JPH0843115A - Equipment and method for setting route - Google Patents

Abstract

PURPOSE:To provide an equipment and a method for setting a route which can easily add a route point without re-inputting all route points. CONSTITUTION:In the case where an additional route point alpha1 is added to guiding routes such as a moving route rm-2 and others and if two inner products of a vector set for the moving route rm-2 or others and two vectors Am-1 and another are both zero or above, the outer product of two vectors Am and Am+1 is computed further and a distance D0 is determined. If both of the inner products are not zero or above as in the case of a moving route rm-1 and others, distances D1 and D2 to two route points on the moving routes are determined. The additional route point alpha1 is disposed between the two route points of the minimum moving route of all the distances D0 to D3 and the moving routes are reset. Only by inputting the additional route point alpha1 alone in this way, a chain of guiding routes wherein the additional route point alpha1 is taken in are completed. It is unnecessary for an operator to input all the route points newly from the beginning, and thus the route point can be added very easily and efficiently.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route setting device and a route setting method in a device for indicating a guide route such as a navigator.

[0002]

2. Description of the Related Art Conventionally, in a map display system such as a navigator mounted on a vehicle, an occupant moves a cursor on a display screen in advance to display a route point (departure point if necessary) on the displayed map. -It is known to have a route setting device which automatically connects the waypoints with moving route lines and displays the guide route on the map when the destination is set).
The connecting order of the waypoints is the order in which the passengers input.

[0003]

As described above, there is a case where it is desired to add a new waypoint after setting the waypoint once. However, since the waypoint data is ordered in the order that has already been entered, adding waypoints requires re-inputting all waypoints including the additional waypoints.

As described above, inputting all the waypoints from the beginning when adding waypoints causes the operator to repeat troublesome work, which makes the addition work difficult. Therefore, a map display device that allows an operator to easily add a waypoint has been desired.

An object of the present invention is to provide a route setting device and a route setting method that can easily add a waypoint without re-inputting all the waypoints.

[0006]

According to the first aspect of the present invention,
As illustrated in FIG. 11, in the route setting device that sets the movement route between the route point data based on the order of the input route point data, the additional route point which inputs the additional route point to the route point data. Selected by the input means, the most recent travel route selection means for selecting the travel route closest to the additional waypoint input from the additional waypoint input means among the above-mentioned travel routes, and the most recent travel route selection means Between a pair of transit points for setting a travel route, before the transit point or at a position after the transit point, an order changing means for ordering the additional transit points and a transit point ordered by the order changing means. And a moving route setting means for setting a moving route based on data.

According to the second aspect of the present invention, the most recent travel route selection means determines whether or not each of the travel routes can draw a perpendicular from the additional transit point, and the perpendicular from the additional transit point is determined. When it is determined that it is possible to lower the line, the length of the perpendicular line is calculated for the corresponding travel route, and when it is determined that it is impossible to lower the perpendicular line from the additional transit point, the corresponding movement is performed. 2. The distance between the stopover for which a route is set and the additional stopover is calculated, and the travel route having the shortest length or distance is selected as the travel route closest to the additional stopover. This is a path setting device.

According to a third aspect of the present invention, the most recent travel route selection means sets a vector set between a pair of stopovers that set each travel route, each of the pair of stopovers, and the additional stopover. 3. The route setting device according to claim 2, wherein it is determined whether or not it is possible to draw a perpendicular from the additional waypoint based on each inner product of two vectors set between and.

According to a fourth aspect of the present invention, the inner product is a vector whose starting point is one of the pair of via points that set each of the moving routes, and which is the other end point, and the additional route. Inner product with a vector starting from the ground and ending at the other waypoint, and a vector starting from the other waypoint and ending at the one waypoint, and one additional route starting from the additional waypoint It is an inner product with a vector whose end point is the ground.If both inner products are zero or more, it is determined that it is possible to draw a perpendicular line from the additional stopover point to the relevant travel route, and one of the inner products is less than zero. In this case, the route setting device according to claim 3, wherein it is determined that it is impossible to draw a perpendicular from the additional route point to the corresponding movement route.

In a fifth aspect of the present invention, when it is determined that the most recent travel route selection means can draw a perpendicular from the additional transit point, a pair of transit points that set the corresponding travel route are set. A vector set in between, and 2 set between each of the pair of waypoints and the additional waypoint
The route setting device according to any one of claims 2 to 4, wherein the length of the perpendicular line is obtained by dividing an outer product of any one of the two vectors by a distance between the pair of waypoints.

According to a sixth aspect of the present invention, when the most recent travel route selection means has a plurality of travel routes closest to the additional stopover route, the travel route located at the rearmost is closest to the additional stopover route. The route setting device according to any one of claims 1 to 5, which is a moving route.

The invention according to claim 7 is the route setting device according to any one of claims 1 to 6, wherein the waypoint includes a destination and a current location. The invention according to claim 8 is the route setting device according to claim 7, further comprising a current position detecting means, wherein the current position is position data detected by the current position detecting means.

According to a ninth aspect of the present invention, as illustrated in FIG. 12, in a route setting method for setting a moving route between the route point data based on the order of the route point data, an additional route point to the route point data is added. In the addition of, the travel route closest to the additional transit point is selected from the travel routes, between the pair of transit points that set the travel route, in front of the transit point or after the transit point. The route setting method is characterized in that the additional route points are ordered and a travel route is set based on the ordered route data.

