JPH0632158B2 - Vehicle route guidance device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a vehicle route guidance device mounted on a vehicle to guide a route to an occupant.

[Technical Background of the Invention and Problems Thereof] As a conventional vehicle route guidance device, for example, Japanese Patent Laid-Open No. 58-58
The one described in JP-A-150814 is known.

When a target registered intersection is given, this device waits until the arrival before the registered intersection is confirmed on the map and displays the route guidance display. Do not properly configure each intersection at the interchange, etc., and consider, for example, a virtual point that represents a branch point on the highway side and a virtual point that represents a branch point for entering and exiting the highway from the general road side, respectively. Since the intersection data is configured to be connected to each other, only the shape of the intersection, the direction of travel, and the name of the intersection, which are different from the actual intersection, are displayed when entering or exiting the expressway. There was a problem that the driver of the vehicle was confused because it was unclear whether to enter or not, or whether to exit from the highway.

[Object of the Invention] The present invention has been made in view of the above, and an object of the present invention is to perform a vehicle guidance smoothly without disturbing the driver by appropriately displaying the entrance and exit to and from a highway. Another object of the present invention is to provide a vehicle route guidance device that can perform the following.

[Summary of the Invention] In order to achieve the above-mentioned object, according to the present invention, a route guidance device for a vehicle from a departure place to a destination is entered when a departure place and a destination are input as shown in FIG. A route guidance device for vehicles that guides a route to a destination by selecting a route along the way and indicating the direction of travel at each intersection on the way. Intersection information storage means a that stores the entrance junction and the exit junction between the main line and the exit from the mainway as the intersection, and the entry determination that determines that the general road enters the highway according to the selected route. Means b
And exit determination means c for determining whether to exit from a highway to a general road according to the selected route, and whether the next intersection to pass through according to the selected route is the entrance or exit branch point. The intersection information detecting means d to be detected and the intersection information detecting means detect that the next intersection to be passed is an entrance fork, and the entry judging means b judges that the entrance is to enter the expressway. When the intersection is detected, the intersection information detecting means d detects that the next intersection to be passed is an exit junction, and the exit determining means c exits from this exit junction to the general road. When it is determined, the gist of the present invention is to have a display control means e for displaying that the user exits the expressway.

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

First, the hardware configuration of the apparatus of this embodiment is
Description will be given with reference to the drawings.

As shown in the figure, this device is mainly a control device of a stored program system, which is composed of a CPU 1 mainly composed of a microprocessor, a system ROM 2 storing various control system programs, and a RAM 3 used as a working area or the like. It is configured.

Then, by causing the CPU 1 to execute various control programs (details will be described later) stored in the system ROM 2, various functions are realized as shown in the general flowchart of FIG.

The current position coordinates (X, Y) and the traveling distance ∫ΔD required during traveling are detected by the distance sensor 4 for each constant distance ΔD traveling.
In response to the interrupt pulse obtained from the CPU 1, the CPU 1 executes the current position calculation process (see FIG. 23), and the unit vector addition process using the vehicle direction θ obtained from the direction sensor 5;
And the unit distance ΔD is simply accumulated.

Video RAM6, C is used to transmit guidance information to the driver.
VDT (Visual Display Terrestrial) mainly based on RT7
minal) (see FIG. 3).

Various commands to the apparatus are issued by using the input operation unit 8 including a numeric keypad or the like, or a known transparent operation panel 10 mounted on the front surface of the VDT 9 as shown in FIG.

As shown in FIG. 3, when the transparent operation panel 10 is pressed by a fingertip or the like, the CPU 1 causes the operation panel interface 1
It is possible to detect the pressed portion via 1.

Various kinds of information regarding road maps, intersections, etc. are stored in an external memory 12 such as a floppy disk, an optical disk, a magnetic tape or the like.

As shown in FIG. 4A, the reference road map 13 is divided vertically and horizontally into a plurality of blocks (0, 0) of appropriate size,
It is divided into (1, 0), (2, 0) ... (2, 2), and the road map information and the intersection information for each block are stored in the external memory 12 as shown in FIG. 4B. That is, in FIG. 4B, the memory area is divided into blocks, the intersection numbers are given to the intersections included in each block, and X, which indicates the position on the map for each intersection,
Y coordinate information, adjacent intersection number, distance to adjacent intersection,
Direction to adjacent intersection, intersection name, intersection type flag,
The inter number and the like are stored. The intersection name has a memory capacity of 2 × 6 bytes in order to represent a kanji code within 6 characters as shown in the figure, and other information is represented by a memory of 2 bytes. The number of adjacent intersections is considered up to four, and each is numbered.

