JPH08313290A - Navigation apparatus and navigation method - Google Patents

Abstract

PURPOSE: To properly guide a route during actual running, by installing a plurality of detection means for detecting whether or not an angle defined by an entering direction and an advancing direction is within a predetermined angular range, and an advancing direction guide means for guiding a vehicle to an advancing direction at crossroads. CONSTITUTION: A first detection means detects whether or not an angle defined by an entering direction of one's own vehicle to a cross point present on an advancing route and a first advancing direction which is an advancing direction from the cross point to a supposed advancing road corresponding to the advancing route is within a predetermined angular range based on the entering direction and the first advancing direction. A second detection means detects whether or not an angle defined by an entering direction and a second advancing direction is within the predetermined angular range based on the entering direction and the second advancing direction which is an advancing direction from the cross point to a different road from the supposed advancing road at the cross point. A third detection means detects whether or not the first and second advancing directions are included within the predetermined angular range. A fourth detection means detects a relative directional relation between the first and second advancing directions, and an advancing direction guide means guides an advancing direction for the vehicle at the cross point.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device and a navigation method, and more particularly to measuring the position of a vehicle,
The present invention relates to a navigation device and a navigation method used in a vehicle-mounted navigation system that guides a route.

[0002]

2. Description of the Related Art Conventionally, there is a so-called self-contained navigation device as a positioning device for various moving bodies such as automobiles, airplanes, and ships. This self-contained navigation device obtains a two-dimensional displacement (vector amount) of the moving body from the azimuth data from the azimuth sensor and the speed data from the speed sensor, integrates the two-dimensional displacement at the reference point, It seeks the current position. For example, in the case of an automobile, the current position (data) is obtained by integrating the accumulated traveling distance and the accumulated azimuth obtained from the traveling distance sensor and the azimuth sensor at the reference point. More specifically, for example, the rotation speed of the drive shaft and the number of pulses generated by the rotation speed sensor attached to the drive shaft are preliminarily associated with each other, and based on the total number of pulses generated from the reference point to the current position, The calculated traveling distance is multiplied by the distance correction count to obtain the integrated traveling distance, and the integrated orientation is obtained by integrating the orientations obtained by the geomagnetic sensor.

A GPS (Global Positioning System) navigation device has been developed as a positioning device using artificial satellites. This GPS navigation device normally receives radio waves from three or more GPS satellites and
The present position (data) of the receiving point is obtained from the pseudo range data including the time offset of the receiver between the PS satellite and the receiving point (self position) and the position data of each GPS satellite.

As a mode of using these positioning devices as an actual navigation system, the latitude of the current position,
CRT (Cathode Ra
There is an advanced one that displays various data such as self-position, distance to the destination, and moving speed on the map screen displayed on the screen.

A navigation system for displaying various data on a CRT screen reads map data including the obtained current position from a storage medium such as a CD-ROM and screen data from the read map data and the obtained current position data. Is created and output to a CRT to display an image.

With this display image in the form of a map, the user can grasp his own current position in association with the map.

[0007]

By the way, in such a navigation system, there is a navigation system in which a route to be passed is set automatically or manually in advance and route guidance is provided by voice or display based on the set route.

In such a navigation system,
At an intersection or the like, route guidance such as a right turn or a left turn is provided according to the set route. More specifically, FIG.
As shown in (a), when turning right on a four-way road, as shown in FIG. 9 (b), the angle formed by the traveling direction after the right turn is larger than the threshold angle θ _{th with} respect to the traveling direction. If the angle formed by the traveling direction after making a right turn with respect to the traveling direction is larger than the threshold angle, "right turn" is detected.
That is done by voice or display.

In this case, although the threshold angle θ _th is set on a road which is perceived by the user as a straight line, the actual road is not necessarily a straight line but is gently curved. This is to prevent the route guidance from being erroneously performed in such a case.

Therefore, in the case of making a right turn on a three-way road as shown in FIG. 9 (c), as shown in FIG. 9 (d), the angle θ _T formed by the advancing direction after the right turn with respect to the advancing direction.
Is smaller than the threshold angle θ _th , it cannot be determined that the user is making a right turn even though the user feels that the user is making a right turn, and thus guidance for turning to the right has not been given.

Further, as shown in FIG. 10, when a national road is branched into a prefectural road or the like, and the national road and the prefectural road are in the left turn direction with respect to the traveling direction toward the intersection, the vehicle runs on the national road. From the perspective of the user, although it is a right turn to go to the prefectural road from the side of the national highway, it is possible to determine that it is a left turn (or straight ahead) when seen from the direction before entering the intersection, so guidance for left turn There is a possibility that the vehicle may come out, and the route may be guided in the wrong direction (the direction of the national road in the figure).

Therefore, in a road situation that is more difficult for the user to discriminate, accurate route guidance is not performed, or route guidance (guidance) is not performed.
There was a problem that it was not easy to use.

Therefore, an object of the present invention is to prevent the user from making a mistake in the determination of the traveling route in actual traveling.
An object of the present invention is to provide a navigation device and a navigation method capable of performing appropriate route guidance.