According to a tenth aspect of the present invention, the selection of the travel route closest to the additional transit point determines whether or not each of the travel routes can draw a perpendicular from the additional transit point, and the additional route is selected. When it is determined that it is possible to draw a perpendicular from the stopover point, the length of the perpendicular is determined for the relevant travel route, and it is determined that it is impossible to drop the perpendicular from the additional stopover point. 10. The route according to claim 9, wherein the route is performed by obtaining the distance between the transit point for which the corresponding traveling route is set and the additional transit point, and selecting the traveling route having the shortest length or distance obtained above. This is the setting method.

According to an eleventh aspect of the present invention, the determination of whether or not it is possible to draw a perpendicular from the additional stopover is based on a vector set between a pair of stopovers that set each travel route,
11. The route setting method according to claim 10, wherein the route setting method is performed based on each inner product of two vectors set between each of the pair of waypoints and the additional waypoint.

According to a twelfth aspect of the present invention, the inner product is a vector whose starting point is one of the pair of via points that set each of the moving routes, and which is the other end point, and the additional route. Inner product with a vector starting from the ground and ending at the other waypoint, and a vector starting from the other waypoint and ending at the one waypoint, and one additional route starting from the additional waypoint It is an inner product with a vector whose end point is the ground.If both inner products are zero or more, it is determined that it is possible to draw a perpendicular line from the additional stopover point to the relevant travel route, and one of the inner products is less than zero. 12. The route setting method according to claim 11, wherein in the case of, it is determined that it is impossible to draw a perpendicular from the additional transit point to the corresponding travel route.

According to a thirteenth aspect of the present invention, when it is determined that a perpendicular can be drawn from the additional stopover point, a vector set between a pair of stopover points for setting the corresponding travel route, The length of the perpendicular line is calculated by dividing the outer product of each of the pair of waypoints and either of the two vectors set between the additional waypoints by the distance between the pair of waypoints. It is the route setting method according to any one of claims 10 to 12.

According to a fourteenth aspect of the invention, when there are a plurality of movement routes closest to the additional stopover point, the movement route located at the rearmost side is set as the movement route closest to the additional stopover point. 13. The route setting method according to any one of 13 above.

According to a fifteenth aspect of the invention, the waypoint is
The route setting method according to any one of claims 9 to 14, which includes a destination and a current location. The invention according to claim 16 is the route setting method according to claim 15, wherein the current position is position data detected by the current position detecting means.

[0020]

According to the invention of claim 1, the most recently traveled route selecting means selects, out of the travel routes, the travel route closest to the additional waypoint input by the additional waypoint input means. . For the travel route selected in this way,
The order changing means orders the additional route points between a pair of route points that set the travel route, at a position before the route point or at a position after the route point.

Thus, the operator does not need to re-enter the already entered route point data, but simply inputs the additional route point, and the additional route point is added to the appropriate position of the existing route point data. Are ordered. The movement route setting means sets the movement route based on the ordered waypoint data.

Therefore, it is not necessary to re-input all the waypoints, and the waypoints can be added very easily and efficiently. In the invention according to claim 9, when adding an additional waypoint to the waypoint data, a movement route closest to the additional waypoint is selected from the movement routes, and a pair of waypoints that set the movement route are selected. In the meantime, the additional route points are ordered at the position before the route point or after the route point, and the travel route is set based on the ordered route point data.

As a result, the same effect as that of the above-mentioned claim 1 is obtained. The travel route closest to the additional transit point or the recent travel route selection means for carrying out this selection can be performed as follows. That is, it is determined whether or not each of the moving routes can draw a perpendicular from the additional waypoint, and if it is determined that the perpendicular can be drawn from the additional waypoint, the moving route concerned If it is determined that it is not possible to drop the perpendicular line from the additional stopover point, the distance between the stopover point that sets the corresponding travel route and the additional stopover point is determined. Then, the travel route having the shortest length or distance obtained above is selected.

According to this selection procedure, the travel route closest to the additional transit point can be appropriately selected regardless of the arrangement of the travel route with respect to the additional transit point. The determination as to whether or not it is possible to draw a perpendicular from the additional route point, or the above-mentioned latest travel route selection means for performing this determination can be performed as follows. That is,
The determination is performed based on the inner product of a vector set between a pair of waypoints that set each travel route and two vectors set between each of the pair of waypoints and the additional waypoint. be able to. Since the determination is made by the method of inner product calculation as described above, the calculation can be easily performed by an electronic circuit such as a computer.

Further, more specifically, the inner product is a vector whose start point is one of the pair of waypoints which sets each of the movement routes, and which is the other waypoint, and the additional waypoint. The inner product with a vector starting from the other waypoint and ending at the other waypoint, and a vector starting from the other waypoint and ending at the one waypoint, and the one waypoint starting from the additional waypoint Is the inner product with a vector whose end point is, and when both inner products are zero or more, it is determined that it is possible to draw a perpendicular from the additional stopover point to the relevant travel route, and one of both inner products is less than zero. In this case, it is determined that it is impossible to draw a perpendicular line from the additional transit point to the corresponding travel route. In this way, it can be easily determined by the operation of an electronic circuit such as a computer.

The procedure for obtaining the length of the perpendicular line when it is determined that the perpendicular line can be drawn from the additional route can be performed as follows. That is,
An outer product of a vector set between a pair of waypoints that sets a corresponding travel route and any one of two vectors set between each of the pair of waypoints and the additional waypoint is defined as the pair product. The length of the perpendicular line is obtained by dividing by the distance between the transit points. According to this procedure, the calculation of the length of the perpendicular can be easily performed by a computer or the like.