As intersection type flags, each intersection intersects with a general intersection on a general road, an entrance intersection when entering from a general road to a highway, an exit intersection when exiting from a highway to a general road, and an approach road to the main line on the highway It is classified into an entrance intersection, an exit intersection that intersects with the exit from the main line on the expressway, and an exit intersection where the entrance and exit are combined, and the intersection classification number "0" for each of the classified intersections.
Assign "1", "2", "3", "4", "5",
This intersection type number is stored. That is, when each intersection is associated with the intersection type flag, the result is as follows. Intersection type Intersection type flag General intersection 0 Entrance intersection 1 Exit intersection 2 Entry intersection 3 Exit intersection 4 Entry / exit intersection 5 FIG. 4C is a diagram exemplifying the types of each intersection.

By storing the intersection classification number for each intersection in this way, the route guidance device for this vehicle displays "Please enter the highway" when entering the highway, and "When entering the highway," Please get off the highway. "

In this way, the display at the time of going in and out of the expressway is the above-mentioned C
In order to carry out at RT7, the character codes corresponding to the characters "Enter highway" and "Get off highway" are at the end of the memory area where the intersection data is stored as shown in Fig. 4D. Remembered

The information described above includes the departure intersection, the destination intersection selection processing, the shortest route search processing, and the guidance display processing (I) to be described later.
It is used in case of (III) (see 10).

In addition to the intersection information described above, various types of information are stored in the external memory 12 as shown in FIGS.

That is, in the external memory 12, as shown in FIG.
Each area name information storage area, reduced map information storage area corresponding to each area name, enlarged map information storage area corresponding to each Zone of each reduced map, point name information included in each enlarged map, and other A table (see FIG. 6) that associates and stores each area name with the number of the reduced map, a table (see FIG. 7) that associates and stores each Zone of the reduced map with the number of the enlarged map, and each of the enlarged map. A table (see FIG. 8) for associating and storing the Zone and its center coordinates and a table (see FIG. 9) for associating and storing the name of the destination such as a resort and the point coordinates of the destination are stored. Has been done.

The meaning of each of these pieces of information will be described later in the process of specifying the starting point and the destination.

The description centering on the hardware is completed above, and then the software configuration of the apparatus of this embodiment will be described with reference to the drawings starting from FIG.

As shown in the general flow chart of FIG. 10, the software configuration of the apparatus of this embodiment has a starting point / destination specifying process (step 1001), a starting intersection and a destination intersection selecting process (step 1002), and a shortest route search process. (Step 1003), guidance display process I (Step 100
4), guidance display processing II (step 1005) and guidance display processing III (step 1006).

(A) Determining Place of Departure / Destination In this process, the screen of VDT 9 is used to interact with the operator to finally identify the place of departure / destination.

That is, a list of area names is displayed on the screen (12th
(See the figure), wait for the transparent operation panel to be pressed, and detect the designated area.

Then, a reduced map of the designated area is displayed (see FIG. 13), the transparent operation panel is pressed, and the limited area is detected.

Then, an enlarged map of the limited area is displayed (see FIG. 14), the transparent operation panel is pressed, the final designated area is obtained, and its central coordinates are specified as the starting point or the destination.

In addition, for those who are unfamiliar with geography, a list of spot names is displayed (see FIG. 15), the pressing of the transparent operation panel is waited for, the designated spot name is detected, and the coordinates of the start point,
Recognize as the destination.

The above processing is performed by executing the starting point / destination specifying processing shown in the flowchart of FIG.

The relationship between the pressed area and the reduced map number and the relationship between the pressed area and the enlarged map number are obtained by referring to the tables in FIGS. 6 and 7, and each image information is shown in FIG. What is stored in the external memory is used as shown in FIG.

Further, the relationship between the pressed part and the center coordinates of each Zone and the relationship between the pressed part and the point coordinates can be obtained by referring to the tables in FIGS. 8 and 9.

