JPH06294658A - Mobile navigation system - Google Patents

Abstract

PURPOSE:To provide an inexpensive mobile navigation system in which the memory capacity for prestoring map data can be reduced and manual setting of starting point is not required. CONSTITUTION:The mobile navigation system comprises a memory 5 storing a convenient map data principally comprising the distances between intersections of main road network and connection data of the intersections, a unit 4 for inputting a target point, a position detector 1, a display 2, and a controler 3, wherein the first receiving point of beacon is set as a starting point and a route to a target point inputted by the input unit 4 is searched. Subsequently, the vehicle position is specified by at least any one of the output from a running distance sensor 8 and the output from an absolute position sensor 7 which determines the vehicle position using a positioning satellite. Current vehicle position is corrected at second and subsequent receiving of beacon and the route is guided using the advancing direction at main intersection and the distance thereto based on a route searching data and a current vehicle position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle-mounted navigation device which receives road data transmitted from a beacon antenna installed along a road and transmits current vehicle position data and route data to a driver.

[0002]

2. Description of the Related Art As conventional vehicle-mounted navigation devices of this type, the techniques disclosed in JP-A-63-231477 and JP-A-63-254600 can be cited.

The former publication discloses a technique of displaying traffic data by superposing them on map data. Further, the latter publication discloses a technique of storing map data, setting a route therewith, and generating a specific signal when the route set by the map and the current position data are different. . The techniques disclosed in both of the above publications frequently receive road data, modify existing map data, and notify the driver of it.

[0004]

The techniques disclosed in both publications are for storing detailed road data in a storage means and outputting it to a display means, which uses a large amount of map data. Therefore, the on-vehicle navigation device becomes expensive. In particular, the technique disclosed in Japanese Patent Laid-Open No. 63-231477 requires a sophisticated computing means for analyzing the traffic data when superimposing the traffic data on the map data, and in reality, the computation speed and the price are not compatible with each other. Due to this, it is difficult to put it into practical use. Further, the technique of Japanese Patent Laid-Open No. 63-254600 does not disclose a method of setting a starting point and a destination in advance, but although setting the destination is unavoidable, it is troublesome to set the starting point each time. Is. Further, if the vehicle is displayed centering on the position of the vehicle and its surroundings, the destination route is not clear.

Therefore, in the present invention, the storage capacity of the map data stored in advance is reduced to such an extent that it does not hinder the guidance,
And there is no need to manually set the departure place,
It is an object to provide an inexpensive vehicle-mounted navigation device.

[0006]

A vehicle-mounted navigation device according to the present invention includes a storage device that stores simple map data including a distance between intersections of roads and connection data based on the intersections, and a simple map stored in the storage device. At least one of an input device for inputting a destination corresponding to data, an output of a vehicle mileage sensor, and an output of an absolute position sensor for positioning a vehicle using a positioning satellite, and reception of a beacon. And a display device for displaying route guidance based on the simple map data stored in the storage device, the route search data corresponding to the destination, and the road data received by the beacon. With the first beacon received, the beacon position is used as a starting point, and a route search is performed with the destination input by the input device. The vehicle position is specified by at least one of the output of the mileage sensor of the vehicle and the output of the absolute position sensor that measures the vehicle position using the positioning satellite, and the vehicle position is corrected each time the beacon is received after the second time. Based on the route search data obtained as a result of the route search and the vehicle position, the route guidance is performed using the traveling direction at the main intersection and the distance to the intersection.

[0007]

According to the present invention, the state in which the destination corresponding to the simple map data of the storage device storing the simple map data whose main data is the distance between the intersections of the main road network and the connection data by the intersections is manually input by the input device. Enter the vehicle. When the first beacon is received due to the progress of the vehicle, the beacon position is used as a starting point, a route is searched with the destination to determine a route, and route search data is obtained. After that, the vehicle position is estimated based on at least one of the output of the mileage sensor of the vehicle and the output of the absolute position sensor that measures the vehicle position using the positioning satellite. The position of the vehicle is corrected each time the second or subsequent beacon is received, and route guidance is performed using the route search data as a result of the route search and the current vehicle position, using the traveling direction at the main intersection and the distance to the intersection. .

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle-mounted navigation device according to an embodiment of the present invention will be described below.