When there are a plurality of movement routes closest to the additional stopover point, the movement route located at the rearmost of the plurality of movement points may be the movement route closest to the additional stopover point. Even when there are a plurality of movement routes recently, it is possible to quickly determine one and process it.

The waypoint may include a destination and a present location. It can show the complete travel route. In particular, if the current position is position data detected by the current position detecting means, the operator does not have to specify the current position, and the input work is more efficient.

Since the most recently traveled route selecting means has only to select the travel route which is the closest to the additional transit point input by the additional transit point inputting means, the selected travel route is directly related to the relevant transit route itself. In addition to the above, for example, the corresponding movement route may be indicated by either or both of the pair of transit points that set the movement route,
Alternatively, the movement route may be indicated indirectly.

[0030]

1 is a block diagram showing the overall construction of a vehicle-mounted traffic information display device 2 according to an embodiment of the present invention. The vehicle-mounted traffic information display device 2 includes a position detector 4, a map data input device 6, an operation switch group 8, a control circuit 10 connected to these, an external memory 12 connected to the control circuit 10, and a display device 14. Is equipped with. The control circuit 10 is configured as an ordinary computer, and has a CP inside.
U, ROM, RAM, I / O, and bus lines connecting these components are provided.

The position detector 4 is a known geomagnetic sensor 1
6, gyroscope 18, distance sensor 20, and GPS that detects the position of the vehicle based on radio waves from satellites
It has a GPS receiver 22 for (Global Positioning System). These sensors, etc. 16, 18, 2
Since 0 and 22 have errors with different properties,
A plurality of sensors are configured to be used while interpolating each. Depending on the accuracy, it may be configured by a part of the above, and further, a rotation sensor for steering, a wheel sensor for each rolling wheel, etc. may be used.

The map data input device 6 is a device for inputting so-called map matching data for improving the accuracy of position detection, and various data including map data and route guidance. As a medium, CD-R
The OM is generally used, but other media such as a memory card may be used.

The position detector 4, the map data input device 6, the operation switch group 8, the control circuit 10, the display 14 and the like constitute a so-called navigation device. The display device 14 can display the vehicle position information input from the position detector 4 and the map data input from the map data input device 6 in an overlapping manner.

Further, the in-vehicle traffic information display device 2 travels by connecting the route from the current position to the destination with a straight line when the route including the destination is sequentially input from the near side by the operation switch group 8. It also has a so-called route guidance function of forming a route and displaying the guidance route. For the operation switch group 8, for example, a touch switch integrated with the display 14 or a mechanical switch is used.
Used for various inputs.

Among the processes executed by the control circuit 10, a process of inputting a waypoint and setting a route is shown in the flowchart of FIG. In this process, when an operator inputs a stopover including a destination at a desired position on the map displayed on the display device 14, the stopover data is input based on the arrangement order of the input stopover data. It is a route setting process for setting a moving route between the route points, and further includes a route point addition process for adding a route point to an arbitrary position of the already input route point data.

When the power switch of the vehicle-mounted traffic information display device 2 is turned on, a desired process is selected and executed from the processes as the traffic information display device by a menu selection after predetermined initialization. It Here, the driver of the vehicle is about to start traveling, and the guide route is displayed on the display unit 14.
When the route setting process is selected to be displayed on, the initial setting process is first performed (step 100). For example, a RAM in the control circuit 10 for subsequent arithmetic processing.
A work area is secured, and processing for obtaining the current position of the vehicle is performed based on the satellite data obtained from the GPS receiver 22.

Next, the process proceeds to the waypoint input process (step 1).
10). In this process, the operator inputs a stopover including a destination. For example, the operator looks at the map displayed on the screen of the display unit 14 while looking at the operation switch group 8
The cursor on the screen is moved by, and when the cursor comes to a desired position, the operation switch group 8 gives an instruction.
As a result, the cursor position at that time, that is, the waypoint coordinates are stored in the array area of the RAM in the control circuit 10 as waypoint data. Each time this instruction is issued, the waypoint coordinates are sequentially stored in the array in the order of the instruction. At the beginning of the array, G
The current location of the vehicle based on PS is stored.

The state of the waypoint array in the RAM when a total of N waypoints are input by the operator is shown on the left side of FIG. 4 (a). The 0th array element P0 is the coordinates of the current vehicle position obtained from GPS. In the first to Nth positions, the coordinates P1 to PN of the waypoints input by the operator are stored in the order of input. The Nth is the destination.

Next, a route setting process is performed based on the above waypoint arrangement (step 120). That is, since the array element is data indicating a point, N pieces of line data connecting the adjacent points P0 to PN, that is, the moving route r0, is calculated from this data.
Processing for setting rN-1 is performed. The state of this moving path arrangement is shown on the right side of FIG.

Next, based on the data of the moving routes r0 to rN-1, all the moving routes are displayed on the display 14 together with the map (step 130). That is, the guide route is displayed. This display state is shown in FIG. However, in this example, since the guide route is long, in FIG.
The range up to Pm + 3 is shown.

Next, it waits for input (step 140),
When the operation switch group 8 gives an instruction to end the route setting process, the screen of the display 14 is switched to a display centered on the current position of the vehicle. After that, the screen is scrolled vertically and horizontally according to the traveling of the vehicle, and processing is performed so that the current position of the vehicle is always at the center of the screen. The driver travels by relying on the map on the screen of the display 14 and the display of the moving routes r0 to rN-1 set in steps 110 and 120.