(B) Selection processing of departure intersection and destination intersection This processing is based on the taught departure point coordinates (Xs, Ys) and destination coordinates (Xd, Yd), and XY of each intersection shown in FIG. 4B. The coordinate information is searched, and as shown in FIG. 17, the registered intersection which is in the direction of the destination from the point of departure and which is closest to the point of departure outside the circle of the predetermined radius is selected as the point of departure. As shown in the figure, the registered intersection closest to the destination is selected as the destination intersection.

This is performed by executing the selection process of the departure intersection and the destination intersection shown in the flowchart of FIG.

(C) Regarding Shortest Route Selection Processing In this processing, traveling simulation is performed on various routes from the departure intersection to the destination intersection on the road map, and the obtained registered intersections on the shortest route are sequentially stored in the order of passage.

This is performed by executing the shortest path search process shown in FIG.

(D) Guide display processing (I) This processing is for guiding the travel route from the departure point to the departure intersection, and as shown in FIG. 25, until the vehicle approaches within a radius of 300 m from the departure intersection, as shown in FIG. The direction of the departure intersection is displayed using the and arrow-shaped segments, and after approaching within 300 m, the departure route is filled in by using the intersection figure with the vehicle traveling direction right above, as shown in FIG. By displaying it, the departure route direction, that is, the route at the intersection is displayed, and at the same time, the traveling locus is drawn on the screen.

This is performed by executing the processes of FIGS. 22, 24, and 26, respectively.

(E) Guide display process (II) The outline of the guide display process (II) is shown in the flowchart of FIG.

As shown in the figure, in the guidance display process (II), first, the values of the current position coordinates (X, Y) are set to the departure intersection coordinates (X ₁ , Y ₁ ).
(Step 2801), the route guidance preparation process for the next passing intersection (step 2802), the route guidance display process based on the running locus on the map (step 2803) are sequentially performed, and the next passing intersection is not the destination intersection. Confirm that (step 2804 negative), that the next passing intersection is a straight intersection (step 2805 straight),
The route guidance display at the time of going straight through an ordinary intersection, provided that the next passing intersection is a normal folding intersection (normal step 2806) and that the next passing intersection is a three-dimensional folding intersection (step 2806 solid) And a current position correction process (step 2807), a route guidance display and a current position correction process at the time of passing a normal intersection turn (step 2808), and a route guidance display and a current position correction process at a time of a grade intersection turn (step 280).
9) is executed, the value of the intersection counter N is updated when the execution is completed, and the above operation is repeated.

Then, finally, the next passing intersection is determined to be the target intersection (Yes in step 2804), and the guidance display processing (II) ends.

Next, each process described above, that is, route guidance preparation process to the next passing intersection (step 2802), route guidance display and current position correction process (step 2807) at the time of going straight to the normal intersection, and normal intersection turning time Route guidance display and current position correction processing (step 280)
8) and the details of the route guidance display and the current position correction processing (step 2809) at the time of passing through a grade intersection will be sequentially described in connection with the present invention.

FIG. 29 is a flowchart showing details of route guidance preparation processing for the next passing intersection.

As shown in the figure, in this process, first, as the initial process, the value of the intersection counter N is set to an initial value (steps 2901, 2902, 2903), and then the passage order (N) is set from the set route information (see FIG. 21). , (N + 1),
Each intersection number P (N), P (N + 1), P of (N + 2)
A process (2904) of reading (N + 2) is performed, the intersection type flags corresponding to the read intersection numbers are read from the external memory 12 stored as shown in FIG. 4B, and these intersection type flags are checked. (Step 2904-1). As a result of checking the intersection type flag, the next intersection P (N + 1) is the entrance intersection 1
When the next next intersection P (N + 2) is the approaching intersection 3, the highway entry flag is set to "1" because it means entering the next expressway (step 2904-3). If the next intersection P (N + 1) is the exit intersection 4 and the next next intersection P (N + 2) is the exit intersection 2, the highway exit flag is set to "1" because the next exit is the highway.
(Step 2904-4). If the result of checking the intersection type flag is neither, the high speed entry flag and the high speed exit flag remain reset to "0" (step 2904-2).

By setting the high-speed entry flag or high-speed exit flag set in this way, it is possible to know that the vehicle will enter or leave the highway next time. It is used in the processing shown in FIGS.

