JPH0668389A - Navigation device for vehicle - Google Patents

Abstract

PURPOSE:To search for a route and make a guidance by giving priority to the traveling direction of the vehicle in case of a deviation from the route. CONSTITUTION:Information on maps, a guidance, a search, etc., and route information are stored in storage parts 10 and 24; and a route calculation part 22 is equipped with a recalculation part 22a which recalculates the route and a route guidance control part 26 is equipped with a route deviation detection part 26a so as to provide an arithmetic part 20 with a route re-searching function wherein the travel direction of the vehicle is given priority. The recalculation part calculates the shortest route from a route deviation place to the previous route and a new route to a destination. For a search for the shortest route to the previous route, the travel direction is given priority (no U-turn) on the basis of search information on the periphery of the current place and the shortest route from the current place to the previous route is searched for to quickly calculate the route connecting with the previous route. For a search for the new route, the travel direction is given priority on the basis of search information between the current place and destination add all routes from the current place to the destination are searched for to make a guidance along a different route from the previous route.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular navigation system which guides a vehicle to a destination through a preset route, and more particularly has a route search function when the vehicle deviates from the preset route. The present invention relates to a vehicle navigation device.

[0002]

2. Description of the Related Art A vehicular navigation system has a display screen used when setting a route and a display screen that is opened automatically or in response to a driver's request at the time of guidance. When the conditions for route setting are entered on the route setting screen and the route search is started, a route search screen (route search diagram) displaying a detailed map including the route is opened. When the route search is completed, the all-routes display screen (wide area view) displayed in a form in which all the routes can be clearly identified is opened. The driver can visually and sensibly recognize and understand only the route from the current position to the destination from the wide area map. Then, the guidance start button is pressed to start the guidance guidance. While traveling according to this guide, you may get out of the route. As a countermeasure against this, for example, Japanese Patent Laid-Open No. 1-173815 discloses a function of promptly informing the driver that the vehicle is off the route and re-searching for a new route.

[0003]

According to the conventional method, a new route to the destination is searched at a point where it is recognized that the route has been deviated, or the route is deviated if a new route is not found. It will guide you back to the intersection of the points. Therefore, in order to return to that point, it may be necessary to make a U-turn without giving priority to the direction of travel of the vehicle, and it will take a long time to search for the route, which makes it necessary for the driver to stop and wait for the vehicle. was there.

It is an object of the present invention to provide a vehicular navigation device that searches and guides a route by giving priority to the traveling direction of the vehicle when the vehicle deviates from the route.

Another object of the present invention is to provide a vehicular navigation device which searches for and guides the shortest route from the current position to the first route when the route is deviated. Still another object is to provide a vehicular navigation device that automatically selects and guides the shortest route to the first route and a route different from the first route depending on conditions.

[0006]

In order to achieve the above object, the first invention is a vehicle navigation device for automatically performing route guidance according to a preset route, in which map information and search information around the present location are provided. Storing means, a means for measuring the current position of the own vehicle, a means for detecting an out-of-route of the own vehicle, and when the out-of-route is detected, the traveling direction of the own vehicle is prioritized based on the search information. , Means for performing a route search from the current location to the previous route,
The route is connected to the searched route to create a new route, and the route is controlled by the new route. In a second aspect based on the first aspect, the storage means stores map information and search information between the current position and the destination, and the route search executing means prioritizes the traveling direction of the host vehicle based on the search information. , Is configured to execute an entire route search from the current location to the destination. Further, the third invention comprises means for selecting each route re-searched in the first invention and the second invention according to the input condition or the setting condition, and a means for controlling the guidance by the selected route. In the configuration.

[0007]

According to the first aspect of the present invention, when the deviation from the route is detected, the stored search information around the current position is read out and the preceding route road sequence, the current position road, and the traveling direction of the own vehicle are taken into consideration. Then, a search from the current position to the previous route is executed, and by connecting the searched route to the previous route, it is possible to quickly calculate the route that joins the previous route. According to the second aspect of the invention, based on the search information between the current position and the destination, the traveling direction of the own vehicle is prioritized, all routes from the current position to the destination are searched, and guidance guidance is provided on a route different from the previous route. By doing so, the driver can intentionally deviate from the route due to road conditions such as traffic congestion or difficulty in traveling due to construction, so that the driver can search another route while traveling when he wants to travel on another route. If this function is not available, it is necessary to search the route again by inputting the current location and the destination from the place off the route.

