JPH0636239B2 - Guide route setting device for vehicle route guide device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Field of Industrial Application> The present invention relates to a device for guiding a vehicle route by instructing a driver of the traveling direction of a vehicle at each midway intersection to set the guidance route. In particular, the present invention relates to an apparatus for setting a shortest route from a vehicle departure position to a destination position by using a road connection relationship between registered intersections and a distance between intersections which are given in advance.

<< Prior Art >> A guide route setting device of this type is disclosed in JP-A-57-21.
1510 and the like are known, but in the past, data on a one-way road was not prepared when the guide route was set.

<< Problems to be Solved by the Invention >> Therefore, there is a problem in the related art that route guidance is performed.

<< Means and Actions for Solving Problems >> To achieve the above object, the apparatus according to the present invention is configured as shown in FIG.

In the figure, the intersection registration means 50 stores each registered intersection and all adjacent intersections of the intersection in association with each other.

In addition, the inter-intersection distance storage means 52 stores the path distance of the inter-intersection communication road from each registered intersection to each of all the adjacent registered intersections of the intersection.

Then, the guide route determination means 54 determines the route having the shortest distance connecting the pair of registered intersections corresponding to the vehicle departure position and the destination position, respectively, based on the stored contents of the intersection registration means 50 and the intersection distance storage means 52. There is.

Here, in the inter-intersection distance storage means 52, the memory travel distance of the inter-intersection connecting road, which is a one-way reverse run, is set to be significantly longer than the actual distance. A vehicle guidance route that bypasses the track is determined.

<Example> A preferred example of an apparatus according to the present invention will be described below with reference to the drawings.

FIG. 2 shows the configuration of a vehicle route guidance device to which the present invention is applied.
Processing is performed using the RAM 3 in accordance with the contents of.

In order to confirm the traveling position of the vehicle, its traveling distance and azimuth are respectively detected by the distance sensor 4 and the azimuth sensor 5, and the detection signals thereof are used for the processing of the CPU 1.

And video RAM for drivers of vehicles equipped with this device
6, information is given using the CRT 7, and various information is input to the apparatus by the input operation unit 8 including a numeric keypad or the transparent operation panel 10 attached to the front surface of the VDT 9 in FIG. Is being carried out.

The VDT 9 is composed of a video RAM 6 and a CRT 7, and the transparent operation panel 10 is provided with an operation panel interface 11 as shown in FIG.

Furthermore, the image data of the map used to display the CRT7,
Data about each registered intersection is stored in the external memory 12, and the external memory 12 can be configured by a floppy disk device, an optical disk device, a magnetic tape device, or the like.

Of the stored contents of the external memory 12, those for each registered intersection are shown in FIG. 4, and a plurality of block areas are created in correspondence with each block obtained by vertically and horizontally partitioning the reference road map 13 in FIG. It is provided.

Each block area is divided into a plurality of intersection areas corresponding to the respective intersections included therein.

Further, in each intersection area, intersection type data indicating whether the intersection is a grade intersection or a level intersection, and X indicating a position on the map.
Coordinate data, Y coordinate data, and intersection name data are stored.

In addition, a plurality of adjacent intersection areas are provided in this area, and the intersection number data, the road number data of the connecting road, the direction data of each connecting road seen from the intersection, and the adjacent intersection Each section distance data is stored.

As described above, each registered intersection and all the adjacent registered intersections of the registered intersection are stored in the external memory 12 in association with each other, and further, from each registered intersection to all the adjacent registered intersections of the registered intersection. The distance of the connecting road between the intersections is stored.

For example, the registered intersections I, J, K, L, M, in FIG.
Regarding the intersection K among N, O, and P, the intersection number data NO. Of the adjacent registration intersections I, J, L, and N of the intersection K.
I, NO.J, NO.L, and NO.N are stored in the adjacent intersection areas as shown in FIG.

Further, in the adjacent intersection areas, the distances D _KI , D _KJ , D _KL and D _KN of the connecting roads between the intersections K to the adjacent intersections I, J, L and N are stored respectively as shown in FIG. Has been done.

The number of intersection connecting roads NO.R _KI , NO.R _KJ , N from the registered intersection K to the adjacent intersections I, J, L, N respectively.
O.R _KL , NO.R _KN , and their orientations θ _KI , θ
_KJ , θ _KL , and θ _KN are also stored in these areas.

However, in FIG. 5, the direction θ _LN of the NO.R _KN inter-junction connecting road is based on the north direction, and the other directions are also based on the north direction.

Here, in FIG. 5, the road connecting the registered intersections K and N is a one-way road, and the road number NO.R _KN stored for the registered intersection K is a one-way forward road.

On the other hand, the road numbers NO.R _NK , NO.R _NM , NO.R _NO and NO. Stored for the registered intersection N in FIG.
Among the connecting roads between the intersections of R _NP, the connecting road between the intersections of road number NO.R _NK from the registered intersection N to the adjacent registered intersection K is a one-way reverse run.