[0014]

In order to solve the above-mentioned problems, the invention according to claim 1 is a navigation device for guiding the route of the vehicle based on the current position of the vehicle and a preset traveling route, The approach direction is based on the approach direction of the vehicle to a road junction existing on the travel route and a first travel direction that is a travel direction from the road junction to the planned road corresponding to the travel route. And a first discriminating means for discriminating whether or not an angle formed by the first traveling direction is within a predetermined angle range, and from the road branch point to other roads other than the planned road at the road branch point. Second discriminating means for discriminating whether or not an angle formed by the advancing direction and the second advancing direction is within the predetermined angle range based on a second advancing direction which is an advancing direction and the advancing direction; First judgment A third discriminating means for discriminating whether or not the first advancing direction and the second advancing direction are included in the predetermined angle range based on the discrimination by the step and the second discriminating means, and the third discriminating means. A fourth method of determining a relative directional relationship between the first traveling direction and the second traveling direction when the first traveling direction and the second traveling direction are included in the predetermined angle range based on a determination result. And a traveling direction guiding means for guiding the traveling direction of the vehicle at the road junction based on the discrimination result of the fourth determining means.

According to a second aspect of the present invention, in a navigation device that guides the route of the own vehicle based on the current position of the own vehicle and a preset traveling route, the road is divided into predetermined units in advance, and the divided roads are divided. Storage means for storing a preset priority order for each, and the approach direction of the own vehicle to the road branch point existing on the traveling route and the progress from the road branch point to the planned road corresponding to the traveling route First determining means for determining whether an angle formed by the approach direction and the first direction of travel is within a predetermined angle range based on a first direction of travel, which is the direction of travel, and the approach direction and the road junction. Whether the angle formed by the approach direction and the second traveling direction is within the predetermined angle range based on a second traveling direction that is a traveling direction from the road to the other road except the planned road at the road branch point Whether or not the first advancing direction and the second advancing direction are included in the predetermined angle range based on the discriminations of the first discriminating unit and the second discriminating unit. A third discriminating unit that discriminates, and the first traveling direction and the second traveling direction are included in the predetermined angular range based on the discrimination result of the third discriminating unit, and the priority order of the planned traveling road And the priority of the road in progress corresponding to the current position of the vehicle is different, the relative directional relationship between the first traveling direction and the second traveling direction is determined based on the road having the higher priority. And a traveling direction guiding means for guiding the traveling direction of the vehicle at the road junction based on the discrimination result of the fourth determining means.

According to a third aspect of the present invention, in a navigation method for guiding the route of the own vehicle based on the current position of the own vehicle and a preset traveling route, the vehicle is routed to a road branch point existing on the traveling route. The angle formed by the approach direction and the first traveling direction is a predetermined angle based on the approach direction of the vehicle and the first traveling direction which is the traveling direction from the road branch point to the planned road corresponding to the traveling route. A first discriminating step of discriminating whether or not it is within a range, and a second traveling direction and an approaching direction which are traveling directions from the road branch point to other roads except the planned road at the road branch point On the basis of the second determination step of determining whether the angle formed by the approach direction and the second traveling direction is within the predetermined angle range, and the determination of the first determination step and the second determination step. On the basis of The third determination step of determining whether or not the first traveling direction and the second traveling direction are included in the predetermined angle range, and within the predetermined angle range based on the determination result of the third determination step. When a first traveling direction and the second traveling direction are included, a fourth discriminating step of discriminating a relative directional relationship between the first traveling direction and the second traveling direction, and a discrimination result of the fourth discriminating step. And a traveling direction guiding step for guiding the traveling direction of the vehicle at the road junction.

According to a fourth aspect of the present invention, in a navigation method for guiding the route of the vehicle based on the current position of the vehicle and a preset traveling route, the road is divided into predetermined units in advance, and the divided roads are divided. A storage step of storing a preset priority order for each, and the approach direction of the own vehicle to the road branch point existing on the traveling route and the progress from the road branch point to the planned road corresponding to the traveling route A first determining step of determining whether an angle formed by the approach direction and the first direction of travel is within a predetermined angle range based on a first direction of travel which is a direction; Whether the angle formed by the approach direction and the second traveling direction is within the predetermined angle range based on a second traveling direction that is a traveling direction from the road to the other road except the planned road at the road branch point Whether or not the first advancing direction and the second advancing direction are included in the predetermined angle range on the basis of the determinations of the first determining step and the second determining step. A third determining step of determining, and the first traveling direction and the second traveling direction are included in the predetermined angle range based on the determination result of the third determining step, and the priority order of the planned traveling road. And the priority of the road in progress corresponding to the current position of the vehicle is different, the relative directional relationship between the first traveling direction and the second traveling direction is determined based on the road having the higher priority. And a traveling direction guiding step for guiding the vehicle in the traveling direction at the road junction based on the determination result of the fourth determining step.

[0018]

According to the first aspect of the present invention, the first discriminating means sets the approaching direction of the vehicle to the road junction existing on the traveling route and from the road junction to the planned traveling road corresponding to the traveling route. Based on the first traveling direction which is the traveling direction, it is determined whether or not the angle formed by the approaching direction and the first traveling direction is within a predetermined angle range.