When the additional transit point α1 shown in FIG. 5 is input in step 140, the most recent travel route search process is executed (step 200). The details of the most recent travel route search process are shown in the flowchart of FIG. In the recent travel route search process, first, it is determined whether or not the process has been completed for all travel routes r0 to rN-1 (step 210). If it is the first time, the moving route is not yet processed, so an affirmative decision is made, and then the additional route point α1 and the moving route r0.
The inner products C1 and C2 of the vectors formed between the route points P0 and P1 which have been set are calculated (step 220). This inner product calculation is to determine whether or not the additional route point α1 can draw a perpendicular to the moving route r0. For the sake of explanation, it is assumed that the processing up to the moving route rm-2 is completed,
The processing from the moving route rm-1 will be described below. FIG. 6 shows an example of inner product calculation. First, the inner product calculation for the additional waypoint α1 and the moving route rm-1 is calculated as in the following equations 1 and 2.

[0043]

[Equation 1]

Here, Am-1 is the one of the pair of waypoints Pm-1 and Pm which sets the moving route rm-1 starting from the additional waypoint α1 and which has the smaller array element number Pm-1. An end point is represented by a vector, and Am is the end point of the pair of stop points Pm-1 and Pm which has the additional stop point α1 as the start point and which sets the moving route rm-1 and which has a larger array number. Bm-1 represents a vector whose starting point is the waypoint Pm and whose ending point is the waypoint Pm-1. Therefore, -Bm-1 represents a vector whose starting point is the waypoint Pm-1 and whose ending point is the waypoint Pm.

The inner product C1 is greater than or equal to zero when the line segment α1Pm-
The angle θ1 formed by the line segment α1Pm and the line segment PmPm-1 is 90 when the angle θ1 formed by 1 and the line segment PmPm-1 is 90 ° or an acute angle, and the inner product C2 is zero or more. This is the case when the angle is ° or acute. If the inner products C1 and C2 are both zero or more, it means that the perpendicular line can be always drawn from the additional waypoint α1 to the moving route rm-1.

Therefore, it is then determined whether the inner products C1 and C2 are both zero or more (step 230). In the case of the additional waypoint α1 and the moving route rm-1, C1> 0 because θ1 is an acute angle, but C2 <0 because θ2 is an obtuse angle. For this reason, a negative determination is made in step 230, and then the additional route point α1 and the route point Pm- at one end of the movement route rm-1.
Calculate the distance D1 from 1 (that is, the absolute value of the vector Am-1) and the distance D2 (that is, the absolute value of the vector Am) between the additional waypoint α1 and the waypoint Pm at the other end of the travel route rm-1. (Step 240). This calculation can be easily calculated based on each coordinate by a well-known method, and thus detailed description thereof will be omitted. Note that the distance D1 (that is, the absolute value of the vector Am-1)
Is not required to be newly calculated as long as it is obtained by the same calculation for the immediately preceding moving route rm-2, the previous calculation result may be used. As described above, with respect to the already calculated value, the processing speed is improved by using the value, so it is preferable not to repeat the same calculation with the same value.

Next, it is judged whether or not the distances D1 and D2 are the minimum distances among the distances obtained so far (including the distance D0 described later) (step 250). This distance D1,
If both D2 are not the minimum distance, the process returns to step 210 and moves to the processing of the next movement route rm. If either is the minimum distance, m- which is the number of the corresponding travel route rm-1.
1 is recently stored in the RAM as the travel route number, and its minimum distance is also stored in the RAM (step 260).
In this case, the distance D2 is stored as the minimum distance.
When step 250 is first processed in the recent travel route search process (step 200), since the process has not been performed before, a positive determination is always made in step 250 and step 260 is executed.

Next, since the movement route rm and the subsequent routes are unprocessed, a negative determination is made in step 210, and step 220 is performed.
The inner product calculation for the additional transit point α1 and the moving route rm in (1) is performed in the same manner as the above-described equations 1 and 2. That is, the following equation 3,
Calculated as 4.

[0049]

[Equation 2]

Here, Am is one of a pair of waypoints Pm and Pm + 1 which sets the moving route rm with the additional waypoint α1 as a starting point,
A vector whose end point is the waypoint Pm having the smaller array number is represented, and Am + 1 is a movement route r starting from the additional waypoint α1.
Of the pair of waypoints Pm and Pm + 1 for setting m, the vector whose end point is the waypoint Pm + 1 with the larger array number is represented,
Bm represents a vector whose starting point is the waypoint Pm + 1 and whose ending point is the waypoint Pm. Therefore, -Bm represents a vector having the start point at the stop point Pm and the end point at the stop point Pm + 1.

At this time, as can be seen from FIG. 6, in the case of the additional waypoint α1 and the moving route rm, the line segment α1Pm and the line segment Pm + 1Pm
Since the angle θ3 formed by and is an acute angle, the inner product C1> 0, and the angle θ4 formed by the line segment α1Pm + 1 and the line segment Pm + 1Pm is an acute angle, so the inner product C2> 0.

Therefore, an affirmative determination is made in the determination as to whether the inner products C1 and C2 are both equal to or greater than zero (step 230). Next, the outer product S of the vector Am and the vector Am + 1 is calculated as in the following expression 5 (step 270).