According to the third aspect of the invention, the route joining the previous route by the route search around the current location and the new route by the whole route search are automatically performed according to the condition input by the driver or the condition preset in the system. To choose.
For example, when the driver deviates from the route and recognizes that the driver has deviated from the route and selects the re-search function, the present system gives priority to the traveling direction of the vehicle and searches for a route for returning to the previous route earlier. However, if there is no route that returns to the previous route due to the peripheral search of a position off the route, this system automatically searches for a route different from the previous route by giving priority to the traveling direction of the vehicle. To do. By such route search, guidance guidance to the destination is resumed without stopping the vehicle.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a hardware configuration of a vehicle navigation device of the present invention. The vehicular navigation device includes a map information storage unit 10 in which navigation data required for route calculation, guidance data required for guidance, and the like, and a calculation unit 20 that controls the entire system.
And a voice control unit 30 which converts voice data into an analog signal according to a guidance command from the arithmetic unit 20 and drives the speaker 34 to output a guidance voice, and a driver's request or route guidance is automatically displayed on the screen. A display unit 28, an input unit 19 for inputting a destination and requesting route guidance, and a current position measuring unit 1 for determining the current position of the vehicle.
2 and a route storage unit 24 that stores route data calculated by the calculation unit 20 according to the destination. The map information storage unit 10 is a database in which all data such as map data and display guidance data necessary for route guidance is recorded. Among these data, the data required for route search is the search data storage unit 10a. It is stored in.

The current position measuring unit 12 receives the position information of the vehicle received by the GPS receiver 14 using the satellite navigation system (GPS), the direction information detected by the direction meter 16, and the distance information detected by the range meter 18. , And the current position of the host vehicle based on the map information read from the map information storage unit 10, and sends the current position information to the calculation unit 20. Here, the azimuth meter 16 detects the traveling azimuth of the host vehicle based on the geomagnetism. Further, the distance meter 18 detects the traveling distance based on the rotation speed of the wheels.

The input unit 19 inputs the destination and route setting conditions, gives an instruction for re-search, and allows the driver to obtain guidance information by voice and / or on-screen display when necessary. The calculation unit 20 is instructed to perform the processing required for the navigation. The calculation unit 20 includes the map information read from the map information storage unit 10 and the current position measuring unit 1.
2 calculates the route to the destination based on the current location information and stores the route data in the route storage section 24; the guidance information and the current location information stored in the map information storage section 10; And a route guidance control unit 26 that executes voice guidance and / or display guidance automatically or by a request signal based on the route information.

The route calculation unit 22 includes a route guidance control unit 2
6 has a recalculation function for obtaining a route from a route deviated by a predetermined route search method to a destination on the basis of a route research instruction from the input unit 19 on the basis of detection of a route deviation. Recalculation unit 22a as a realization means
Is equipped with. The route guidance control unit 26 includes an out-of-route detection unit 22a that detects that the selected route is traveling outside a predetermined distance, and when the out-of-route detection unit 22a detects the out-of-route. The display of the guidance stop button 108b is deleted from the section diagram screen shown in FIG. That is, the guidance cancellation function is stopped, and
The re-search button 108d shown in is displayed, and the driver is prompted to re-search the route from the off-route point. For the detection of the off-route, for example, the method disclosed in JP-A-1-173815 can be used.

The display unit 28 is composed of a color CRT or a color liquid crystal display, and is provided in the instrument panel near the driver's seat. The driver can confirm the current location of the vehicle by looking at the section map and the intersection map, and obtain information about the route from now on, as well as the direction of the intersection such as the course change and the right and left turn at this intersection. Check. The display 28 includes a route setting screen based on map data and guidance data processed by the route guidance control unit 26, a route search diagram screen, a route re-search diagram screen, an entire route diagram screen, a section diagram screen, an intersection diagram screen, All screens required for navigation, such as the arrival guide map screen, are output in color.

Further, the above-mentioned screen is provided with function buttons for setting route guidance, guiding during route guidance, and switching screens. That is, the display unit 28 is provided with a touch panel corresponding to the button display,
The above operation is executed based on a signal input by button touch. The input signal generating means composed of the buttons and the touch panel constitutes the input section 19, but the detailed description thereof will be omitted here.