The second discriminating means determines the approaching direction and the second proceeding direction based on the second proceeding direction and the approaching direction which are the traveling directions from the road branching point to the roads other than the planned road at the road branching point. It is determined whether the angle formed by is within a predetermined angle range.

The third discriminating means discriminates whether or not the first advancing direction and the second advancing direction are included in the predetermined angle range based on the discriminations by the first discriminating means and the second discriminating means. As a result, when the first traveling direction and the second traveling direction are included in the predetermined angle range based on the discrimination result of the third discriminating means, the fourth discriminating means detects the first traveling direction and the second traveling direction. The relative direction relation is determined, and the traveling direction guiding means guides the traveling direction of the vehicle at the road junction based on the determination result of the fourth determining means.

According to the second aspect of the present invention, the storage means divides the road in advance in a predetermined unit, and stores a preset priority order for each divided road. The first discriminating means is based on the approach direction of the vehicle to the road junction existing on the travel route and the first traveling direction which is the travel direction from the road junction to the planned road corresponding to the travel route. It is determined whether or not the angle formed by and the first traveling direction is within a predetermined angle range.

The second discriminating means determines the approaching direction and the second approaching direction based on the approaching direction and the second moving direction from the road branching point to a road other than the planned road at the road branching point.
It is determined whether or not the angle formed by the traveling direction is within a predetermined angle range.

The third discriminating means discriminates whether or not the first advancing direction and the second advancing direction are included in the predetermined angular range based on the discriminations of the first discriminating means and the second discriminating means. The fourth discriminating means includes the first advancing direction and the second advancing direction within a predetermined angle range based on the determination result of the third discriminating means and the priority order stored in the storage means, and the priority order of the planned road. And the priority of the road in progress corresponding to the current position of the vehicle is different, the road with the higher priority is used as a reference,
A relative directional relationship between the first traveling direction and the second traveling direction is determined.

As a result of these, the traveling direction guiding means is the fourth
Based on the determination result of the determination means, guidance is provided in the traveling direction of the vehicle at the road junction. According to the third aspect of the present invention, the first determination step includes the approach direction of the vehicle to the road junction existing on the travel route and the traveling direction from the road junction to the planned road corresponding to the travel route. Based on a certain first traveling direction, it is determined whether or not the angle formed by the approaching direction and the first traveling direction is within a predetermined angle range.

The second discriminating step determines the approach direction and the second approach direction based on the second approach direction and the approach direction which are the directions from the road branch point to the other roads except the planned road at the road branch point. It is determined whether the angle formed by is within a predetermined angle range.

The third discriminating step discriminates whether or not the first advancing direction and the second advancing direction are included in the predetermined angle range based on the discriminations of the first discriminating step and the second discriminating step. As a result, when the first traveling direction and the second traveling direction are included in the predetermined angle range based on the discrimination result of the third discriminating step, the fourth discriminating step determines the first traveling direction and the second traveling direction. The relative direction relationship is determined, and the traveling direction guidance step provides guidance in the traveling direction of the vehicle at the road junction based on the determination result of the fourth determination step.

According to the fourth aspect of the present invention, in the storing step, the road is divided into predetermined units in advance, and the preset priority order is stored for each divided road. On the other hand, the first determination step is based on the approach direction of the vehicle to the road branch point existing on the traveling route and the first traveling direction which is the traveling direction from the road branch point to the planned road corresponding to the traveling route. It is determined whether or not the angle formed by the approach direction and the first traveling direction is within a predetermined angle range.

The second discriminating step determines the approach direction and the second approach direction based on the approach direction and the second direction of travel from the road branch point to the other roads except the planned road at the road branch point.
It is determined whether or not the angle formed by the traveling direction is within a predetermined angle range.

The third discriminating step discriminates whether or not the first advancing direction and the second advancing direction are included in the predetermined angle range based on the discriminations of the first discriminating step and the second discriminating step. As a result, in the fourth discriminating step, the first traveling direction and the second traveling direction are included in the predetermined angle range based on the discriminating result of the third discriminating step, and the priority of the planned road and the own vehicle If the priority of the road in progress corresponding to the current position is different, the relative direction relationship between the first traveling direction and the second traveling direction is determined based on the road having the higher priority, and the traveling direction guiding step is performed. Based on the determination result of the fourth determination step, guidance is provided regarding the traveling direction of the vehicle at the road junction.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will now be described with reference to the drawings. FIG. 1 is a block diagram showing a basic configuration when the present invention is applied to a vehicle-mounted navigation system.

The on-vehicle navigation system 100 is
Geomagnetic sensor 1 that outputs direction data in the traveling direction of the vehicle
, An angular velocity sensor 2 that detects the angular velocity when the vehicle is rotating and outputs angular velocity data, a mileage sensor 3 that outputs mileage data by detecting and integrating the number of rotations of the shaft, and a radio wave from a GPS satellite. To input various data, a GPS receiver 4 for receiving GPS data and outputting GPS positioning data, a system controller 5 for controlling the entire navigation system based on azimuth data, angular velocity data, mileage data, and GPS positioning data. CD under the control of the input device 11 and the system controller 5
A CD-ROM drive 12 for reading and outputting various data from the ROM disk DK, and a display unit 1 for displaying various display data under the control of the system controller 5.
3 and a sound reproduction unit 18 that transmits various information by voice under the control of the system controller 5.

