JPH08261782A - Navigation device for vehicle - Google Patents

Abstract

PURPOSE: To facilitate the selection of routes, by searching for and guiding the shortest route to return to an original route when the route is off curse and searching for all routes if a predetermined condition is fulfilled. CONSTITUTION: When a route guide control part 26 detects that the route is off course, an operation part 20, in response to a re-search instruction from an input part 19, searches for a route connected to a preliminarily set first route from a present position by means of a re-search means 22a based on data of the present position of one's own vehicle from a present position- measuring part 12 and map data stored in a memory means 10. Then, a route- calculating part 22 calculates all routes from the present position to a destination based on the present position data of one's own vehicle and map data stored in the memory means 10, whereby a second route is newly searched. One of the routes is selected according to a predetermined condition. The route guide control part 26 controls guiding by the route formed by the re-search means 22a.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular navigation device that provides route guidance according to a route to a preset destination, and more specifically, a route where guidance is provided (first route). In case of deviation from the route, a route search for searching a route for connecting to the first route and a route search for a new route to the destination are automatically selected according to predetermined conditions. The present invention relates to a vehicular navigation device having a route re-search function for creating a second route from a searched route.

[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. In other words, there are two search methods, a new route search to a destination and a return search to an intersection at a deviated point, but a method for selecting them has not been provided. Therefore, an object of the present invention is to search for and guide the shortest route from the current location with a short search time to the first route when deviating from the route, and the predetermined condition is satisfied after the peripheral route search to return to the first route. In some cases, it is an object of the present invention to provide a vehicular navigation device in which all routes are searched.

[0004]