FIG. 1 is an overall configuration diagram of a vehicle-mounted navigation device according to an embodiment of the present invention.

In FIG. 1, a position detecting device 1 includes a beacon receiver that receives road data from a sign post installed on a road, a mileage sensor 8 that detects a mileage of a vehicle, and positioning such as GPS. The output of the absolute position sensor 7 that measures the position of the vehicle using the artificial satellite for use is obtained. The display device 2 is capable of displaying characters and simple figures and is composed of an LCD, a CRT or the like. The input device 4 is composed of a keyboard and various dedicated keys for setting a destination, initial setting, and the like. The storage device 5 includes a drive device such as a floppy disk, a memory card, a CD, an MD, etc., and a simple map database (D / B) stored therein.
The control device 3 includes a CPU, a ROM, a RAM, etc.,
Using the position data from the position detection device 1, the set value data from the input device 4, and the map data from the storage device 5, R
The program is controlled by a predetermined program stored in the OM to display various contents on the display device 2.

FIG. 2 is a functional block diagram for explaining the overall function of the vehicle-mounted navigation device of the embodiment of the present invention shown in FIG.

In FIG. 2, the position setting means 12 is used to move the setting cursor using the keys of the input device 4 to select a desired spot from the place names displayed on the display device 2. The place name displayed on the display device 2 is stored in the simple map data 11 together with its position data. In addition to the destination name, the point to be selected can also be set as a passing point on the way. In the route setting means 13, at least when the starting point and the destination are selected and set in the position setting means 12 or when the first beacon 6 is obtained and the destination is selected and set at that time, the simple map is set. A route between two points is searched using the data 11. The search result is saved as the route data 15. In the route guidance means 14, when the route data 15 has already been obtained, the position detecting device 1
The position data thus obtained is used to guide the route of the route data 15. When the route data 15 is not obtained because the departure place is not input, and the destination is selected and set, when the position data is obtained from the beacon 6, the obtained position is set as the departure place, The route setting means 13 is instructed to search for a route to the destination. If the route data 15 is obtained, route guidance is executed.

When the departure of the route occurs, when the position data is first obtained from the beacon 6, the route setting means 13 searches the route to the destination with the obtained position as the starting point.
To order. If a new route is obtained, route guidance is executed based on it.

FIG. 3 is an explanatory view of the format of node data stored as simple map data in the vehicle-mounted navigation device according to one embodiment of the present invention, and FIG. 4 is an explanatory view of the format of link data also stored as simple map data. 5 and 5 are format explanatory diagrams of cost data that are also stored as simple map data.

The node data string in FIG. 3A includes major intersections nationwide, and numbers (0 to N) are arranged in the order of data arrangement.
It is a collection of node data to which is attached. The data of each node (N) is, as shown in the node data of FIG. 3B, the X-coordinate and the Y-coordinate for specifying the position on the map, the minimum number of the link connected thereto, and the intersection as the intersection name data. It stores character data such as names, and type data such as altitude, line breaks, and ferry landings as node attributes.

Further, the link data string in FIG.
The road between each node (A, B) is named link (n) as each link. The data of each link (n) includes
As shown in the link data of FIG. 4B, of the node number of the node A, the node number of the node B, and the link connected to the node A, the link number of the next link in the clockwise direction and the link number of the node B are connected. The link number of the next link in the clockwise direction, the traveling distance [m] between the node A and the node B, the traveling time [second] between the node A and the node B, and the connection between the node A and the node B. Each road name data (National highway number or character data of commonly used name)
Is stored. Also, various regulations such as traffic regulation when traveling from this link to node A or node B, link direction data of each road connected to node A and node B, cost calculation of each node A and node B Intersection transit cost data numbers used for nodes A and B
The beacon attributes when entering the link from each of the above, the link type of the road directly connected to each of the node A and the node B, and the link attribute for writing the data such as the road type are stored.

The intersection passage cost data string in FIG. 5A is a list of costs used for cost calculation of major intersections nationwide for each intersection. The intersection passage cost data of each intersection (M) is calculated by the section distance and the traveling time, and specifically, the passage distance [m] and the link (n) to each link (n) connected to each intersection. Stores the transit time [sec].

FIG. 6 is an explanatory diagram in the case of selecting a route at an intersection using node data and link data.