At the next step 2905, the intersection number P (N)
The section distance D to P (N + 1) is read from the information (see FIG. 4) related to.

Next, a process (step 2907) of reading the next intersection coordinates (X _{N + 1} , Y _{N + 1} ) from the information on the intersection number P (N + 1) (see FIG. 4), P (N) information and P
From (N + 1) to the next crossing approach θin,
The process (step 2908) of sequentially obtaining the escape azimuth θout of the next intersection from the (N + 1) information and P (N + 2) is sequentially performed.

As shown in FIG. 31, the approach azimuth θin is the azimuth to enter the intersection, and the exit azimuth θout is the azimuth to exit from the intersection.

Then, when it is determined that the next passing intersection is going straight on based on the entering direction θin and the exiting direction θout (step 2911 going straight), a verification area equation for confirming going straight going intersection is determined (step 2914).

Here, as shown in FIG. 30, two verification circles A and B are used to confirm the passage of a straight intersection, and their radii are α × D and β × D, respectively. α and β are constants.

Also, the next intersection is determined to be a bent intersection (step 2
(911 bend) and based on the intersection type information, when the next intersection is determined to be a normal intersection (step 2916 normal), a reset azimuth θrst is obtained from the approach azimuth θin and the exit azimuth θout (step 2917).

Here, as shown in FIG. 31, the reset azimuth θrs
The value of t is set to be an intermediate bearing between the approach bearing θin and the exit bearing θout.

When the reset azimuth θrst is obtained, a verification area equation for confirming a normal intersection bend passage is determined (step 2).
918).

Here, as shown in FIG. 31, the verification circle B is usually used for confirming the passage through the intersection.

Further, when the next passing intersection is determined to be a bending intersection (step 2911 bending), and when it is determined to be a grade intersection (step 2916 cubic), a verification area equation for confirming the grade intersection bending passage is determined. (Step 2919).

Here, confirmation of the three-dimensional cross points bending pass, as shown in FIG. 32, the line segment beta ₁ as across the line alpha ₁ enters a substantially circular area alpha, and shown in FIG. 33 It is performed based on having crossed and entered the arcuate area β.

In this way, the determination of the verification area equation for confirming the straight-ahead crossing passage (step 2914), the determination of the verification area equation for the confirmation of the normal intersection bend passage (step 2918) and the verification area equation for the confirmation of the grade intersection passage When the determination of (step 2919) is completed, the verification area equation for confirming the departure from the route is finally determined (step 291).
5).

Here, as shown in FIGS. 30 and 31, the confirmation of the departure from the route is made by checking the intersections (X _N , Y _N ), (X _N
This is performed based on the fact that the current position has entered the outer area of the error test oval including _{N + 1} , Y _{N + 1} ) (step 2915).

FIG. 34 is a flow chart showing details of route guidance display processing and current position correction processing when the vehicle passes straight through an intersection.

When this processing starts, first, the entry confirmation flag in the test circle A is reset to "before entry" (step 3401),
The intersection type flag is checked to confirm whether the intersection type is exit intersection 2 or approach intersection 3 (step 34).
01-1). In the case of the exit intersection 2 or the ingress intersection 3, the figure of the intersection P (N + 1) to be passed next is displayed with the vehicle direction directly above the screen, and the arrow indicating the vehicle course is displayed on top of this and further. The name of the intersection is also displayed (step 3401-2).

Next, based on the contents of the current position register (X, Y), the state of waiting for the entry into the test circle A, the entry into the error area, and the operation of the clear key are set (step 3402).
-3406-3409-3410-3401-340
2).

During this time, if the vehicle deviates from the set route and enters the error area (Yes in step 3409), error processing (not shown) is performed, and the occupant is warned accordingly.

Further, if the entry into the verification circle A is not confirmed forever due to the error of the distance sensor 4 and the direction sensor 5 or the driver's departure from the route, etc., operate the clear key provided in the input operation unit 8. By (step 341
0 official), the operation of the device can be returned to the specific processing of the starting point and the destination. In this case, the process of specifying the departure place and the destination will be restarted.

On the other hand, when the distance sensor 4 and the azimuth sensor 5 are normal and the vehicle normally runs on the set route, the vehicle approaches the next intersection and enters the verification circle A based on the contents of the current position register (X, Y). Is confirmed (step 3402).