By the way, on the section diagram screen 40 displayed after the start of guidance, as shown in FIG. 2, the route 100, the road 102 other than the route, and the mark 1 of the own vehicle on the route are displayed.
04 and a traveling direction mark 106 are displayed, and a function button 108 for accessing from this screen is provided. In this example, the route is displayed in red 100, and in order to display the detail button 108a for enlarging a part of the area, the guidance stop button 108b for stopping the guidance and the entire route as function buttons at the bottom. The screen has a wide area button 108c. If the vehicle deviates from the route by a predetermined distance during the guidance, the guidance stop button 108b disappears and the re-search button 1 shown in FIG.
It changes to the section map 40A in which 08d is displayed. When this re-search button 108d is pressed, the route re-search is started, and
The route search map 50 shown in is opened and "Searching" is displayed on the screen.
Is displayed.

Further, this screen is provided with a reset button 108e for confirming the searched route.
When the reset button 108e is pressed, the newly confirmed all route diagram screen 60 shown in FIG. 5 is opened. In this example, the route closest to the first route from the deviated point is A
A new route to the point is displayed in addition to the previous route. Here, when the guidance start button 108f is pressed, the guidance guidance is started again.

In response to a voice guidance command from the route guidance control unit 26, the voice control unit 30 synthesizes a voice, a phrase, a sentence, a sound, etc. read from the voice storage unit 32 and outputs them from the speaker 34. . This voice memory 32
The voice guidance data such as operation guidance at the time of setting a route, voice guidance data of a target name on the route, and guidance voice data necessary for voice guidance during route guidance are compressed and stored. When the route guidance control unit 26 issues an instruction to display the entire route map, the voice control unit 30 outputs the target name displayed on the entire route display screen from the speaker 34 as guidance voice. In this example, as the target name guidance voice, for example, "It is a route through the high-speed Nagoya interchange" is output.

Next, the route re-search process when the route is deviated will be described. FIG. 6 is a flowchart showing the first embodiment of the route re-search process. The present embodiment is characterized in that when the vehicle departs from the route, the route is searched so that the first route prioritizing the shortest distance is prioritized in the traveling direction of the vehicle and the vehicle first joins the first route earlier. . The detection of the deviation from the route is performed by the timer interrupt processing.

When the deviation from the route is detected (S1), FIG.
The re-search button is displayed as shown in (S2). Next, it is determined whether or not the vehicle is on the route (S3). Immediately after you notice that you are off the route, you may return to the route. In such a case, it is determined that the user is on the route in S3, and the display of the re-search button is erased (S4),
Return to S1. On the condition that it is off the route, it is determined whether the re-search button has been pressed (S5).
If it is not pressed, it is judged again whether it is on the route (S
3). When the re-search button is pressed and turned on, the peripheral route re-calculation routine is activated.

FIG. 7 shows the processing flow of the peripheral route recalculation routine. 8 and 9 show the processing flow of the traveling direction and penalty calculation routine at each intersection in the direction returning to the previous route. FIG. 10 illustrates the processing content of each step in the peripheral route recalculation processing. When the peripheral route recalculation routine is activated, first, search data around the current position of the vehicle is read from the search data storage unit 10a of the map information storage unit 10 (S6) (see FIG. 10 (1)). Then, the road sequence data of the route (hereinafter referred to as "previous route") which is guided and guided before leaving the route is acquired from the route storage unit 24 (S7) (see FIG. 10 (2)). The route is defined by a road string (arrows on the route) obtained by connecting roads between intersections. Further, “acquisition” means copying data from the route storage unit 24 to the work area of the route calculation unit 22.

Then, the traveling direction and the penalty at each intersection are calculated in the direction returning to the previous route (FIG. 10).
(3)). That is, all the intersections around the present are initialized, the state flag is not searched, the penalty is set to ∽, and the traveling direction is set to none (S100). A traveling direction and a penalty are set at intersections on the previous route around the current location, and each intersection is considered to be under search (S101). Whether or not there is an intersection under search is determined (S102), and if there is an intersection under search, the intersection with the smallest penalty is searched for (S103). If an intersection is found, the status flag of the intersection is changed to searched (S104). The penalty of the intersection connected to the corresponding intersection is calculated (S105). This penalty is calculated based on distance, road width, traffic light, turning left, and so on.
In addition, “∽” is used for prohibiting entry, not connecting due to one-way traffic, and for U-turns.