When it is desired to know the link connecting to the intersection of the node (30), the data of the node (30) of FIG. 3 (a) is read. As a result, the position (X coordinate, Y coordinate) on the map, the minimum number of the link connected thereto, the intersection name data, and the node attribute can be obtained. Here, L11 is obtained as the minimum link number. Next, referring to the data of the link (L11) having the smallest link number, the node (21) as the node A and the node (30) as the node B are stored. That is, when it is desired to know the data related to the node (30) from the data in the link (L11), the node B side can be referred to. Referring to the node B side of the connection link number next to the link (L11), the next clockwise link number (L12) connected to the node (30) is obtained. Similarly, in the data of the next link (L12),
The link (L13) is selected as the next connection link number in the clockwise direction, the link (L14) is selected as the data of the link (L13), and the next link is selected as the data of the link (L14). Link (L11) as the connection link number of
Is selected, and as a result, it can be determined that the link (L11), the link (L12), the link (L13), and the link (L14) are connected to the node (30) in the clockwise order.

That is, when the node (N) is specified, a plurality of links (n) connected to the node (N) are sequentially called in the clockwise order from the smallest link number, and when all the linked link numbers are called, the node (N) is called. All roads connected to (N) are known.

As the regulation data, the maximum number of connecting links per node is eight, which is represented by one byte (= 8 bits). That is, in the present embodiment, the intersection (road) of eight roads is set to the maximum.

Incidentally, in the present embodiment, as follows:
Each bit of 1 byte b7 (MSB), b6, b5, b4, b3, b2, b1, b0
For (LSB), b0; Prohibition of U-turn in the node on the current link b1; Prohibition from the link to the first link b2; Prohibition from the link to the second link b3; Third from the link No link to the link b4; No link from the link to the fourth link b5; No link from the link to the fifth link b6; No link from the link to the sixth link b7; Seventh link from the link Has been banned from traffic to. Here, the first, second, ... Are the connection order in the link data, and each bit is set to “1” if passage is prohibited and “0” if passage is permitted.
Therefore, at the intersection of the usual four roads, the fifth to seventh
The second is unnecessary and "1" is set.

More specifically, in FIG. 6, the link (L11) is changed from the node (21) to the node (3).
It is assumed that the beacon 6 of the node (30) is received while proceeding in the direction 0). At this time, bit b0 indicates whether or not there is a U-turn prohibition regulation within the node on the current link (L11), bit b1 indicates whether or not there is a regulation from the link (L11) to the first link (L12), and bit b2 indicates Link (L1
Whether or not there is a restriction from 1) to the second link (L13), bit b3 is the third link (L14) from the link (L11)
Whether or not there is a restriction on is to be expressed by 1 byte.

Next, the use of intersection passing cost data will be described.

FIG. 7 is an explanatory diagram showing an example of an intersection when selecting an intersection route using the intersection passing cost data, and FIG. 8 shows node data and link data regarding the intersection route selection of FIG. FIG. 9 is an explanatory diagram for the case of using the intersection passage cost data, and FIG.

First, as shown in FIG. 7, there is an interchange between two expressways H1 and H2 that intersect each other, and the expressways H1 and H2 are connected to each other.

Two highways H1, as shown in FIG.
When H2 interchange navigation is performed using node data and link data, the result is as shown in FIG. That is, when the interchange is represented by node data, only the nodes (31) to (38) and the nodes (51) to (66) are required.
If link data is added to this, the amount of data to be processed by the interchange is too large, and if node data or link data is used for route search, the route search will be sufficient due to the relationship between processing time and vehicle speed. There is a possibility that it will not be done.

Then, the route search for the interchange of the two highways H1 and H2 is carried out using the intersection passing cost data as follows.

FIG. 8 shows the interchange of FIG. 7 by link data and node data, but since the shape is also to be expressed, the number of data is large.
However, in the intersection passage cost data, data necessary for route search is provided instead in relation to the entry and the exit of the intersection.

For example, from node (31) to node (3
When proceeding to 4), node (65), node (6
4), node (63), node (60), node (5
9), node (58), node (57), node (5
Reach via 6). In this case, the cost including the time and the distance from the node (65) to the node (56) is held as the cost data of the link (L21). Similarly, in the cost data of the link (L21), the cost from the node (31) to the node (37) from the node (65) to the node (51), and from the node (31) to the node (36) are the node (65). ) To the node (66).
In addition, the node (31) does not have the cost data for the inaccessible node.