The distance D _NK of the inter-intersection connecting road indicated by the road number NO.R _NK is represented by 2-byte data as described above, and in the present embodiment, all of these bits are 1s.
Therefore, the distance L _NK is set to be much larger than the actual distance.

However, the distance D _NK may be set to be sufficiently larger than the actual distance, and it is preferable to set the distance D _NK or less to the required distance or less.

As described above, of the inter-intersection communication roads stored for each registered intersection in the external memory 12, the path distance of the inter-intersection communication road that is a one-way reverse run is set to be significantly longer than the actual distance.

The external memory 12 has a structure shown in FIG. 8, FIG.
Tables whose contents are shown in (B), (C), and (D) are also prepared, and when using this device, these are used by the starting point / destination specifying process (step 1001 in FIG. 10). Will be performed.

The detailed contents of the processing (step 1001) are shown in FIG. 11, and the display of FIG. 12 is first performed.

And as shown in the figure, the transparent operation panel 10 "Miura Peninsula"
When the display portion is pushed, the display of FIG. 13 is performed.

When the transparent operation panel 10 is further operated as shown in FIG. 13, the display of FIG. 14 is displayed.

In FIG. 14, when any of the areas partitioned by the broken line is designated by the pushing operation, the center coordinates thereof are set as the starting position or the destination position of the vehicle, and "LIST" is set.
When any of the spot name display portions is pushed as shown in FIG. 15 after the portion is operated and the display in FIG. 15 is selected, the starting position or the destination position of the vehicle becomes the coordinate position.

In this way, the starting point and the destination are specified (step 1
001) to obtain coordinate positions Zs (Xs, Ys) and Zd (Xd, Yd) for them, the starting and destination intersections located near them among the registered intersections existing around them are obtained. Selected (10th
(Step 1002).

The process of selecting the departure intersection and the destination intersection is performed by the procedure shown in the flow chart of FIG. 16, and the departure intersection has its position Zs (X
The closest position Z ₁ (X ₁ , Y ₁ ) among those existing on the side of the position Zd (Xd, Yd) of (s, Ys) and separated by a certain distance or more is selected, and the target intersection is As can be seen from FIG. 18, the position Zd (Xd, Y
The position closest to d) is selected.

Selection processing of the above-mentioned departure intersection and destination intersection (step 1
002), the guide route search process (step 1003) of FIG. 10 is started using the departure intersection and the destination intersection.

The process is performed by the procedure shown in the flowchart of FIG. 19, in which case only the stored data of FIG. 4 is used, and the guide route with the shortest distance from the departure intersection to the destination intersection is set. It

Therefore, in the process shown in Fig. 19, the distance between the intersections (2 bytes) shown in Fig. 4 along all the routes starting from the starting intersection.
Is added, and if there are multiple routes to the same intersection during that time, the shortest route is selected (see Fig. 20) and the target intersection is first reached during the traveling simulation. The route that has been set is set as the guide route with the shortest distance.

At the time of setting, the distance between intersections is sequentially subtracted from the total distance of the shortest route to the destination intersection from the destination intersection side, and compared at each midway intersection, to move from the destination side to the departure side. The number of each registered intersection existing on the shortest distance route is sequentially set (see FIG. 21).

When the shortest route is set as above,
Processing for displaying to guide the vehicle from the starting point to the destination is performed (step 1004 in FIG. 10).

In that process (step 1004), FIG.
The process shown in FIGS. 24 and 24 is being performed. First, as shown in FIG. 25, the direction of the departure intersection is displayed together with the traveling locus.

When the vehicle approaches within 300m of the departure intersection,
As shown in FIG. 27, an intersection figure in which the vehicle traveling direction is set to 12 o'clock is displayed in the upper left corner of the screen, and at that time, the guide route is specified as shown in the figure.

When the vehicle is guided to the departure intersection in this way, display processing (step 1005 in FIG. 10) for guiding the vehicle from the departure intersection to the destination intersection is started.

The contents of this processing (step 1005) are shown in FIG.
9, 30, 31, 31, 32, 33, 3
4, FIG. 35, FIG. 36, FIG. 37, FIG. 38, and FIG.
As described with reference to FIGS. 9, 40, and 41, it has been confirmed that the vehicle traveling position deviates from the general road guidance route.

The approach to the next-pass intersection is monitored, and the current position is corrected and the next-pass intersection is set each time the intersection is confirmed.

Further, in front of each midway intersection, as shown in FIGS. 36 and 37, the traveling direction of the intersection is guided and displayed by using the intersection graphic and the path arrow.

When the midway intersection to be passed through the right / left turn is a grade intersection, the central portion of the intersection figure is outlined as shown in FIG. 40, and a direction arrow is attached to this to guide and display the intersection traveling direction. .

The running locus is always displayed on the road map while the vehicle is running.

After that, when the vehicle reaches the destination intersection, a display for guiding the vehicle from the destination intersection to the destination is displayed (processing of step 1006 in FIG. 10).

The contents of the processing for displaying the information are shown in FIG. 42. By performing this processing, the direction of the destination is displayed as shown in FIG. 43 by using the automobile figure and the arrow segment. When the vehicle approaches the destination, the driver is notified of the fact by the arrival notification as shown in FIG.