It is determined whether the calculated penalty is smaller than the previous penalty (S106), and if it is larger, it is determined whether there is another connecting intersection (S111). If it is smaller, the penalty is updated (S107) and the traveling direction is updated (S108). It is determined whether or not the state flag of the connecting intersection is being searched (S109), and if it is being searched, it is determined whether or not there is another connecting intersection (S11).
1). When the connecting intersection is not being searched, the status flag of the connecting intersection is changed to searching (S110). After that, it is determined whether there is another connecting intersection (S11).
1). When there is no other connecting intersection, the process returns to S105, the penalty of the intersection connecting to the corresponding intersection is calculated, and the processes of S106 to 111 are performed based on the result. On the other hand, if there is another connecting intersection, the process returns to S102 to determine whether or not there is an intersection under search, and the process ends.

Returning to the processing of FIG. 7, the current position road and the traveling direction of the vehicle are acquired based on the current position information from the current position measuring unit 24 and the map information from the map information storage unit 10 (S8) ( See FIG. 10 (4). Subsequently, a search from the current position to the previous route is performed based on the traveling direction at each intersection calculated in the processing of FIGS. 8 and 9 (S9).
(See FIG. 10 (5)). Route searched (new route)
Then, the road sequence is created using the previous route and the previous route as the guide route from now on (S10) (see FIG. 10 (6)).
Based on this recreated road sequence, the entire route map will be displayed, press the reset button, set the recalculated route data stored in the route storage unit, and then press the guidance start button on the screen. Thus, guidance guidance is newly started.

FIG. 11 is a flow chart showing a second embodiment of the route re-search process. The present embodiment is characterized by a route search that considers the traveling direction without considering the first route when departing from the route. This route re-search is operated on the screen 70 of the route search diagram used when setting the route shown in FIG. On this screen 70, a search button 108g for instructing execution of route search is provided.

First, it is determined from the map information and the current location information whether or not there is a route from a point outside the route to the destination (S20). If there is no route, it is determined whether or not the search button has been pressed. Yes (S21). If the search button has not been pressed, this route search ends. On the other hand, if the search button is pressed, it is determined whether the vehicle is running (S
22) When the vehicle is running, the all-routes calculation routine (hereinafter referred to as "first all-routes calculation routine") in consideration of the traveling direction is started. If the vehicle is not traveling, it is determined whether the vehicle is on the road (S23). When the vehicle is on the road, that is, when the vehicle is stopped on the road, the first all-routes calculation routine is started. When the vehicle is not on the road, that is, when the vehicle is in a place such as a parking lot or a private land, an all-routes calculation routine (hereinafter referred to as a "second all-routes calculation routine") that does not consider the traveling direction is started.

In S20, if there is a route, the guidance stop button is pressed to determine whether or not it is in the guidance stop mode (S24). In the guidance stop mode, the re-search button is clicked on the route search screen. (S27).
If it is not in the guidance stop mode, it is judged whether or not it is on the route (S25), and if it is on the route, the re-search button is erased (S26), and this process is ended. On the other hand, if the button is not on the route, the re-search button is displayed (S27), and it is determined whether the button has been pressed (S28). If it is pressed, the first all-routes calculation routine is started. If it has not been pressed, this process ends.

The first all-routes calculation routine will be described with reference to FIG. 12. First, the current location road and the traveling direction are acquired from the current location information and the map information (S30), and the destination road and the map information are input to the destination road. Is acquired (S3
1). Next, the search data from the current position to the destination is read (S32), the route between them is recalculated and searched (S33). The subsequent operation screen is displayed in the same manner as in the above-mentioned first embodiment. The second all-routes calculation routine will be described with reference to FIG. 13. First, the current location road is acquired from the current location information and the map information (S40), and the destination road is acquired from the input destination information and map information (S41). .
Next, the search data from the current position to the destination is read (S42), the route between them is recalculated and searched (S42).
43). The subsequent operation screen is displayed in the same manner as in the above-mentioned first embodiment.