That is, the road is regarded as an intersection at which eight roads consisting of the interchanges of two expressways H1 and H2 that are three-dimensionally crossed in this embodiment are crossed, and the passing distance and the passing time of the crossing are considered. The load for each link is attached.

FIG. 10 is an explanatory diagram of this embodiment in setting a point. 11 and 12 are explanatory views of a conventional case.

As a specific example, a case of traveling from the Tanimachi Interchange (IC) through the loop line to the exit of Shiba Park will be described.

First, assume that a loop line is selected from the Tanimachi IC and the exit of Shiba Park is set as the destination. As the route of the loop line, there are a route that selects the inner loop line and a route that selects the outer loop line.

For example, when it is desired to set the Tanimachi interchange as the starting point and the Shiba Park exit as the destination, FIG.
As shown in, when the "outer circumference Shiba Park exit" of the loop line is set by the pointer, obviously only the outer circumference route is selected. In this case, when the outer route is closed, the inner route is not selected and there is no route to reach the Shiba Park exit. On the contrary, as shown in FIG. There is a similar problem when set with.

However, in the present embodiment, "outer circumference Shiba park exit" and "inner circumference Shiba park exit" are defined as "Shiba park exit" of the same place in the superordinate concept as the destinations, and they are caught by the pointer and the same. If there is more than one node data or link data at the place name “Shiba Koen Exit”, set multiple nodes and make the route search multiple times, and select the one with the lowest cost. The inconvenience is eliminated.

Next, the overall system control of the vehicle-mounted navigation device according to the embodiment of the present invention will be described.

FIG. 13 is a flowchart of the main routine of the vehicle-mounted navigation device according to the embodiment of the present invention.

In step S1, the memory and output terminals used for system control of the vehicle-mounted navigation device of this embodiment are initialized, and in step S2, the "setting process" routine of the input performed by the input device 4 is called. In step S3, the data sent by the beacon 6 is classified according to type. If the data is newer than the previous data, it is stored in a predetermined memory, and in step S4, step S2
The "guidance processing" routine is called to perform route guidance using the data in step S3 and the data in step S3, and they are output to the display device 2 in step S6.

That is, in this main routine, the data sent by the beacon 6 is analyzed in response to the input from the input device 4, the data is stored in a predetermined memory, and the route search data and the beacon 6 searched for the route are searched. They are displayed on the display device 2 in order to provide route guidance by using the road data.

FIG. 14 is a flow chart showing details of the "setting process" routine of FIG. It is determined which setting process is selected in step S11, and step S12
At, data display selection processing for selecting which of the data sent from the beacon 6 to display is performed. In step S13, the display timing for selecting when to display the selected data is set. In step S14, a route setting process of setting a departure place and a destination and designating a route to the destination is performed.

That is, in this routine, a data display selection process for receiving an input from the input device 4 and selecting which of the data sent from the beacon 6 is to be displayed,
Set display timing, departure point, destination,
A route setting process for designating a route to the destination is performed.

FIG. 15 is a flow chart showing the details of the "route setting process" routine of FIG.

In step S31, an intersection selection setting process is performed to set and input points such as an intersection as a starting point, a passing point, and a destination. In step S32, it is determined whether or not the departure place, the destination, etc. have been input. If they have been input, the search flag is set (ON) in step S33, and if they have not been input, the search flag is cleared in step S34 (OFF). To). In step S35, it is determined whether or not the search flag is set. At least when the departure point and the destination have been input, the route is searched in step S36, and the route data of the selected route is set in the designated memory. Perform processing.

That is, in this routine, the starting point, the passing point, and the destination are set and input, and when the starting point, the destination, etc. have already been input, the search flag is immediately set and the route is searched. Set the route data of the selected route in the specified memory.

FIG. 16 is a flow chart showing the details of the "route search process" routine of FIG.

In step S41, it is determined whether the specific destination input from the input device 4 is a plurality of points such as a loop line, and if it is not a plurality of points, a single route search is performed in step S47. And step S48
When the route searched in is accepted, it is input from the input device 4 to determine the searched route, and the searched route data is stored in step S46.