The system controller 5 includes an interface section 6 for interfacing with the outside, a CPU 7 for controlling the entire system controller 5, a ROM (Read Only Memory) 8 in which a control program for controlling the system controller is stored, R having a non-volatile memory unit (not shown) and writably storing various data
An AM (Random Access Memory) 9 is provided, and the input device 11, the CD-ROM drive 12, and the display unit 13 are connected via a bus line 10.

The display unit 13 controls the entire display unit based on the control data sent from the CPU 7 via the bus line 10.
4, a buffer memory 15 including a memory such as a VRAM (Video RAM) for temporarily storing image information that can be immediately displayed, and a display such as a liquid crystal display device or a CRT based on the image data output from the graphic controller 14. And a display control unit 16 that controls the display of the display unit 17.

The sound reproducing unit 18 outputs from the D / A converter 19 and the D / A converter 19 for performing digital / analog conversion of audio digital data sent from the CD-ROM drive 12 or the RAM 9 via the bus line 10. An amplifier 20 that amplifies the acoustic analog signal that is generated, and a speaker 21 that converts the amplified acoustic analog signal into acoustic vibration and outputs the acoustic vibration are configured.

Next, referring to FIG. 2, the branch point data used for route guidance will be described. The branch point data 30 is
When roughly classified, it is configured to include a branch point basic data 31 indicating a branch state or the like at the branch point, and a branch path data group 33 having a plurality of branch path data 32 corresponding to a branch path branched from the branch point. ing.

The branch point basic data 31 is the route point number data 34 representing the number of route points connected to the branch point and that the branch point is an entrance or an exit on the expressway when the branch point is on the expressway. And high-speed entrance / exit flag data 35 indicating

The branch road data 32 includes road type data 36 representing the road type connecting the corresponding route point and the branch point,
Route point number data 37 for identifying the corresponding route point
(= N _{0 to} N _n-1 ) and an angle (hereinafter referred to as an outflow angle) from the branch point toward the direction in which the route point exists, with a predetermined direction (for example, north direction) as a reference (= 0 °). And the outflow angle data 38, which is represented.

Here, referring to FIG. 3, the branch road data 32
Will be described. For example, if there are three route points ND _{0 to} ND ₂ connected to a certain intersection C, route point numbers N _{0 to} N ₂ are given to the respective route points ND _{0 to} ND ₂ , and this is The route point number data 37 is used.

More specifically, when there are n route points connected to the intersection C, the route point number data 37 is
It will have any value from 0 to (n-1). In addition, the angle when the direction of each of the route points ND _{0 to} ND ₂ is viewed with the predetermined direction as 0 ° with the intersection C as the center is the outflow angle θ.
_{It is 0 to} θ ₂ , and this is the outflow angle data 38.

More specifically, it is possible to use an actual angle as the outflow angle data 38 corresponding to the outflow angles θ _{0 to} θ ₂ , but in order to simplify the processing and reduce the data amount, 360. Dividing ゜ into 32, 360/32 = 11.25
If it is configured to have a value of 0 to 31 (hereinafter referred to as 32-divided angle data (corresponding to 5 bits)) corresponding to each angle of each degree, it is practically sufficient in terms of accuracy.

Further, the intersection C and each route point ND₀~ ND₂
Road L connecting₀~ L₂Road type C ₀~ C₂Is the road type
It is given as data 36. In this case the road type
Separately, toll roads, expressways, national highways, and major regions
Using road classification and priority such as roads and general prefectural roads
There is.

The priorities are set to general national roads, major local roads, and general prefectural roads, and the priority order becomes lower in the order of general national roads → main local roads → general prefectural roads. In other words, general national roads have the highest priority.

Now, the relationship between the inflow angle and the outflow angle will be described. For example, in the case of an intersection as shown in FIG. 3, the route point ND
_When traveling from ₂ to the route point ND ₀ side via the intersection C ₁ , the inflow angle θ _IN is the inversion angle of 180 ° (corresponding to “16” in 32 division data), and the 32 division angle data is obtained. When using, θ _IN = θ ₂ +16 (1) (However, if θ _IN ≧ 32 from the equation (1), θ _IN
= Θ ₂ -16. ).

Next, the operation of the embodiment will be described with reference to FIGS. Main Processing Operation First, the main processing will be described with reference to FIG.

The system controller 5 detects the current position of the vehicle on the basis of the output data of the geomagnetic sensor 1, the angular velocity sensor 2, the mileage sensor 3 and the GPS receiver 4, and uses a method such as map matching on the highway. It is determined whether or not the own vehicle is traveling (step S1).

If the vehicle is traveling on a highway in the determination of step S1, it is determined whether or not the exit flag is turned on by referring to the highway entry output flag data 35 of the branch point data 30. (Step S8) If the exit flag is on, voice guidance to the effect that the exit is present is given (step S19), and the process ends.