FIG. 15 is a flow chart showing the third embodiment of the route re-search process. In the present embodiment, when the vehicle departs from the route, the first route search in which the traveling direction is considered without considering the first route and the second route in which the traveling direction is considered without considering the first route are performed. The feature is that the search and the search are selectively used according to conditions. Note that the first route search is the first route shown in FIG.
Since the peripheral route recalculation routine shown in S1 to S4 of the embodiment and FIG. 7 and the all route recalculation routine shown in FIG. 13 are used in the second route search, the description thereof is omitted here.

First, the first route search process is executed to recalculate the peripheral routes. From this result, it is judged whether or not the route can be searched (S50), and when the route is searched, the search ending process by the route is performed. If the route cannot be searched due to a dead end, the second
The route search is executed and all routes are recalculated. When a route is searched in this way, a search termination process for that route is performed. In the present embodiment, as the setting condition of the present system, it is determined whether or not the route search has been performed, but it is also possible to set the determination condition to be, for example, that the distance to the destination is short. It is also possible to select and input conditions prepared in advance on the route re-search setting screen.

[Brief description of drawings]

FIG. 1 is a block diagram showing a system configuration of a vehicle navigation device of the present invention.

FIG. 2 is a diagram showing an example of a screen display of a section map.

FIG. 3 is a diagram showing an example of a screen display of a section diagram when a route is off.

FIG. 4 is a diagram showing an example of a screen display of a route re-search diagram.

FIG. 5 is a diagram showing an example of a screen display of an all-routes diagram after route re-search.

FIG. 6 is a flowchart up to recalculation of peripheral routes in the search process for the shortest route to the previous route.

FIG. 7 is a flowchart of peripheral route recalculation.

FIG. 8 is a flowchart for calculating a traveling direction and a penalty at each intersection in a direction returning to the previous route.

FIG. 9 is a flowchart following FIG.

FIG. 10 is a diagram for explaining each processing content in the peripheral route recalculation.

FIG. 11 is a flowchart of another route re-search process.

FIG. 12 is a flowchart for calculating all routes in consideration of the traveling direction.

FIG. 13 is a flowchart of all route calculation without considering the traveling direction.

FIG. 14 is a diagram showing an example of a screen display of a route search diagram.

FIG. 15 is a flowchart of a process for automatically selecting a shortest route search to a previous route and a new route search using all routes.

[Explanation of symbols]

10 map information storage unit, 12 current position measurement unit, 14
GSP receiver, 16 direction sensor, 18 distance sensor,
20 arithmetic unit, 22 route calculation unit, 26 route guidance control unit, 28 display unit, 30 voice control unit, 32 voice storage unit, 40 section diagram, 50 route re-search diagram, 60 all route diagram, 70 route search diagram, 100 Guided route (all route display), road display other than 102 route, 108
Function button

Claims (3)

[Claims] 1. A vehicle navigation device for automatically performing route guidance according to a preset route, comprising: storage means for storing map information and search information around the current location; and means for measuring the current location of the vehicle. A means for detecting an out-of-route of the host vehicle, and a means for executing a route search from the current position to the previous route by prioritizing the traveling direction of the own vehicle based on the search information when the out-of-route is detected, A vehicle navigation device comprising means for connecting the established route to a previous route and creating a new route, and means for controlling guidance by the new route. 2. A vehicle navigation device for automatically performing route guidance according to a preset route, a storage means storing map information and search information between a current position and a destination, and a current position of the own vehicle. A means for measuring, a means for detecting an out-of-route of the own vehicle, and when an out-of-route is detected, priority is given to the traveling direction of the own vehicle based on the search information, and an entire route search from the current position to the destination is executed. A vehicle navigation device comprising: a means for controlling and a means for controlling guide guidance along the searched route. 3. A vehicle navigation device for automatically performing route guidance according to a preset route, a storage means for storing map information and search information, a means for measuring the present location of the vehicle, A means for detecting an out-of-route of the vehicle, and a means for executing a route search from the current location to the previous route by prioritizing the traveling direction of the own vehicle based on the search information around the current location when the out-of-route is detected, A route that connects the established route to the previous route and creates the first route, and prioritizes the direction of travel of the vehicle based on the search information between the current location and the destination, and searches all routes from the current location to the destination. And means for creating a second route, means for selecting the first or second route according to input conditions or setting conditions, and guidance for the selected route. Vehicle navigation apparatus comprising means for Gosuru, the.