When the entry into the verification circle A is confirmed, it is checked whether the intersection type flag is the exit intersection 2 or the entry intersection 3 (step 3402-1), and if it is neither, the intersection P to be passed next. The (N + 1) figure is displayed with the vehicle direction directly above the screen, and an arrow indicating the vehicle course is displayed on the figure, and the intersection name is also displayed (step 3402-2).

Then, it is checked whether the high speed entry flag is set to "1", and if it is set to "1", the character code is read from the stored comment data area as shown in FIG. 4D. The display "Please enter the highway" is displayed as shown in FIG. 35 (steps 3402-3, 4).

If the high speed entry flag is not set, check whether the high speed exit flag is set to "1". If the high speed entry flag is set to "1", the character code is read from the comment data area. Display "Please get off the road" in the same manner as in FIG. 35 (steps 3402-5, 6).

When it is confirmed that the vehicle has entered the test circle A, the flag for checking the entry in the test circle A is set, and thereafter the value of the mileage register ∫ΔD reaches the value of the section distance D to the next intersection. Until ((NO in step 3405), the inside A confirmation flag continues to be set (step 3403).

When the error caused by the distance sensor 4 and the azimuth sensor 5 is small and the vehicle normally travels on the set route, the traveling distance ∫ΔD and the section distance D are confirmed to coincide with each other while reaching the center of the next intersection ( Step 3405 is positive).

Then, the contents of the current position register (X, Y) are rewritten with the contents of the intersection coordinates (X _{N + 1} , Y _{N + 1} ), the contents of the travel distance ∫ ΔD are reset to zero (step 3411), and the VDT screen is displayed. The upper intersection graphic and the route display disappear (step 3412).

In addition, after the entry into the test circle A is confirmed (step 3
406 af), if the entry into the verification circle B is confirmed without a match between the travel distance ∫ΔD and the section distance D (affirmation at step 3407), the verification circle B in this embodiment is used. At the same time as exiting (step 3408: No), the current position and mileage are roughly corrected (steps 3411 to 3412).

Next, FIG. 36 is a flowchart showing the details of the route guidance display processing and the current position correction processing when the vehicle normally passes through an intersection.

In this process, first, the intersection type flag is checked to confirm whether the intersection type is the exit intersection 2 or the approach intersection 3 (step 3600). In the case of approaching intersection 2 or approaching intersection 3, the intersection P (N
The figure of +1) is displayed with the vehicle direction being directly above the screen, and an arrow indicating the vehicle course is overlapped and displayed, and the name of the intersection is also displayed (step 3600-1).

Next, based on the contents of the current position register (X, Y), the state of waiting for the entry into the test circle B, the entry into the error area, and the operation of the clear key are set (step 3601).
-3602-3603-3601).

During this time, as in the case of the above-described processing at the straight intersection, if it is confirmed that the current position has entered the error area (Yes at Step 3602) and the operation of the clear key (Yes at Step 3603), The error processing or the above-mentioned return to the specific processing of the departure place and the destination is performed.

On the other hand, when the distance sensor 4 and the azimuth sensor 5 are normal and correctly travel on the travel route, the vehicle approaches the bend intersection, and when the vehicle enters the verification circle B, the intersection is confirmed. It is checked whether the type flag is exit intersection 2 or approach intersection 3 (step 3601-
1), the intersection P to pass next if neither
The figure (N + 1) is displayed with the vehicle direction directly above the screen, and an arrow indicating the vehicle course is displayed on the figure, and the name of the intersection is also displayed (step 3601-).
2).

Then, it is checked whether the high speed entry flag is set to "1", and if it is set to "1", the character code is read from the stored comment data area as shown in FIG. 4D. The display "Enter the highway" is displayed as shown in FIG. 35 (steps 3601-3, 4).

If the high speed entry flag is not set, check whether the high speed exit flag is set to "1". If the high speed entry flag is set to "1", the character code is read from the comment data area. Display "Please get off the road" in the same manner as in FIG. 35 (steps 3601-5, 6).

As described above, after the vehicle has entered the verification circle B and the entry / exit to the expressway is displayed, the mileage register ∫ △ D
After confirming that the value of has reached the value of the section distance D to the next intersection, and further confirming the passage to the bending intersection, the contents of the current position register (X, Y) are rewritten with the contents of the intersection coordinates. The mileage content is reset to zero,
Also, the graphic and route display at the intersection on the VDT screen disappear (steps 3605-3614).