If it is determined in step S1 that the vehicle is not traveling on an expressway, and if it is determined in step S8 that the exit flag is off, the process proceeds to step S2.
Move to

Next, the system controller 5 determines whether or not the host vehicle is traveling toward a road branch point of three or more forks of a toll road (including a highway) (step S2).
If it is determined in step S2 that the vehicle is traveling toward a road junction that is three or more forks of the toll road, it is determined again whether the vehicle is traveling on the expressway (step S9).

If it is determined in step S9 that the vehicle is not traveling on the highway, the process A described later is performed (step S20). Here, the processing A and the processing B will be described with reference to FIGS.

When the process A is entered, the process B is performed (step S25). First, in process B, the advancing direction angle θ and θ = inflow angle−outflow angle are obtained (step S46). In this case, FIG.
As shown in FIG. 6, the traveling direction angle θ is θ = 0 “0” when it coincides with the traveling direction as shown by the 32-division angle data, and θ = “16” (θ) when the traveling direction is opposite to the traveling direction (that is, the coming direction). ₍ equivalent to _l1 or θ _r0 ), θ = “1” when traveling to the left
~ "15", θ = "17" when traveling to the right ~
It becomes "31".

Further, as a threshold value, as shown in FIG. 7, a left traveling direction angle threshold value θ _l0 for determining whether or not the vehicle is turning left.
And a rightward traveling direction threshold value θ _r1 for determining whether or not a right turn is made.

More specifically, when the values of the left advancing direction angle threshold value θ _l0 and the right advancing direction angle threshold value θ _r1 are expressed by 32 division angle data, the left advancing direction angle threshold value θ _l0 = 4 the right advancing direction angle threshold value θ _It is practically preferable that _r1 = 28.

Next, the system controller 5 determines whether or not the following expression (2) is satisfied (step S47). θ _r0 ≤ θ ≤ θ _r1 (2) If the expression (2) is satisfied in the determination in step S47, guidance indicating that the vehicle is turning right is provided (step S47).
50), the process B is ended.

In the determination of step S47, equation (2)
If is not satisfied, it is determined whether or not Expression (3) shown below is satisfied (step S48). θ _l0 ≦ θ ≦ θ _l1 (3) When the equation (3) is satisfied in the determination in step S48, guidance indicating that the vehicle is turning left is given (step S4).
51) and the process B is ended.

In the determination of step S48, equation (3)
If the condition is not satisfied, the vehicle guides that the vehicle will go almost straight and will reach the target stopover (step S4).
9) and the process B ends.

Next, in the process B, it is judged whether or not the guidance for the right turn or the left turn is performed (step S26), and when the guidance for the right turn or the left turn is performed, the process A is terminated.

In the determination in step S26, if the guidance for the right turn or the left turn is not provided, the route point number identification data i = 0 for identifying the route point connected to the road junction is set (step S27), Right turn voice guidance determination data r_voice = 0, and left turn voice guidance determination data l_voice = 0 is initialized (step S2).
8).

Next, the branch path data group 3 of the branch point data 30
3, the branch path data 32 having the route point number data 37 equal to the value of the route point number specifying data i is read (step S29).

Subsequently, based on the outflow angle data 38 of the read out branch road data 32, it is judged whether or not the direction of the corresponding route point from the road branch point is not the traveling direction (step S30), and the corresponding route point. If the direction from the road branch point is the traveling direction, the process proceeds to step S37.

When the direction of the corresponding route point from the road branch point is not the traveling direction in the determination of step S30, the direction of the corresponding route point from the road branch point is the own vehicle based on the outflow angle data 38. It is determined whether or not it is the direction (the opposite direction of the traveling direction) (step S31), and if the direction from the road branch point of the corresponding route point is the direction in which the vehicle is, the process is step S37. Move to.

If it is determined in step S31 that the direction of the corresponding route point from the road branch point is not the direction in which the own vehicle is, the process B (steps S46 to S50) is performed (step S32).

Subsequently, in the process B in step S32, it is determined whether or not the guidance for the right turn is provided (step S33). When the guidance for the right turn is provided, the right turn voice guidance determination data r_voice. = 1 (step S43), the process proceeds to step S37.

If it is determined in step S33 that the guidance indicating that the vehicle is turning right is not provided, it is determined whether the guidance indicating that the vehicle is turning left is performed (step S34), and the guidance that the vehicle is turning left is provided. If left, the left turn voice guidance determination data l_voice = 1 is set (step S4).
2), the process proceeds to step S37.

When the guidance indicating that the vehicle is turning left is not given in the determination in step S34, it is determined whether or not the vehicle is traveling to the left from the traveling direction, that is, whether or not 0 <θ ≦ θ ₁₀ is satisfied. (Step S35).

In the determination in step S35, if the vehicle is traveling to the left of the traveling direction, the left turn voice guidance determination data l_voice = 1 is set (step S42), and the process proceeds to step S37.

In the determination of step S35, if the vehicle does not proceed to the left of the traveling direction, it is determined whether to proceed to the right of the traveling direction, that is, whether θ _r0 ≤ θ (<0) is satisfied. Yes (step S36).