[0053]

(Equation 3)

Next, the length L of the moving route rm is calculated (step 280). This movement route rm can be easily calculated by a well-known method using the coordinates of the waypoints Pm and Pm + 1, and therefore detailed description thereof will be omitted. Next, the distance D0 between the additional waypoint α1 and the moving route rm, that is, the length D0 of the perpendicular line drawn from the additional waypoint α1 to the moving route rm is calculated as in the following Expression 6.

[0055]

[Equation 4]

Here, | S | is the absolute value of the outer product S, that is, the size, and is equal to the area of a parallelogram having two sides of the vector Am and the vector Am + 1. Therefore, this area |
By dividing S | by the length L of the moving route rm which is a diagonal line of the parallelogram, the length of the perpendicular D0 drawn from the additional waypoint α1 to the moving route rm can be obtained.

Next, it is judged whether or not the distance D0 between the additional waypoint α1 and the moving route rm is the minimum distance among the distances obtained so far (including the above-mentioned D1 and D2) (step). 250). If the current distance D0 is not the minimum distance, the process returns to step 210 and moves to the processing of the next movement route rm + 1. If it is the minimum distance, the number m of the corresponding moving route rm is stored in the RAM as the latest moving route number, and the distance D0 is also stored in the RAM as the minimum distance (step 260). As can be seen from FIGS. 5 and 6, the distance D0 this time
Is the smallest among the distances D0, D1, and D2 so far, the number m of the moving route rm at this time is stored in the RAM as the closest moving route number, and the distance D0 is stored as the minimum distance.

Next, the process proceeds to the moving route rm + 1. However, as in the case of the moving route rm-1, the vertical line cannot be drawn from the additional transit point α1, so a negative determination is made in step 230, and the addition is made. Via point α1 and via point P at one end of travel route rm + 1
The distance D1 to m + 1 (that is, the absolute value of the vector Am + 1), and the additional point α1 and the point Pm + at the other end of the movement route rm + 1
The distance D2 from 2 (that is, the absolute value of the vector Am + 2) is obtained (step 240). Next, at step 250, it is judged whether or not the minimum distance exists within the distances D1 and D2, and if it exists, the moving route number m + 1 is stored at step 260 and the minimum distance is also stored. In the example of FIG. 6, since the distances D1 and D2 are smaller than the distance D0 of the immediately previous moving route rm, the moving route number m + 1 and the minimum distance are not stored, and the latest moving route number remains m, but the minimum distance is immediately before. The distance D0 remains unchanged.

Thereafter, processing is similarly performed for the moving routes rm + 2 to rN-1. As a result, the travel route number, which is the minimum distance among the travel routes r0 to rN-1, is stored in the RAM as the latest travel route number together with the minimum distance. In the determination of step 250, an affirmative determination is made even if the minimum distance that has already been stored has the same value. That is, when a moving route having the same distance as the minimum distance appears, the moving route that appears later is prioritized and stored in the RAM.

When the process is completed for all the moving routes r0 to rN-1, an affirmative decision is made in step 210, the most recent moving route searching process (step 200) is ended, and then the process shown in FIG. A process of inserting the coordinate data of the additional waypoint α1 between the waypoints at both ends of the movement route corresponding to the latest movement route number stored in the RAM in the array shown (step 300). In the example of FIGS. 5 and 6, since the travel route number m is stored as the number of the most recent travel route, the array element number m + 1 or less of the waypoint array in FIG.
Transferred backward by the number of elements and added to array element m + 1 via point α
Stores the coordinate data of 1. As a result, the waypoint array is additionally corrected, and the number of elements N + shown on the left side of FIG.
There are two waypoint arrays.

Next, returning to the route setting process of step 120 (step 120), from the additionally corrected coordinate data of the waypoint array element of FIG. 4 (b), N + 1 points which connect adjacent points P0 to PN + 1 are connected. Line data, that is, the process of setting the movement routes r0 to rN is performed, and the route arrangement on the right side of FIG. 4B is formed. Incidentally, since it is the two travel routes rm and rm + 1 set based on the additional transit point α1 (Pm + 1) that the travel routes must be actually set again, the travel route rm + 1
(Or the following elements of the movement route rm) may be transferred backward, and then only these two movement routes rm and rm + 1 may be calculated and stored in the m-th and m + 1-th positions of the route arrangement,
The processing speed can be improved.

By the above-mentioned processing, only by inputting the additional waypoint α1, as shown in FIG. 7, a series of guide routes newly incorporating the additional waypoint α1 are completed. Therefore, the operator does not need to newly input all the waypoints P1 to PN + 1 from the beginning when there is an addition, and the waypoints can be added very easily and efficiently.

Further, when the operator inputs the additional transit point α2 as shown in FIG. 7, the following processing is performed. The inner product calculation for the additional waypoint α2 and the moving route rm-1 is calculated as in the above equations 1 and 2, and as a result,
On the side of one vector Am-1, the inner product C1> 0 because it intersects the moving route rm-1 at an acute angle, but the other vector Am-1.
On the side, since it intersects the moving route rm-1 at an obtuse angle, the inner product C2
<0, a negative determination is made in step 230, the distances D1 and D2 are obtained in the processing of step 240, and the distance D2 is obtained.
(That is, the absolute value of the vector Am) is stored as the minimum together with the movement route number m-1 (step 260).