More specifically, until the vehicle approaches 100 m before the intersection which is the target to be reached on the map (No at step 3605), as shown in FIG. 37, the approach path portion of the arrow indicating the vehicle course is shown. Blinking display of only the length segment that has already passed is displayed (step 3606), the approach is confirmed within 100 m (step 3605 affirmative), and as shown in FIG. 38, an arrow indicating the vehicle course is displayed. The escape route is blinked (step 3607).

After that, the vehicle direction information is read every time the vehicle travels by a certain small distance (step 3608), and the read vehicle direction is stored in the FIRST IN FIRST OUT stack (hereinafter, FIFO).
Is pushed to the stack (step 360)
9).

Next, the latest vehicle heading may match the exit heading θout (step 3610 affirmative), and the past vehicle heading may match the approaching heading θin (step 3611 affirmative). Furthermore, between the exiting heading θout and the approaching heading θin. , Reset azimuth θ
The process of confirming that rst matches with rst (Yes in step 3612) is repeated, and all of the above are confirmed. At the same time, the contents of the current position register (X, Y) are rewritten with the coordinates of the bent intersection, and the vehicle simultaneously runs. The distance ∫ΔD is also reset to zero (step 3613), and finally the ending process of the intersection figure and the course display is performed (step 361).
4).

In this way, when the intersection coordinates to be reached are given and the distance to the intersection is given, the approach to the intersection is detected by comparing the given coordinates with the current position coordinates, and the route is displayed. In this approach detection state, the passage of the intersection is confirmed at the time when the change in the traveling direction peculiar to the bending intersection is detected, and then the next intersection to be reached is requested.

(F) Guide display processing (III) In this processing, as shown in FIG. 43, the direction of the destination is displayed using the automobile figure and the arrow-shaped segment, and when the destination is approached, Notifies the driver of this with an arrival notification text, as shown in FIG.

This is performed by executing the processing shown in the flowchart of FIG.

[Effects of the Invention] As described above, according to the present invention, when the intersection to be passed next when entering an expressway from a general road follows the selected route, the expressway is entered. It is displayed, and when exiting from the highway, it will display that the next crossing that should pass is the exit highway, so it will promptly guide you in and out of the highway. Can drive accurately and smoothly without being confused about entering or exiting a highway as in the past, and can be efficiently guided without impairing drivability.

[Brief description of drawings]