In order to achieve the above-mentioned object, the invention of claim 1 is a vehicle navigation device for performing route guidance according to a route to a preset destination. Current location information detecting means, storage means storing map information, and detecting whether the current location information of the vehicle detected by the current location information detecting means deviates from a preset first route to the destination. And a current position based on the current position information of the own vehicle and the map information stored in the storage means when the own-vehicle deviates from the first route by the off-route detecting unit. Re-searching means for searching a route connecting to the first route from the above, and searching a second route connecting the searched route to the first route; When it is detected that the host vehicle deviates from the first route, the new route is calculated by calculating all routes from the present position to the destination based on the present position information of the own vehicle and the map information stored in the storage means. And a second re-search means for searching the second route, and selecting either the first re-search means or the second re-search means under a predetermined condition,
The control means controls the guidance by the second route created by the re-search means. According to a second aspect of the present invention, in the first aspect of the invention, the control means selects the first re-search means, and the second re-search is performed when the search result by the first re-search means does not satisfy a predetermined condition. The search means is selected, and the guide route is controlled by the second route created by the re-search means. Also,
According to a third aspect of the present invention, in the first aspect of the present invention, there is provided a determining means for determining whether or not the current position of the own vehicle is on the road, based on the current position information of the own vehicle detected by the current position information detecting means, The control means adds information on whether to give priority to the traveling direction of the own vehicle based on the judgment result by the judgment means, selects the first re-search means and the second re-search means under predetermined conditions, and the re-search means The guide route is controlled by the created second route. Further, the invention of claim 4 is, in the invention of claims 1 to 3, configured such that the predetermined condition is a comparison of distances to predetermined points. Further, the invention of claim 5 is, in the invention of claims 1 to 3, configured such that the predetermined condition is a condition designated from a plurality of conditions prepared in advance. According to a sixth aspect of the present invention, in the first aspect of the invention, the first re-search means is based on the current location information of the host vehicle, the map information stored in the storage means, and the first route information. In the configuration, a route connecting to the route is searched, and the searched route is connected to the first route to create the second route. According to the above configuration, the second route connected to the first route by the route search around the current location and the new second route by the entire route search are selected under predetermined conditions, and the route deviation is detected. Then, the first or second re-search means is automatically selected under predetermined conditions,
Created based on the route searched by the re-search means,
Guidance is provided by the second route. Therefore, the route search around the current location and the entire route search are automatically selected, so that either route can be provided to the driver without fail. In addition, the driver can save the operation by being automatically selected. Further, when the deviation from the route is detected, the judging means judges whether or not the vehicle is on the road, and based on the result, the first or second re-search means is added by adding information on whether or not the traveling direction of the own vehicle is prioritized. Is automatically selected,
It is possible to restart the guidance guidance to the destination without stopping the car or making a U-turn.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION 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 vehicle navigation device includes a map information storage unit 10 in which navigation data necessary for route calculation, guidance data necessary for guidance, and the like, a calculation unit 20 that controls the entire system, and a calculation unit 20. A voice control unit 30 which converts voice data into an analog signal in response to a guide command from the driver and outputs a guide voice by driving the speaker 34, and a display unit 28 which displays a route guide screen or a driver's request or automatically.
And an input unit 19 for inputting a destination or requesting route guidance, a current position measuring unit 12 for determining the current position of the own vehicle, and route data according to the destination calculated by the calculation unit 20. It is composed of a route storage unit 24 for storing. 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 azimuth information detected by the azimuth meter 16, and the distance information detected by the distance meter 18. The current position of the host vehicle is determined based on the above, and the current position information is sent to the calculation unit 20. Here, the azimuth meter 16 detects the current position of the 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 a destination or a route setting condition, instructs a re-search, and provides navigation information by voice and / or screen display when needed by the driver, so that the navigation is performed by the driver's will. The arithmetic unit 20 is instructed to perform necessary processing. 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
Based on the route deviation detection from 6, the route re-search instruction from the input unit 19 is used to recalculate the route connecting to the route from the current position of the own vehicle to the preset destination,
It has a recalculation function for connecting the recalculated route and a preset route to obtain a new route, and has a re-search means 22a as a function realizing means. Also,
The route calculation unit 22 also has a function of recalculating all routes from the current position of the own vehicle to the destination by the re-search means. The route guidance control unit 26 includes an out-of-route detection unit 22a that detects whether or not the current position of the vehicle is traveling a predetermined distance with respect to the selected route, and the out-of-route detection unit 22a. 2 detects an off-route,
The display of the guidance stop button 108b is deleted from the section diagram screen shown in FIG. That is, the guidance stop function is stopped, and the re-search button 108d shown in FIG. 3 is displayed to prompt the driver 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, performing guidance during route guidance, and switching screens. That is, the display unit 28
Is provided with a touch panel corresponding to the button display, and 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. When the current position of the vehicle deviates from the route by a predetermined distance during the guidance guidance, the guidance stop button 108b disappears and the section map 40A in which the rediscovery button 108d shown in FIG. 3 is displayed is displayed. When the re-search button 108d is pressed, the route re-search is started, the route search map 50 shown in FIG. 4 is opened, and "searching" is displayed on the screen.

Further, a reset button 108e for fixing the searched route is provided on this screen.
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
The route to the point is additionally displayed in the previous route. Here, the previous route is the first route as a route to the preset destination, and the route in which the route to the point A is added to this previous route is searched by giving priority to the traveling direction of the own vehicle. , A new second route from the current position of the vehicle to the destination. When the guidance start button 108f is pressed, the guidance guidance is started again. Voice control unit 30
The voice guidance command from the route guidance control unit 26 synthesizes voices, phrases, sentences, sounds, etc. read from the voice storage unit 32 and outputs them from the speaker 34. In the voice storage unit 32, voice guidance data such as operation guidance at the time of route setting, 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. . Further, the voice control unit 30
When the route guidance control unit 26 issues a display instruction for the entire route, the target name displayed on the entire route display screen is output 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), the re-search button is displayed as shown in FIG. 3 (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 in S3 that it is on the route,
The display of the re-search button is erased (S4), and the process returns 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 has not been pressed, it is judged again whether or not it is on the route (S3). 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. Also,
For each road between the intersections, the direction from the traveling direction of the vehicle to the front route is weighted. 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 when making a U-turn.