In the case of the next moving route rm, both vectors Am and Am + 1 intersect at an acute angle with respect to the moving route rm as shown in the figure, so that the inner products C1 and C2 are both zero or more. Therefore, an affirmative decision is made in step 230, and the distance D0 is reached by the processing of steps 270, 280 and 290.
Is required. Since this distance D0 is smaller than the immediately preceding distance D2, this distance D is determined in step 260.
0 and the moving route number m are stored.

Next, in the case of the moving route rm + 1, the vector Am + 1 intersects the moving route rm + 1 at an acute angle as shown in the figure, so that the inner product C1> 0, but the vector Am + 2. Intersects the moving path rm + 1 at an obtuse angle, so the inner product C2
<0, and a negative determination is made in step 230, and the distances D1 and D2 are obtained in step 240. Of this, the distance D
Since 2 (that is, the absolute value of the vector Am + 2) is smaller than the minimum distance D0 immediately before, the distance D2 is stored together with the movement route number m + 1 (step 260).

In the case of the next moving route rm + 2, the vector Am + 3 intersects the moving route rm + 2 at an acute angle as shown in the figure, so that the inner product C2> 0, but the vector Am + 2 is Since it intersects the moving route rm + 2 at an obtuse angle, the inner product C1 <
0, a negative determination is made in step 230 and step 2
At 40, the distances D1 and D2 are obtained. Of these, the smaller distance D1 (that is, the absolute value of the vector Am + 2) is the same as the distance D2 stored immediately before as the minimum distance. However, in the case of the same, since the backward movement route has priority, m + 2 is stored as the latest movement route number (step 2).
60).

In the case of the next moving route rm + 3, the vector Am + 3 intersects the moving route rm + 3 at an acute angle as shown in the figure, so that the inner product C1> 0 and the vector Am + 4 moves. Since it intersects at a right angle to the route rm + 3, the inner product C2 = 0
Since both are zero or more, an affirmative decision is made in step 230 and the distance D0 is obtained by the processing of steps 270, 280 and 290. In this case, the line segment α2Pm +
Since 4 and the line segment Pm + 3 Pm + 4 are at right angles, the magnitude (absolute value) of the vector Am + 4 may be set as the distance D0. Further, as described above, when C1> 0, C2 = 0 or C1 = 0, C2> 0, a negative determination is made in step 230, and step 24
You may obtain D1 and D2 by the process of 0. When the processing is completed for all the travel routes r0 to rN in this way, an affirmative decision is made in step 210, the most recent travel route search processing (step 200) is terminated, and then the array shown in FIG. Of the two, the additional route point α2 is added between the route points at both ends of the route corresponding to the latest route number stored in the RAM.
The process of inserting the coordinate data of is performed (step 30).
0). In the example of FIGS. 7 and 8, since the movement route number m + 2 is stored as the number of the latest movement route, one element of the array number m + 3 or less of the waypoint array in FIG. The coordinate data of the additional route point α2 is stored in the element m + 3. As a result, the number of elements N shown in FIG.
+3 waypoint arrays can be made.

Next, returning to the route setting process (step 120), from the coordinate data of the waypoint array element on the left side of FIG. 4C, N + 2 line data connecting adjacent points P0 to PN + 2, that is, The process of setting the movement routes r0 to rN + 1 is performed,
The path arrangement on the right side of FIG. 4C is created. As described above, since it is the travel routes rm + 2 and rm + 3 that are set based on the additional route point α2 (Pm + 3), it is necessary to actually set the travel routes again. As described above, only the two moving routes rm + 2 and rm + 3 may be processed, and the processing speed can be improved.

By the above-mentioned processing, only by inputting the additional waypoint α2, as shown in FIG. 9, a series of guide routes in which the additional waypoint α2 is newly taken in is completed. Therefore, the operator does not need to newly input all the waypoints P1 to PN + 2 from the beginning when there is an addition, and the waypoints can be added very easily and efficiently.

Since the guide route newly completed by the additional waypoint α2 connects the waypoints by a straight line, it may be displaced from the road on the map as shown in FIG. Of course, this is still a guide for the driver, but in order to make it easier to see along the road, the operator newly added a waypoint α.
The case where 3 and α4 are sequentially added is shown below.

When the additional waypoint α3 is added, the moving route closest to the additional waypoint α3 is the moving route rm + 2 by the above-mentioned processing, so that the m + 2nd element and the m + 3rd element of the waypoint array are arranged. The coordinate data of the additional waypoint α3 is inserted between and, and the route arrangement is reset.

When the additional waypoint α4 is further added, the moving route closest to the additional waypoint α4 is
Since it is the moving route rm + 3 (actually, the moving route rm + 4 has been added due to the addition of the additional waypoint α3, it corresponds to the moving route rm + 3 in FIG. 9). The coordinate data of the additional waypoint α4 is inserted between the m + 4th element and the m + 5th element of the inserted waypoint array, and the route array is reset. The state of the waypoint array and the route array is shown in FIG.

As a result, the display state is as shown in FIG. 10, and the guide route is easy to see along the road. As described above, every time an additional route point is input, a series of guide routes that newly capture the additional route point are completed. Therefore, the operator can add / correct the guide route very easily and efficiently by simply inputting the waypoint desired to be added.

If another process is input at step 140, the corresponding process is performed at step 400. For example, on the screen of the display device 14, the cursor is used to indicate the waypoint to be deleted, and the waypoint deletion process is performed. In the deletion process, the corresponding waypoints are removed from the waypoint array shown in FIG. 4, and after the removal, the process returns to the process of step 120, and the movement route resetting process is performed. Therefore, even in the case of deletion, it is not necessary to re-input all the waypoints from the beginning by simply designating the waypoints to be deleted on the screen, and the waypoints can be deleted very easily and efficiently.