In the determination in step S36, if the vehicle is traveling to the right of the traveling direction, the right turn voice guidance determination data r_voice = 1 (step S43), and the process proceeds to step S37.

In the determination in step S36, if the vehicle does not proceed to the right of the traveling direction, i = i + 1 is set (step S37), and it is determined whether or not the following equation (4) is satisfied (step S38).

I <n (4) If the expression (4) is satisfied in the determination in step S38, the process proceeds to step S29 and step S29.
-Step S37 and Step S42-Step S43
Is repeated.

When the equation (4) is not satisfied in the determination of step S38, it is determined whether or not the conditions of l_voice = 1 and r_voice = 0 are satisfied (step S3).
9).

If the above conditions are satisfied in the determination in step S39, voice guidance indicating that the vehicle is turning left is performed (step S44), and the process A is terminated. When the above conditions are not satisfied in the determination of step S39, it is determined whether or not the conditions of l_voice = 0 and r_voice = 1 are satisfied (step S4).
0).

If the above conditions are satisfied in the determination in step S40, voice guidance indicating that the vehicle is turning right is performed (step S45), and the process A is terminated. If it is determined in step S40 that the above conditions are not satisfied, guidance that the target stopover will be reached is given (step S41), and the process A is ended.

When it is determined in step S9 that the vehicle is traveling on a highway, it is determined whether or not the road junction ahead in the traveling direction is a junction (JCT) (step S10).

If it is determined in step S10 that the road junction ahead in the traveling direction is not a junction,
The process ends. In the determination in step S10, if the road junction ahead in the traveling direction is a junction, the process proceeds to process A (step S21).

If it is determined in step S2 that the vehicle is not traveling toward the road junction of the three-way intersection or more of the toll road, the type of the road currently traveling and the progress schedule at the road junction in the traveling direction. It is determined whether or not the road type of the road is different (whether or not it is changed) (step S3).

If it is determined in step S3 that the road types are different from each other, it is determined whether the road type of the planned road is a ferry landing (step S11). Voice guidance to that effect is given (step S22), and the process ends.

If it is determined in step S11 that the road type of the planned road is not the ferry landing, it is determined whether the road type currently in progress is a general road and the road type of the planned road is a highway. Is determined (step S1
2) If the road type currently in progress is a general road and the road type of the planned road is an expressway, voice guidance is given to the effect that it is an entrance to a toll road (step S23),
The process ends.

If it is determined in step S12 that the road type currently in progress is not a general road, or if the road type of the planned road is not a highway, the road type currently in progress is a general road. Then, it is determined whether the road type of the planned road is a toll road (step S1).
3) If the road type currently in progress is a general road and the road type of the planned road is a toll road, the process proceeds to process A (step S24).

If it is determined in step S13 that the road type currently in progress is not a general road, or if the road type of the planned road is not a toll road, the road type currently in progress is a toll road. Then, it is determined whether or not the road type of the planned road is a general road (step S1).
4) If the road type currently in progress is a toll road and the road type of the planned road is an ordinary road, the process proceeds to process A (step S24).

If it is determined in step S14 that the road type currently in progress is not a toll road, or if the road type of the planned road is not a general road, the priority of the road type of the road currently in progress is set. Is determined to be higher than the priority of the road type of the planned road (step S
15) If the priority of the road type of the road currently in progress is higher than the priority of the road type of the planned road, the process A is performed (step S24).

If it is determined in step S15 that the priority of the road type of the road currently in progress is lower than the priority of the road type of the planned road, the process B is performed (step S16).

When the road types are the same in the determination of step S3, as shown in FIG. 8A, the traveling direction angle θ'of the planned road and the traveling direction angle θ of another road at the road branch point. _{OT is, 0 <θ ', θ OT} <θ l0 or θ _r1 <θ', satisfy the theta _OT (<0), and whether theta '> theta _OT, i.e., other than the expected traveling road It is determined whether the road is closer to a straight road (step S
4).

If it is determined in step S4 that the other road is closer to the straight road than the planned road, the process A is performed.
(Step S17). As a result, FIG. 8 (a)
In the case of, the voice guidance for turning left is given.

If it is determined in step S4 that the other road is closer to the straight road than the planned road,
As shown in (b), the traveling direction angle θ ′ of the planned road and the traveling direction angle θ _OT of other roads are 0 <θ ′, θ _OT <θ _l0 or θ _r1 <θ ′, θ _OT (<0 ) Is satisfied and θ ′ <θ _OT is satisfied, that is, whether the planned road is closer to a straight road than other roads (step S).
5).

If it is determined in step S5 that the planned road is closer to the straight road than the other roads, the process A is performed.
(Step S17). As a result, FIG.
In the case of (b), voice guidance to the effect that a right turn should be given.

In the determination in step S5, if the other road is closer to the straight road than the planned road, the traveling direction angle θ, θ = inflow angle−outflow angle is calculated (step S6).

Next, it is judged whether or not the traveling direction angle θ is not less than the traveling direction angle threshold θ _TH (step S7). If the traveling direction angle θ is not less than the traveling direction angle threshold θ _TH , the process is processed B. (Step S18).