In step S41, the specific destination is
When it is determined that a plurality of points are set like a loop line, a plurality of route searches are performed in step S42, the route with the lowest cost is selected from the routes searched in step S43, and the route is selected in step S44. The minimum cost route displayed is displayed, and when the route searched in step S45 is accepted, it is input from the input device 4, and step S4
In step 6, the search route data is stored. Even if the minimum cost route is selected, if it is not accepted in step S45, routes with higher costs are sequentially displayed.

The operation of confirming that the route is selected in steps S45 and S48 of this embodiment can be omitted, and the minimum cost route can be automatically selected.

That is, in this routine, when a specific destination is a plurality of points such as a loop line, a plurality of routes are searched and the route with the minimum cost is selected from the searched routes. If a plurality of points are not set, a single route search is performed to determine the searched route, and the searched route data is stored.

FIG. 17 is a flow chart showing details of the "guidance process" routine of FIG. In step S51, it is determined whether or not the guidance mode is currently entered, or whether or not the guidance is on standby. When the guidance mode is not entered, this routine is immediately exited. If the departure point is not input and the guidance waiting mode is set, the routine exits from step S55 even if the beacon data is not updated. When the beacon data is updated in step S55, the "intersection processing with beacon" routine is called in step S56, and this routine is exited. When it is already in the guidance mode, it is determined in step S52 whether or not the beacon data is updated. When the beacon data is updated, the "intersection process with beacon" routine is called in step S53, and this routine is executed. If there is no update of the beacon data, the "beaconless intersection processing" routine is called in step S54, and this routine is exited.

That is, in this routine, the current system mode is determined and the processing corresponding to that mode is conducted.

FIG. 18 is a flow chart showing the details of the "intersection processing with beacon" routine of FIG.

Whether the beacon 6 of the target intersection is based on the route search data selected in step S61 is determined. When the beacon 6 of the target intersection is determined, the subsequent target intersection is updated in step S62, and the beacon is displayed in step S63. 6 sets guidance data to display guidance data such as the traveling direction at the intersection and the name of the road on which the vehicle is traveling on the display device 2, and uses the data transmitted by the beacon 6 in step S64 until the next intersection. The remaining distance is corrected, and the guidance mode is set to the guidance in step S65.

If it is not determined in step S61 that the beacon 6 is the target intersection based on the route search data selected, it is determined in step S66 whether the beacon 6 is a beacon 6 on the nationwide beacon list. ,
If it is not on the national beacon list, then it exits this routine as if it were beacon 6 due to noise or malfunction.

When it is determined in step S66 that the beacon 6 is a beacon 6 on the national beacon list, the current beacon 6 is set as the departure point in step S67, and the same route search as in step S36 is performed in step S68. Processing is performed, and steps S64 and S6 are performed.
In step 5, the remaining distance to the next intersection is corrected using the data transmitted by the beacon 6, and the guidance mode is set during guidance.

That is, in this routine, it is determined whether the beacon 6 is the target intersection based on the route search data, and when it is determined that the beacon 6 is the target intersection, the subsequent target intersection is updated, and the traveling direction and traveling at the intersection are determined. The guide data such as the road name to be displayed is displayed on the display device 2, and
The remaining distance to the next intersection is corrected using the data transmitted by the beacon 6. Then, when it is not determined as the beacon 6 of the target intersection based on the selected route search data, it is determined whether or not the beacon 6 is a beacon 6 on the nationwide beacon list, and it is not on the nationwide beacon list. Sometimes this routine exits as it is beacon 6 due to noise or failure. However, when it is determined that the beacon 6 is a beacon 6 on the nationwide beacon list, the current beacon 6 is reset as the departure point because the route has left, and the route search to the destination is made again. Then, the remaining distance to the next intersection is corrected using the data transmitted by the beacon 6, and the guidance mode is set during guidance.

FIG. 19 is a flow chart showing the details of the "beaconless intersection processing" routine of FIG.

In order to determine whether or not the current travel has deviated from the route of the search data in step S71, first, the output of the absolute position sensor 7 that has measured the vehicle position using GPS as a positioning satellite is It is determined from the environment state or the positioning state whether it is valid, and when it is valid, the "route departure determination process" routine is called in step S72, and it is determined from the processing result of the "route departure determination process" routine in step S73. Determine whether the route departure flag is set. When it is determined in step S73 that the route departure flag is set, the guidance mode is set to waiting for guidance in step S79.

