less around the optimum route to the destination (up to that point if it joins the links of the nth order or less around the optimum route on the way). In the example of FIG. 1, the exit links B2, C2, and D until they join the exit link D6.
2 is registered (assuming that the exit link D6 has been registered).

When the storage in the work table is completed (step (32)), the process for resetting the order of the links stored in the work table on the link table is started. Figure 10
In step (41), the bit of the link stored in the work table is turned on in the link table to clear the work table. Next, the rank counter is set to -1 in the work table (step (42)), and the links on the link table are taken out in order from the top (step (43)). Then, referring to the bit of the link, if the bit is on, that is, if the link is an nth or less link around the optimum route or an exit link connected to it (steps (45) (46)), increment the rank counter by one. Go As a result, new numbers starting from 0 are given to the links of the nth order or less around the optimum route. If it is not bit-off, that is, the link of the nth order or less around the optimum path (step (45) (4
6)), and set all the links of the work table to -1 (step (48)).

When the above ranking process is completed, FIG.
In step (51), the links on the link table are taken out in order from the top, and the sequence number and the exit link pointer are replaced with the new numbers set on the work table (steps (53) (54)). .. When this process ends, only the link information having a rank of 0 or higher is transferred to the storage holding area in the main memory 27 (step (5
Five)).

When the vehicle deviates from the calculated optimum route f by the above-described processing of FIGS. 7 to 11, if the link is within the n-th order around the optimum route, the main route can be calculated without newly calculating the route. By accessing the storage holding area of the memory 27 and following the exit link, the route to the destination can be shown to the driver. In this case, the main memory 2
What is stored in the memory holding area in 7 is not all link information in a certain range including the departure point and the destination, but links within the nth order around the optimum route and exit links connected to them. Since it is only the information regarding (that is, the links having the rank 0 or higher described above), the capacity of the main memory 27 can be minimized.

FIG. 12 is a diagram showing a vehicle guidance flow for guiding the vehicle along the optimum route f according to the above embodiment.
In step S1, a route map in the area to be displayed including the starting point and the destination is obtained from the map memory 15, and in step S2, the display map is drawn on the frame memory of the registration unit 25 according to a predetermined enlargement ratio. .. Then, in step S3, the optimum route to the destination is calculated, and the optimal route is drawn on the frame memory of the registration unit 25 in an overlapping manner.

In step S4, information about links within the nth order around the optimum route and exit links connected to them, which are obtained in the peripheral link registration processing procedure, is stored in the storage holding area in the main memory 27. In step S5, the contents of the frame memory are displayed on the screen. The car continues to run, and the displayed map is updated one after another as the car runs.

Then, it is constantly checked whether or not the vehicle is on the optimum route f until the vehicle arrives at the destination (step S6).
This investigation may be performed by checking the degree of coincidence between the traveling locus detected by the locator 17 and the road pattern stored in the map memory 15, and when the driver voluntarily inputs the current position of the vehicle. You can go. If the vehicle deviates from the optimum route f, it is checked in step S8 whether or not the current position of the vehicle is on links within the nth order around the optimum route or an exit link connected to them. If there is a link within the nth order around the optimum route or an exit link connected to them, the main memory 27 is accessed (step S9) to obtain a new modified optimum route and draw it in the frame memory. (Step S10). Then, the process returns to step S5.

If the current position of the vehicle is n around the optimum route,
If the link is out of the following links, it is impossible to access the main memory 27 to obtain a new optimum route. Therefore, the process returns to step S3, and the route calculation is newly performed even if it takes some time. As described above, in the conventional technology,
Only the links constituting the optimum route are stored, and other links deviated from the optimum route are deleted from the storage after the route calculation. In the present embodiment, links within the nth order around the optimum route and those links are connected to them. Since the exit link is not deleted and is stored in the main memory 27, the corrected optimum route from the current position of the vehicle to the destination is immediately driven without any special route calculation even if the vehicle deviates slightly from the optimum route. Can be shown to the person.

[0044]

As described above, according to the vehicle guiding apparatus of the present invention, the optimum route from the vehicle position to the destination is calculated, and the calculation progress data within a certain range around the optimum route is stored. Therefore, even if the travel route deviates from the recalculated optimum route, the corrected optimum route can be determined and shown to the driver without any route calculation. Moreover, since only the calculation progress data within a certain range around the optimum route is stored, the capacity of the memory to be stored does not increase.

[Brief description of drawings]

FIG. 1 is a link configuration diagram around an optimum route link.

FIG. 2 is a block diagram showing a navigation device incorporating the vehicle guidance device of the present invention.

FIG. 3 is a diagram showing an example of an exit link at a crossroads.

FIG. 4 is a diagram showing an example of an entrance link at a crossroad.

5 is a detailed configuration diagram of a controller 19. FIG.

FIG. 6 is a simple link configuration diagram including a departure point P and a destination Q.

FIG. 7 is a part of a flowchart (FIGS. 7 to 11) showing a peripheral link registration processing procedure.

FIG. 8 is a part of a flowchart (FIGS. 7 to 11) showing a peripheral link registration processing procedure.

FIG. 9 is a part of a flowchart (FIGS. 7 to 11) showing a peripheral link registration processing procedure.

FIG. 10 is a part of a flowchart (FIGS. 7 to 11) showing a peripheral link registration processing procedure.

FIG. 11 is a part of a flowchart (FIGS. 7 to 11) showing a peripheral link registration processing procedure.

FIG. 12 is a flowchart showing a route guidance procedure.

[Explanation of symbols]

 15 Map Memory 17 Locator 19 Controller 27 Main Memory 28 Route Guidance Processor 29 Route Calculation Processor

Claims (1)

[Claims] 1. A map memory for storing a road map and the like, a map search means for searching map data in a range including a starting point and a destination point from the map memory according to a setting of a destination point by a driver, and a predetermined timing. Estimated position detecting means for obtaining and integrating the traveled distance and azimuth change amount of each vehicle, and detecting the estimated position of the vehicle based on the integrated data, and the change of the estimated position and the road map stored in the map memory In the vehicle guidance device having a vehicle position specifying means for specifying the road with the highest probability that the vehicle is traveling based on the comparison with each road pattern, and specifying the current position of the vehicle on the road. Optimal route calculation means for calculating the optimal route from the destination side to the departure point in the reverse order of the traveling of the vehicle based on the map data read by the search means, and the optimal route calculation A memory that stores route calculation progress data within a certain range around the optimum route calculated by the tier, and a departure point that is not on the optimum route or the position of the vehicle is set. If the position or the point is within the area in which the route calculation progress data is stored, the vehicle guidance device is provided with a corrected route determination means for determining a new route based on the calculation progress data stored in the memory. ..