Further, the traveling direction angle θ is the traveling direction angle threshold θ _TH
If it is less than the above, the processing is terminated. As explained above,
According to the present embodiment, within the angle range of the threshold angle set in advance to determine a right turn or a left turn, that is, within the angle range which is considered to be straight as a normal process, the road on which the vehicle is going to travel and other Even if there is a road, it is possible to recognize the relative relationship between the roads and perform reliable route guidance (guidance).

Similar processing is also performed when traveling to a road whose road type is different from the road currently running,
Reliable route guidance (guidance) can be performed.

[0090]

According to the first aspect of the invention, the fourth discriminating means determines whether the first advancing direction and the second advancing direction are included in the predetermined angle range based on the discrimination result of the third discriminating means. , The relative direction relationship between the first traveling direction and the second traveling direction is determined, and the traveling direction guiding means guides the traveling direction of the vehicle at the road junction based on the determination result of the fourth determining means. Therefore, optimal route guidance (guidance) can be performed even when the planned road and other roads are included in the angle range that is normally considered to be straight.

According to the second aspect of the invention, the fourth discriminating means makes the first advancing direction and the second advancing direction within the predetermined angle range based on the discrimination result of the third discriminating means and the priority order stored in the storing means. If the direction of the road is included and the priority of the road to be advanced and the priority of the road in progress corresponding to the current position of the vehicle are different, the road with the higher priority is used as the reference
Since the relative direction relationship between the traveling direction and the second traveling direction is determined, and the traveling direction guiding means guides the traveling direction of the vehicle at the road junction based on the determination result of the fourth determining means. When traveling to a road with a different priority, such as when a road is a national road and enters a prefectural road from a national road, by guiding the route based on the road with the higher priority (national road) You can perform route guidance that matches your feelings.

According to the third aspect of the invention, in the fourth discriminating step, when the first advancing direction and the second advancing direction are included in the predetermined angle range based on the discrimination result of the third discriminating step,
The relative direction relationship between the first traveling direction and the second traveling direction is determined, and the traveling direction guiding step guides the traveling direction of the vehicle at the road junction based on the determination result of the fourth determining step. The optimum route guidance (guidance) can be performed even when the planned road and other roads are included in the angle range that is normally considered to be straight.

According to the fourth aspect of the invention, the fourth discriminating step includes the first advancing direction and the second advancing direction within the predetermined angle range based on the discrimination result of the third discriminating step, and When the priority of the planned road and the priority of the road in progress corresponding to the current position of the vehicle are different, the relative directional relationship between the first traveling direction and the second traveling direction with the road having the higher priority as a reference. The traveling direction guidance process guides the traveling direction of the vehicle at the road junction based on the determination result of the fourth determination process. Therefore, the road currently running is the national road, and the prefectural road is entered from the national road. When traveling to a road with a different priority, as in the case of, a route guidance (guidance) that more closely matches the user's sense can be performed by performing route guidance based on the road (national road) with a higher priority. .

[Brief description of drawings]

FIG. 1 is a schematic configuration block diagram of a navigation system.

FIG. 2 is an explanatory diagram of a structure of branch point data.

FIG. 3 is a diagram illustrating an inflow angle and an outflow angle.

FIG. 4 is an operation process flowchart (main process) of the embodiment.

FIG. 5 is an operation processing flowchart (processing A) of the embodiment.

FIG. 6 is an operation processing flowchart (processing B) of the embodiment.

FIG. 7 is an explanatory diagram (1) of the operation of the embodiment.

FIG. 8 is a diagram (2) illustrating the operation of the embodiment.

FIG. 9 is an explanatory diagram (1) of a conventional problem.

FIG. 10 is a diagram (2) illustrating a conventional problem.

[Explanation of symbols]

100 ... In-vehicle navigation system 1 ... Geomagnetic sensor 2 ... Angular velocity sensor 3 ... Travel distance sensor 4 ... GPS receiver 5 ... Stem controller 6 ... Interface unit 7 ... CPU 8 ... ROM 9 ... RAM 10 ... Bus line 11 ... Input device 12 ... CD-ROM drive 13 ... Display unit 14 ... Graphic controller 15 ... Buffer memory 16 ... Display control unit 17 ... Display 18 ... Sound reproduction unit 19 ... D / A converter 20 ... Amplifier 21 ... Speaker 30 ... Branch point data 31 ... Branch point Basic data 32 ... Branch road data group 33 ... Branch road data group 34 ... Route point number data 35 ... High-speed entrance / exit flag data 36 ... Road type data 37 ... Route point number data 38 ... Outflow angle data C ... Intersections ND _{0 to} ND ₂ ... path points N ₀ ~N ₂ ... route Number theta ₀ through? ₂ ... discharge angle L ₀ ~L ₂ ... road C ₀ -C ₂ ... road type theta _IN ... inflow angle theta _l0 ... left traveling direction angle threshold theta _r1 ... right traveling-side threshold R_voice ... right turn voice guidance determination Data l_voice ... Left turn voice guidance discrimination data