Further, by performing the above-mentioned waypoint addition processing after the deletion processing, it becomes possible to correct the waypoint. That is, it is only necessary to remove the transit point to which the location is to be moved by the deletion process, and then point the additional transit point to the location to be moved. By doing so, the waypoints can be corrected easily and efficiently without re-inputting all the waypoints.

In the above embodiment, the operation switch group 8 and the control circuit 10 correspond to the additional waypoint input means, and the control circuit 10 corresponds to the latest travel route selecting means, the order changing means and the travel route setting means. Among the processes performed by the control circuit 10, step 140 corresponds to the process as the additional waypoint input means, step 200 corresponds to the process as the latest travel route selection means, and step 300 corresponds to the order change means. And step 120 corresponds to the processing as the movement route setting means. Further, the position detector 4 and the control circuit 10, that is, the GPS corresponds to the present position detecting means.

[Others] In the above embodiment, step 25
When the distances D0, D1 and D2 are the same in the judgment of 0, the later travel route, that is, the travel route closer to the destination is the most recently traveled route as the priority order. The travel route, that is, the travel route closer to the departure place may be the latest travel route. As another priority, step 25
All the travel routes having the minimum distances D0, D1, and D2 at 0 are stored, and an affirmative determination is made at step 210,
Immediately before leaving step 200, the travel route having the shortest guide route distance may be selected as the latest travel route from the stored travel routes. Also in this case, if the guide routes have the same distance, the above-mentioned priority is given,
Prior priority may be adopted.

When the process shifts from step 240 to step 250, the distances D1 and D2 are calculated in step 250.
Was compared with the previous minimum distance, the distance D1 and the distance D2 are compared in advance in step 240 to select the smaller one, and in step 250, only this smaller one is compared to the previous minimum distance. You may make it compared with.

In the above embodiment, the additional stopover is arranged between the pair of stopovers on the travel route recently, but it may be immediately before or after the pair of stopovers. That is, instead of forming the guide route by arranging the additional transit point α1 between the pair of transit points Pm and Pm + 1 of the most recent travel route rm as in the processing shown in FIGS. For example, the additional waypoint α1 may be arranged before the waypoint Pm closer to the departure place. Further, an additional waypoint α1 may be arranged after the waypoint Pm + 1 closer to the destination. Furthermore, when the route point Pm is selected by selecting from the pair of route points Pm and Pm + 1 according to a predetermined criterion, an additional route point α1 is arranged in front of the route point Pm, and the route point Pm When +1 is selected, the additional waypoint α1 may be arranged after the waypoint Pm + 1. The predetermined criterion may be, for example, a criterion of selecting a route point corresponding to a vector having a smaller magnitude (absolute value) from the vectors that travel from the additional route point to the pair of route points on the latest travel route. If the cases of FIGS. 5 and 6 are processed based on this criterion, the vectors Am and Am + 1 are obtained.
, The corresponding stopover P with the smaller size (absolute value)
You will select m + 1. As a result, the additional waypoint α1 is arranged between the waypoint Pm + 1 and the waypoint Pm + 2, and the guide route is created.

In step 200, the vector calculation of the inner product and the outer product is performed in order to obtain the distance to the moving route, but another calculation method capable of determining the distance to the moving route may be used. Although the guide route is displayed by the straight line connecting the transit points one by one, the shape of the road on the map may be used instead of the straight line. Roads are not always straight lines, so
If you connect it with a curve that matches the road shape at that position, it will be easier to see. In addition, in the calculation process of the most recent travel route in step 200, the route points may be processed as straight lines as described above.

Further, in step 140, the input processing for each additional route point was performed one by one.
You can enter as many additional transit points at once as you like. When a plurality of additional stopover points are input at one time, after step 140, the number of additional stoppoints equal to the number of step 2
The processes of 00 and 300 may be repeated before returning to step 120.

In the initial setting process (step 100), the current position of the vehicle based on GPS is input to the beginning of the array, but the operator himself / herself inputs the current position in the same manner as other transit points without using GPS. May be. Step 260 above
In the above, the route number (array number) of the travel route closest to the additional transit point was directly stored, but since the closest travel route may be selected, an alternative to that route number may be stored. . For example, either one of the pair of transit points that set the corresponding route may be stored, or the array element number of the transit point may be stored.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall configuration of a vehicle-mounted traffic information display device as an embodiment of the present invention.

FIG. 2 is a flowchart of a route setting process.

FIG. 3 is a flowchart of a latest travel route search process.

FIG. 4 is an explanatory diagram of changes in waypoint arrangements and route arrangements.

FIG. 5 is an explanatory diagram of a display state of an initial guide route.

FIG. 6 is an explanatory diagram of a latest travel route search.

FIG. 7 is an explanatory diagram of a display state of rearranged guide routes.

FIG. 8 is an explanatory diagram of a latest travel route search.

FIG. 9 is an explanatory diagram of a display state of rearranged guide routes.

FIG. 10 is a diagram illustrating a display state of rearranged guide routes.