When the route departure flag is not set in step S73, when the current GPS position data is determined to be invalid in step S71, it is determined in step S74 whether the distance to the target intersection is within a predetermined distance. . In this embodiment, this distance is set to 1 [km]. When the distance to the target intersection is not within the predetermined distance in step S74, there is a high possibility that the next opportunity to receive the beacon 6 and the detection of valid GPS current position data are likely to be easy, so this routine is exited. .

When it is determined in step S74 that the distance to the target intersection is within the predetermined distance, step S75
In step S76, it is determined whether the target intersection has a beacon 6 or not, and if the beacon 6 is present, it is determined whether or not an intersection with the beacon 6 has passed a predetermined distance or more, that is, 150 m or more in the present embodiment. When a certain intersection 6 has passed a predetermined distance or more, it is determined that the vehicle is leaving the route, and the guidance mode is set to guide waiting in step S79. When the vehicle has not passed the intersection with the beacon 6 for a predetermined distance or more, this routine is exited without prejudice that the route has left.

In step S75, the target intersection is the beacon 6
If it is determined that there is no such information, in step S77, guidance data is set so that the guidance data such as the traveling direction at the intersection and the name of the road on which the vehicle travels is displayed on the display device 2, and the subsequent target intersection is updated in step S78. That is, in this routine,
The output of the absolute position sensor 7 and / or the mileage sensor 8 for positioning the vehicle position using an artificial satellite for positioning the current position
Output to determine the difference from the route search data,
When the route is departed, the guidance mode is set to guide waiting, and when the vehicle enters an intersection with the beacon 6, the route search process is re-entered there, and when the degree of the route departure is small, an error range in measurement and Since there is a possibility of one-way alternating traffic due to road construction, it is considered normal operation and continuous processing is performed.

FIG. 20 is a flow chart showing the details of the "route departure determination processing" routine of FIG. 19, and FIG. 21 is an explanatory diagram for explaining the route departure determination processing of FIG.

In step S81, the distance permissible error ± d, which is the permissible range in which it is not determined that the vehicle is leaving the route, is calculated. The distance tolerance ± d is, for example, the position error of the absolute position sensor 7 for positioning the vehicle position using a positioning satellite or
Alternatively, the one in which the error of the travel distance sensor 8 (5% of travel distance) is combined is used. In step S82, the straight line distance G between the current position by the absolute position sensor 7 using GPS and the target intersection is calculated, and in step S83, the distance traveled by the travel distance sensor 8 from the distance X to the next intersection on the set route. The remaining travel distance X-Y is calculated by subtracting Y, and the allowable distance error ± d is added to the remaining travel distance X-Y. This is set as the actual running remaining distance L = XY−d. In step S84, the straight line distance G and the actual traveling remaining distance L are compared. When the straight line distance G is larger than the actual running distance L, the route departure number Ng is incremented by "+1" in a step S85, and it is determined in a step S86 whether the route departure number Ng is a predetermined threshold value or more. In this embodiment, the predetermined threshold value is set to 50 times or more. When it is determined that the number Ng of times of departure from the route is equal to or more than the predetermined threshold value, the number of departures from the route is cleared in step S87, a route departure flag is set in step S88, and this routine is exited.

When it is determined in step S84 that the straight line distance G is not greater than the actual remaining travel distance L, and when it is determined in step S86 that the number Ng of times of departure from the route is not greater than or equal to a predetermined threshold value,
Exit this routine.

That is, in this routine, the distance permissible error ± d, which is the permissible range in which it is not judged that the vehicle is leaving the route, is calculated and
The straight line distance G between the current position obtained by the absolute position sensor 7 and / or the travel distance sensor 8 using S and the target intersection is calculated, and the travel distance Y to the next intersection of the route search data to the travel distance Y is calculated. Then, the remaining travel distance X-Y is calculated by subtracting and the allowable distance error ± d is added to the remaining travel distance X-Y. This is set as the actual travel remaining distance L = XY ± d, and the straight line distance G and the actual travel remaining distance L are compared. In order to improve the property, the number of times of departure from the route is counted, and when it is determined that the number of times of departure from the route is equal to or more than a predetermined number, a route departure flag is set to determine the departure from the route.