1 is a block diagram showing the hardware configuration of the apparatus of this embodiment, and FIG. 3 is a VD.
FIG. 4 is a perspective view showing a state in which a transparent operation panel is attached to T.
FIG. 5 is a memory map showing the contents of an intersection information area provided in the external memory and an explanatory view of various intersections. FIG. 5 is a region name information storage area provided in the external memory and reduced map information in relation to the present invention. A memory map showing a storage area, an enlarged map information storage area, a spot name information storage area, FIG. 6 is a memory map showing the contents of a table in which each area name is associated with a reduced map number, and FIG. 7 is shown. A memory map showing the contents of a table for storing each Zone of the reduced map and the number of the corresponding enlarged map in association with each other,
The figure is a memory map showing the contents of a table that stores each Zone of the enlarged map in association with the center coordinates of the Zone,
FIG. 9 is a memory map showing the contents of a table that stores the relationship between each spot name and the corresponding spot coordinates in association with each other,
FIG. 10 is a general flow chart of the route guidance device, FIG. 11 is a flow chart showing details of the process of identifying a departure place and a destination, and FIG. 12 is an explanatory diagram showing a state in which area names are collectively displayed on the VDT screen. FIG. 13 is an explanatory view showing a state in which a reduced map is displayed on the VDT screen, and FIG. 14 is a VDT.
Explanatory diagram showing a state in which an enlarged map is displayed on the screen, fifteenth
FIG. 16 is an explanatory view showing a state in which a place name list is displayed on the VDT screen, FIG. 16 is a flow chart showing a departure intersection / destined intersection selection process, FIG. 17 is an explanatory diagram showing an algorithm for selecting a departure intersection, FIG. Is an explanatory diagram showing an algorithm for selecting a target intersection, FIG. 19 is a flowchart showing details of the shortest route search process, FIG. 20 is a memory map showing details of a route storage area provided in the RAM, and FIG. 21 is a RAM. 22 is a memory map showing the details of the intersection number area provided in FIG. 22, FIG. 22 is a flow chart showing the details of the guidance display process (I), and FIG. 23 is a flow chart showing the contents of the current location calculation process executed by interruption. FIG. 24 is a flowchart showing details of the departure intersection direction display processing, and FIG. 25 is a VD on the way from the departure place to the departure intersection.
FIG. 26 is an explanatory diagram showing a display example on the T screen, FIG. 26 is a flowchart showing details of the departure road direction display processing, and FIG. 27 is an explanatory diagram showing a display example on the VDT screen when approaching a departure intersection. Figure is a flow chart showing the details of the guidance display process (II), Fig. 29 is a flow chart showing the details of the route guidance preparation process to the next passing intersection, and Fig. 30 is the test circle A and the test circle in the state of going straight ahead. B, an example of a road map showing the relationship between the error test oval, etc., FIG. 31 shows an example of a road map showing the relationship between the test circle B and the error test oval in the state of going to the bent intersection, and FIG. 32 shows a bent overpass. FIG. 33 is an explanatory view showing the inspection areas at the time of entering the vehicle, FIG. 33 is an explanatory view showing the state of each inspection area at the time of exiting the bent overpass,
FIG. 34 is a flowchart showing details of route guidance display processing and current position correction processing when passing straight through an intersection, and FIG.
FIG. 36 is a diagram showing a display example of a VDT screen when approaching a straight intersection, FIG. 36 is a flow chart showing details of route guidance display processing and current position correction processing at a normal intersection bending passage, and FIG. 37 is a folding flat intersection. Explanatory drawing which shows the example of a display of a VDT screen at the time of approach, FIG. 38 is explanatory drawing which shows the example of a display of a VDT screen at the time of approaching a bending plane intersection, 39th.
Fig. 40 is a flow chart showing the details of the route guidance display process and the current position correction process when passing through a grade intersection, and Fig. 41 is an explanatory diagram showing a display example of a VDT screen when approaching a grade intersection, Figure 42 shows the guidance display process (II
FIG. 43 is an explanatory diagram showing a display example of the VDT screen when approaching the destination crossing, and FIG. 44 is an explanatory diagram showing a display example of the VDT screen when approaching the destination. a: intersection information storage means b: display control means

Claims (2)

[Claims] 1. A vehicle for guiding a route to a destination by selecting a route on the way from the place of departure to the destination when the starting point and the destination are input and designating a traveling direction at each intersection on the way. Intersection information for storing at least an entrance branch point between a general road and an approach road from the general road to the expressway and an exit branch point between the main road and the exit path from the main road as the intersection. Storage means, entry determination means for determining entry from a general road to a highway according to the selected route, exit determination means for determining exit from the highway to a general road according to the selected route, and selected route According to the intersection information detection means for detecting that the next intersection should be the entrance or exit junction, and the next intersection is detected by the intersection information detection means. When it is detected that the intersection is an entrance junction, and the entrance determination means determines that the entrance expressway is to enter the expressway, a message indicating that the expressway is entered is displayed and the intersection information detection means When it is detected that the intersection to pass through is an exit junction, and when it is determined by the exit determination means that the exit intersection will exit the general road,
A vehicle route guidance device, comprising: a display control unit that displays a message indicating that the vehicle exits an expressway. 2. The intersection information storage means connects each intersection to an intersection on a general road, an entrance intersection when entering the expressway from the general road, an exit intersection when exiting from the expressway to the general road, and a main line on the expressway. The intersections that intersect with the approach roads and the exit intersections that intersect with the exit roads from the main line on the highway are stored, and the classified intersection information is stored for each intersection. As a result of reading out the intersection information for the intersection at the intersection information storage means, when the entrance intersection and the entrance intersection are continuously identified, it is determined that the highway is to be entered from the entrance intersection, and the exit determination means. As a result of reading the intersection information for the intersection on the selected route from the intersection information storage means, the exit intersection and the exit intersection are continuously identified. Is when was vehicular route guidance apparatus according to Claims first preceding claims, characterized in that to determine that exiting the highway from the intersection out retractable.