As described above, in the present embodiment, the shortest guide route is automatically set by inputting the data about the starting point and the destination, and the vehicle is guided by the display along the guide route. .

Here, as described above, since the travel distance of the inter-intersection connecting road, which is a one-way reverse run, is set to be significantly longer than the actual distance, the shortest guide route is set by the guide route setting process of FIG. If set, the guide route will bypass the one-way reverse route.

For example, each starting intersection and the intersection P and the intersection I in Figure 5, when it is intended intersection, the journey distance D _NK stored for intersections between access roads road number NO.R _NK in Figure 7 is Since it is assumed to be much longer than the actual distance, the guide route of the intersection P, N, M, J, K, I is set bypassing the inter-intersection connecting road (NO.R _NK ).

Therefore, according to the present embodiment, it is possible to surely prevent the setting of the route guidance to reverse the one-way road, and as a result, it is possible to reliably guide the vehicle to the target intersection.

In the same manner, it is also possible to prevent an erroneous guide route setting in which the exit of the expressway is used as the entrance.

Further, according to the present embodiment, it is not necessary to separately prepare the data relating to the one-way road in order to prevent the reverse run of the one-way road, and therefore the storage capacity of the external memory 12 can be effectively used. .

Further, according to the present embodiment, it is not necessary to confirm the separately prepared data regarding the one-way road at the time of setting the guide route, and therefore the guide route can be set in a short time.

<< Effects of the Invention >> As described above, according to the present invention, the distance between the intersections in the direction in which the one-way road runs backward is set to be significantly longer than the actual distance, so that the one-way reverse road is bypassed. As a result, the vehicle guidance route having the shortest distance is set, so that the vehicle can be reliably guided to the destination.

[Brief description of drawings]

1 is a block diagram showing a preferred embodiment of an apparatus according to the present invention, FIG. 3 is an explanatory view of a VDT and a transparent operation panel, FIG. 4, FIG. 5, and FIG. 7, FIG. 8, FIG. 8 and FIG. 9 are drawings for explaining the stored contents of the external memory in FIG. 2, FIG. 10, and FIG. 11 are drawings for explaining the processing procedure of the CPU in FIG. 2, FIG. 12, and FIG. Figure, Figure 14, Figure 15
FIG. 16 is a display screen diagram for explaining the specifying action of the starting point and the destination. FIG. 16 is a process procedure explanatory diagram of FIG.
FIG. 18, FIG. 18 is an explanatory view of selecting action of a departure intersection and a destination intersection, FIG. 19 is a processing procedure explanatory view of the CPU of FIG.
FIG. 21 is a memory map diagram for explaining the shortest guide route setting operation of a general road, FIG. 22, FIG. 23, and FIG. 24 are processing procedure explanatory diagrams of FIG. 2 CPU, and FIG. 26 is a display screen diagram for explaining the vehicle guiding action of FIG. 26, FIG. 26 is a process procedure explanatory diagram of the CPU in FIG. 2, FIG. 27 is a screen display explanatory diagram in front of a departure intersection, FIG. 28, FIG.
Figure CPU processing procedure explanatory diagram, FIG. 30, FIG. 31, FIG.
2 and 33 are explanatory diagrams of processing contents at the time of route guidance,
34 and 35 are explanatory views of the processing procedure of the CPU shown in FIG.
FIGS. 36 and 37 are screen display diagrams for explaining the route guidance action, FIGS. 38 and 39 are processing procedure explanatory diagrams for the FIG. 2 CPU, and FIG. 40 is for explaining vehicle guidance action at a grade intersection. Screen display, Fig. 41, Fig. 42 show Fig. 2 CPU
43, 44 are screen display diagrams for explaining the vehicle guiding action to the destination. 1 ... CPU 2 ... System ROM 3 ... RAM 4 ... Distance sensor 5 ... Direction sensor 6 ... Video RAM 7 ... CRT 8 ... Input operation section 9 ... VDT 10 ... Transparent operation panel 11 ... … Operation panel interface 12 …… External memory

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masakazu Kakuda 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (72) Seiichi Tojo 2 Takaracho, Kanagawa-ku, Yokohama, Nissan Nissan Motor Co., Ltd. (72) Inventor Shinya Ishikawa 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (72) Inventor Shuei Tamura 31 Ohira, Tone-cho, Kitasoma-gun, Ibaraki Niles Parts Co., Ltd. Technical Center (56 ) References JP-A-62-91811 (JP, A)

Claims (1)

[Claims] 1. An intersection registration means in which each registered intersection and all the adjacent registered intersections of the intersection are stored in correspondence with each other, and an inter-intersection communication road from each registered intersection to each of the adjacent registered intersections of the intersection. The distance of travel is stored, and the memory of the connecting road between intersections, which is a one-way reverse run, is set to be significantly longer than the actual distance. A guide route determining means for determining a route having the shortest distance connecting a pair of registered intersections based on the stored contents of the intersection registering means and the inter-intersection distance storing means; Setting device.