It is judged whether the calculated penalty is smaller than the previous penalty (S106), and if it is larger, it is judged 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 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 (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. Further, instead of the traveling direction at each intersection, the traveling direction may be weighted for each road between the intersections.

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, with map information and current location information,
It is determined whether or not there is a route from a point off the route to the destination (S20), and if there is no route, it is determined whether or not the search button has been pressed (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 or not the vehicle is traveling (S22), and if the vehicle is traveling, the entire route calculation routine in which the traveling direction is taken into consideration (hereinafter referred to as "first entire route calculation routine").
Start). 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. Then, 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 a third embodiment of the route re-searching process. In the present embodiment, when the vehicle departs from the route, a first route search in which the traveling direction is considered without considering the first route and a 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, the setting condition of the present system is to judge whether or not the route can be searched, but it is also possible to set the judgment condition to be, for example, that the distance to the destination is short. . That is, as a result of recalculating the peripheral routes, if there is no route that can be connected to the original route, all routes from the position where the re-search button is pressed to the destination are recalculated. It is also possible for the system to compare the two routes in advance and perform output processing with the shorter distance to the destination as the determination condition. This prevents inadvertent detours. It is also possible to select and input conditions prepared in advance on the route re-search setting screen, such as designation of which re-search is to be prioritized and designation of the number of peripheral searches. Instead of inputting these conditions by designating, the number of times of recalculation of peripheral routes is set to, for example, 3 times, and if the second route is not created within this number of times, the entire route search is performed.
Of course, it is also possible to preliminarily incorporate the software into the system and perform automatic processing.

[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 ... Calculation unit, 22 ... Route calculation unit, 26 ... Route guidance control unit, 28 ... Display unit, 30 ... Voice control unit, 32 ... Voice storage unit, 40 ... Section map, 50 ... Route re-search map, 60 ...
All route map, 70 ... Route search map, 100 ... Guided route (all route display), 102 ... Road display other than route,
108 ... Function button

Claims (6)

[Claims] 1. A navigation device for a vehicle that guides a route according to a route to a preset destination; Route deviation detecting means for detecting whether or not the current position information of the vehicle detected by the current position information detecting means deviates from a preset first route to the destination; When it is detected that the vehicle deviates from the first route, a route connecting from the current position to the first route is searched based on the current position information of the own vehicle and the map information stored in the storage means, and the search is performed. The first re-search means for searching a second route connecting the established route to the first route, and the vehicle deviation from the first route by the route deviation detecting means. When a is detected, a new second route is searched for by calculating all routes from the current position to the destination based on the current position information of the own vehicle and the map information stored in the storage means. A control means which comprises a re-searching means, selects one of the first re-searching means and the second re-searching means under a predetermined condition, and controls the guidance by the second route created by the re-searching means. A vehicle navigation device comprising: 2. The control means selects the first re-search means, selects the second re-search means when the search result by the first re-search means does not satisfy a predetermined condition, and selects the re-search means. The vehicle navigation device according to claim 1, wherein the guidance guidance is controlled by the second route created in (1). 3. A judging means for judging whether or not the current position of the own vehicle is on a road based on the current position information of the own vehicle detected by the present position information detecting means, and the control means is provided by the judging means. According to the determination result, information on whether or not the traveling direction of the own vehicle is prioritized is added, and the first re-search means and the second re-search means are selected under predetermined conditions,
The vehicle navigation device according to claim 1, wherein the guidance guidance is controlled by the second route created by the re-search means. 4. The vehicular navigation device according to claim 1, wherein the predetermined condition is a comparison of distances to predetermined points. 5. The vehicle navigation device according to claim 1, wherein the predetermined condition is designated from a plurality of conditions prepared in advance. 6. The first re-search means determines a route connecting from the current location to the first route based on the current location information of the vehicle, the map information stored in the storage means, and the first route information. Search, and the searched route is the first
The vehicle navigation device according to claim 1, wherein the second route is created by connecting to the route of.