As described above, the vehicle-mounted navigation device of this embodiment stores in the storage device 5 and the storage device 5 which stores the simple map data whose main data is the distance between the intersections of the main road network and the connection data by the intersections. Any one of the output of the input device 4 for inputting the destination corresponding to the simplified map data, the output of the mileage sensor 8 of the vehicle, and the output of the absolute position sensor 7 for positioning the vehicle using the positioning satellite. The route detection is displayed based on the above, the position detection device 1 that uses the road data received by the beacon, the simple map data stored in the storage device 5 and the route search data corresponding to the destination, and the road data received by the beacon. And the display device 2 for displaying the first beacon 6 is received in step S55, the beacon position is set as the starting point and the destination input by the input device 4 is set. Step S6 in the step S66
The route search consisting of the routine of No. 8 is performed, and after that, any one or more of the output of the mileage sensor 8 of the vehicle and the output of the absolute position sensor 7 that has measured the vehicle position using the positioning satellite, and the road by beacon reception. Using the data, the vehicle position is specified by the routine of steps S71 to S72, step S81 to step S88, and the current position of the vehicle is corrected by the routine of steps S61 to S65 every second or subsequent beacon reception. According to the route search data obtained as a result of the route search and the current vehicle position, the control device 3 is provided for route guidance using the traveling direction at the main intersection and the distance to the intersection.

Therefore, since the simple map database stored in the storage device 5 uses the distance between the intersections of the main road network and the connection data by the intersections as the main data, the data amount thereof is much larger than the map data amount. A small amount of data can be stored in the semiconductor memory and the card memory, and the hardware can be simplified accordingly, and the data processing speed can be increased.

Even if the setting of the departure place is not manually set, the first beacon 6 is received in step S55, the beacon position is set as the departure place, and the input device 4 is used.
Since the route search consisting of the routines of step S66 to step S68 is performed with the destination input in step 1, the troublesomeness of inputting the departure place is released. Especially, on a normal drive trip, the departure place is near my home,
Since the geography is also well known, it is not necessary to receive navigation even after inputting the departure place. Further, when the beacon 6 can be received at home, it is possible to immediately start the route search.

By the way, the storage device 5 storing the simple map data having the distance between the intersections of the main road network and the connection data by the intersections as the main data in the above embodiment is the node data shown in FIG. 3 and the link data shown in FIG. Although the cost data shown in FIG. 5 is stored, the present invention is not limited to this when implementing the present invention. However, these can be standardized data.

Although the input device 4 for inputting the destination corresponding to the simple map data stored in the storage device 5 of the above embodiment is assumed to be a keyboard, it is limited to "Hiragana" or "Alphabet" keys. Instead, it can be used as a key for selectively selecting scroll display on the display device 2.

Then, any one or more of the output of the mileage sensor 8 of the vehicle and the output of the absolute position sensor 7 for positioning the vehicle position using the positioning satellite and the road data by the beacon reception. Position detection device 1 using
Can use either the mileage sensor 8 of the vehicle or the absolute position sensor 7 that measures the vehicle position using a positioning artificial satellite, and both can be set in order to increase reliability. However, it is expensive in price.

Further, the display device 2 for displaying the route guidance based on the simple map data stored in the storage device 5 of the above embodiment, the route search data corresponding to the destination, and the road data received by the beacon is used for the specific direction. Mark display, or LCD or CRT can be used.

[0074]

As described above, according to the on-vehicle navigation system of the present invention, the vehicle travels with the input device manually inputting the destination corresponding to the distance between the intersections of the road and the simple map data including the connection data by the intersections. To enter the,
When the first beacon is received due to the progress of the vehicle, the beacon position is used as a departure point, a route search is performed with the destination to determine a search route, and route search data is obtained,
After that, the vehicle position is estimated by at least one of the output of the mileage sensor of the vehicle and the output of the absolute position sensor that measures the vehicle position using the positioning satellite, and each time the second or subsequent beacon is received. The position of the vehicle is corrected, and route guidance is performed by using the traveling direction at the main intersection and the distance to the intersection based on the route search data resulting from the route search and the current vehicle position.