FIG. 11 is a configuration example diagram of the invention according to claim 1;

FIG. 12 is a structural example of the invention according to claim 9;

[Explanation of symbols]

 2 ... In-vehicle traffic information display device 4 ... Position detector 6 ... Map data input device 8 ... Operation switch group 10 ... Control circuit 12 ... External memory 14 ... Display device 16 ... Geomagnetic sensor 18 ... Gyroscope 20 ... Distance sensor 22 ... GPS receiver

Claims (16)

[Claims] 1. Based on the order of the input waypoint data,
In a route setting device for setting a movement route between the waypoint data, an additional waypoint input means for inputting an additional waypoint to the waypoint data, and an additional waypoint input means of the movement route. Between the most recent travel route selection means for selecting the travel route closest to the input additional waypoint and the pair of waypoints for setting the travel route selected by the most recent travel route selection means, before the waypoint or An order changing means for ordering the additional waypoints and a movement route setting means for setting a movement route based on the waypoint data ordered by the order changing means are provided at a position after the waypoint. A path setting device. 2. The recent travel route selecting means can determine whether or not each of the travel routes can draw a perpendicular from the additional stopover point, and can draw a perpendicular from the additional stopover point. If it is determined that the perpendicular line length is found for the relevant travel route, and if it is not possible to lower the perpendicular line from the above additional transit point, the transit point that sets the relevant travel route And the additional route point is calculated, and the travel route with the shortest length or distance is calculated as
The route setting device according to claim 1, wherein the route setting device is selected as a travel route closest to the additional transit point. 3. The most recently traveled route selecting means is set between a vector set between a pair of stopovers that set each traveled route, and between each of the paired stopovers and the additional stopover. 3. The route setting device according to claim 2, wherein it is determined whether or not a perpendicular can be drawn from the additional transit point based on each inner product of the two vectors. 4. The inner product is a vector whose starting point is one of the pair of waypoints which sets each of the moving routes and whose end point is the other waypoint, and the other which starts from the additional waypoint Inner product with a vector whose end point is the stop point, and a vector whose start point is the other stop point and whose end point is the one stop point, and a vector whose start point is the additional stop point and whose end point is the one stop point It is determined that it is possible to draw a perpendicular from the additional stopover point to the relevant travel route when both inner products are zero or more, and when one of both inner products is less than zero, the above additional route The route setting device according to claim 3, wherein it is determined that it is impossible to draw a perpendicular from the ground to the corresponding movement route. 5. The vector set between a pair of waypoints that sets the relevant move route, when the means for selecting the most recent move route determines that the perpendicular can be drawn from the additional waypoint. And the cross product of any of the two vectors set between each of the pair of waypoints and the additional waypoint, is divided by the distance between the pair of waypoints to obtain the length of the perpendicular line. The route setting device according to any one of claims 2 to 4, which seeks the height. 6. The most recent travel route selection means, when there are a plurality of travel routes closest to the additional transit point, sets the travel route located at the rearmost of the plurality of travel routes to the additional transit point. Claim 1 which makes it the nearest movement route
5. The route setting device according to any one of 5 above. 7. The route setting device according to claim 1, wherein the waypoints include a destination and a current location. 8. The route setting device according to claim 7, further comprising a current position detecting means, wherein the current position is position data detected by the current position detecting means. 9. A route setting method for setting a movement route between the waypoint data based on the order of the waypoint data, wherein when adding an additional waypoint to the waypoint data,
The additional route point is selected between the pair of route points that select the route closest to the additional route point from the route routes and set the route, or before the route point or after the route point. Is set and the travel route is set based on the ordered waypoint data. 10. Selection of a travel route closest to the additional transit point determines whether or not each of the travel routes can draw a perpendicular from the additional transit point, and draws a perpendicular from the additional transit point. If it is determined that it is possible, determine the length of the perpendicular line for the corresponding travel route, and if it is determined that it is impossible to draw the perpendicular line from the additional route point, the corresponding travel route 10. The method is performed by obtaining the distance between the route point that sets the route and the additional route point, and selecting the travel route having the shortest length or distance.
The route setting method described. 11. A vector set between a pair of waypoints that sets each travel route, and a determination as to whether or not it is possible to draw a perpendicular from the additional waypoints and the pair of waypoints, respectively. 11. The route setting method according to claim 10, wherein the route setting method is performed based on each inner product of two vectors set with the additional waypoint. 12. The inner product is a vector whose starting point is one of the pair of via points that set each of the moving routes and whose end point is the other one of the pair of route points, and the other one whose starting point is the additional route point. Inner product with a vector whose end point is the stop point, and a vector whose start point is the other stop point and whose end point is the one stop point, and a vector whose start point is the additional stop point and whose end point is the one stop point It is determined that it is possible to draw a perpendicular from the additional stopover point to the relevant travel route when both inner products are zero or more, and when one of both inner products is less than zero, the above additional route The route setting method according to claim 11, wherein it is determined that it is impossible to draw a perpendicular from the ground to the corresponding movement route. 13. When it is determined that a perpendicular line can be drawn from the additional stopover, a vector set between the pair of stopovers that sets the travel route and the pair of stopovers 13. The length of the perpendicular line is obtained by dividing an outer product of either one of the two vectors set between each of them and the additional waypoint by the distance between the pair of waypoints. The route setting method described in any one of. 14. When there are a plurality of movement routes closest to the additional waypoint, the movement route located at the rearmost of the plurality of movement routes is set as the movement route closest to the additional waypoint. The route setting method according to any one of 9 to 13. 15. The route setting method according to claim 9, wherein the waypoints include a destination and a current location. 16. The route setting method according to claim 15, wherein the present location is position data detected by the present position detecting means.