Claims (4)

[Claims] 1. A navigation device that guides the route of the vehicle based on a current position of the vehicle and a preset traveling route, and a direction of entry of the vehicle to a road branch point existing on the traveling route, Whether the angle formed by the approach direction and the first traveling direction is within a predetermined angle range based on the first traveling direction which is the traveling direction from the road branch point to the planned traveling road corresponding to the traveling route Based on a second advancing direction and an advancing direction which are advancing directions from the road branching point to other roads at the road branching point except the planned road, and the approaching direction. And the second
Second discriminating means for discriminating whether or not the angle formed by the traveling direction is within the predetermined angular range, and the second discriminating means within the predetermined angular range based on the discrimination by the first discriminating means and the second discriminating means. 1 traveling direction and the second
Third discriminating means for discriminating whether or not the traveling direction is included, and when the first traveling direction and the second traveling direction are contained within the predetermined angle range based on the discrimination result of the third discriminating means. A fourth discriminating means for discriminating a relative directional relationship between the first traveling direction and the second traveling direction; and a traveling direction of the vehicle at the road junction based on a discrimination result of the fourth discriminating means. A navigation device comprising: a traveling direction guiding means for guiding the vehicle. 2. A navigation device that guides the route of the own vehicle based on the current position of the own vehicle and a preset traveling route, wherein a road is divided into predetermined units in advance, and a preset priority is set for each divided road. Storage means for storing a rank; first advancing direction which is an approach direction of the vehicle to a road junction existing on the traveling route and a traveling direction from the road junction to a planned road corresponding to the traveling route First determining means for determining whether or not the angle formed by the approach direction and the first traveling direction is within a predetermined angle range based on the direction; and from the approach direction and the road branch point to the road branch point. Determining whether an angle formed by the approach direction and the second traveling direction is within the predetermined angle range based on a second traveling direction that is a traveling direction to a road other than the planned road 2 size Another means, and the first traveling direction and the second traveling direction within the predetermined angle range based on the discrimination by the first discriminating means and the second discriminating means.
Third discriminating means for discriminating whether or not the traveling direction is included, and the first traveling direction and the second traveling direction are contained within the predetermined angle range based on the discrimination result of the third discriminating means, and When the priority of the planned road and the priority of the road in progress corresponding to the current position of the vehicle are different, the first traveling direction and the second traveling are based on a road having a higher priority. A fourth discriminating means for discriminating a relative directional relationship between the directions, and a traveling direction guiding means for guiding the traveling direction of the vehicle at the road junction based on the discrimination result of the fourth discriminating means. A navigation device characterized by being provided. 3. A navigation method for guiding a route of the own vehicle based on a current position of the own vehicle and a preset traveling route, wherein an approach direction of the own vehicle to a road branch point existing on the traveling route and Whether the angle formed by the approach direction and the first traveling direction is within a predetermined angle range based on the first traveling direction which is the traveling direction from the road branch point to the planned traveling road corresponding to the traveling route A first determining step for determining whether or not the approach direction is based on a second traveling direction and an approach direction which are traveling directions from the road branch point to other roads other than the planned road at the road branch point And the second
A second determination step of determining whether the angle formed by the traveling direction is within the predetermined angle range, and the second determination step within the predetermined angle range based on the determinations of the first determination step and the second determination step. 1 traveling direction and the second
A third determining step of determining whether or not the traveling direction is included, and a case where the first traveling direction and the second traveling direction are included in the predetermined angle range based on the determination result of the third determining step. A fourth discriminating step of discriminating a relative directional relationship between the first traveling direction and the second traveling direction, and a traveling direction of the vehicle at the road junction based on a discrimination result of the fourth discriminating step. A navigation method comprising: a traveling direction guiding step for guiding the vehicle. 4. A navigation method for guiding a route of an own vehicle based on a current position of the own vehicle and a preset traveling route, wherein a road is divided into predetermined units in advance, and each divided road has a preset priority. A storage step of storing the order, and a first traveling direction which is the approaching direction of the vehicle to a road branch existing on the traveling route and a traveling direction from the road branching point to a planned road corresponding to the traveling route. A first determining step of determining whether or not the angle formed by the approach direction and the first traveling direction is within a predetermined angle range based on the direction; and from the approach direction and the road branch point to the road branch point. Determining whether an angle formed by the approach direction and the second traveling direction is within the predetermined angle range based on a second traveling direction that is a traveling direction to a road other than the planned road 2 size Another step, and the first traveling direction and the second traveling direction within the predetermined angle range based on the determinations of the first determination step and the second determination step.
A third discriminating step of discriminating whether or not the traveling direction is included, and the first traveling direction and the second traveling direction are contained within the predetermined angle range based on the discrimination result of the third discriminating step, and When the priority of the planned road and the priority of the road in progress corresponding to the current position of the vehicle are different, the first traveling direction and the second traveling are based on a road having a higher priority. A fourth discriminating step of discriminating a relative directional relationship between the directions, and a traveling direction guiding step of guiding the traveling direction of the vehicle at the road junction based on the discrimination result of the fourth discriminating step. A navigation method characterized by being provided.