Therefore, since the simple map database stored in the storage device mainly uses the distance between the intersections of the main road network and the connection data by the intersections, the data amount thereof is much smaller than the map data amount. Becomes
It can be stored in semiconductor memory and card memory.
The hardware becomes simpler, the processing speed of data becomes faster, and the price becomes lower. In addition, even if the setting of the departure place is not manually set, the first beacon is received, the beacon position is set as the departure place, and the route search is performed with the destination input by the input device. This frees you from the hassle of entering a departure point.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a vehicle-mounted navigation device according to an embodiment of the present invention.

FIG. 2 is a functional configuration diagram illustrating the overall functions of the vehicle-mounted navigation device according to the embodiment of the present invention shown in FIG.

FIG. 3 is a format explanatory view of node data stored as simple map data of the vehicle-mounted navigation device according to the embodiment of the present invention.

FIG. 4 is a format explanatory diagram of link data which is also stored as simple map data.

FIG. 5 is a format explanatory diagram of cost data which is also stored as simple map data.

FIG. 6 is an explanatory diagram of a case where a route of an intersection is selected using node data and link data.

FIG. 7 is an explanatory diagram showing an example of an intersection when selecting a route for the intersection using the intersection passing cost data of the vehicle-mounted navigation device according to the embodiment of the present invention.

8 is an explanatory diagram of a case where route selection at the intersection of FIG. 7 is performed using node data and link data.

9 is an explanatory diagram of a case where the route selection of the intersection of FIG. 7 is performed using the intersection passing cost data.

FIG. 10 is an explanatory diagram showing an example of the case of performing spot selection setting of the vehicle-mounted navigation device according to the embodiment of the present invention.

FIG. 11 is an explanatory diagram showing an example of a conventional technique for setting points.

FIG. 12 is an explanatory diagram showing an example of a conventional technique for setting points.

FIG. 13 is a flowchart of a main routine of the vehicle-mounted navigation device according to the embodiment of the present invention.

FIG. 14 is a flowchart showing details of a “setting process” routine of FIG. 13.

FIG. 15 is a flowchart showing details of a “route setting process” routine of FIG. 14.

16 is a flowchart showing details of a "route search process" routine of FIG.

FIG. 17 is a flowchart showing details of a “guidance process” routine of FIG. 13.

FIG. 18 is a flowchart showing the details of the “intersection processing with beacon” routine of FIG. 16;

FIG. 19 is a flowchart showing the details of the “beaconless intersection processing” routine of FIG. 17;

FIG. 20 is a flowchart showing details of the “route departure determination processing” routine of FIG. 19;

FIG. 21 is an explanatory diagram for explaining the route departure determination processing of FIG. 20.

[Explanation of Codes] 1 position detection device 2 display device 3 control device 4 input device 5 storage device 6 beacon 7 absolute position sensor 8 mileage sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kazuhiko Seki 2-1, Asahi-cho, Kariya city, Aichi Aisin Seiki Co., Ltd. (72) Keiji Katsuraya 2-1-1, Asahi-cho, Kariya city, Aichi Aisin Seiki Incorporated (72) Inventor Yasuyuki Aoki 2-1-1 Asahi-cho, Kariya City, Aichi Aisin Seiki Co., Ltd. (72) Inventor Hironobu Sugimoto 1- Toyota Town, Toyota-shi, Aichi Toyota Automobile Co., Ltd. (72) Inventor Motohiro Nakamura 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Co., Ltd. (72) Inventor Tetsuji Yamamoto 1-22 Goshodori, Hyogo-ku, Kobe, Hyogo Prefecture Fujitsu Ten Limited

Claims (1)

[Claims] 1. A storage device for storing simple map data including a distance between intersections of roads and connection data by the intersections, an input device for inputting a destination corresponding to the simple map data stored in the storage device, and a vehicle. A position detecting device that uses at least one of the output of the mileage sensor and the output of an absolute position sensor that measures the vehicle position using a positioning satellite, and road data obtained by receiving a beacon, A display device that displays route guidance based on simple map data stored in the device, route search data corresponding to the destination, and road data obtained by receiving a beacon, and the beacon position is set as the departure point when the first beacon is received. , A route search is performed with the destination input by the input device, and after that, the vehicle current position is specified by the position detection device, A controller that corrects the current vehicle position each time a vehicle is received and performs route guidance using the route search data as a result of the route search and the current vehicle position using the traveling direction at the main intersection and the distance to the intersection. An on-vehicle navigation device comprising: