JPH0989579A - Navigation system with travel locus display function - Google Patents

Abstract

PROBLEM TO BE SOLVED: To grasp at a glance the actual travel time of a vehicle to each spot from a start point of a travel locus registered during previous travel. SOLUTION: When the present spot of a vehicle is manually set as a start point S of a travel route, clocking of travel time of the vehicle is started, and when the vehicle passes prespecified specific points P1 , P2 , P3 existing on a road map after setting the start point S, the actual travel time of the vehicle from the start point S to the respective specific points P1 , P2 , P3 is stored. When the present spot of the vehicle is manually set as an end point E, the actual travel time of the vehicle from the start point S to the end point E is stored. A block between the start point S and the end point E can be stored as a travel locus. The stored actual travel time of the vehicle from the start point to the respective specific points P1 , P2 , P3 and the stored actual travel time of the vehicle from the start point S to the end point E are respectively read, and the travel locus is numerically displayed along with the actual travel time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used by being mounted on a vehicle and stores the traveling path of the vehicle as data.
The present invention relates to a navigation device having a traveling locus display function capable of displaying a traveling locus on a display device.

[0002]

2. Description of the Related Art Conventionally, a navigation device has been widely used for displaying the position and orientation of a vehicle on a map screen and for supporting the traveling of the vehicle on a strange land. This navigation device has an azimuth sensor, a distance sensor, a GPS receiver, a road map memory, a computer, a display, etc. mounted on a vehicle, and azimuth data input from the azimuth sensor, traveling distance data input from the distance sensor, and GPS reception. The vehicle position is detected based on the match between the traveling position data input from the machine and the road pattern stored in the road map memory, and this vehicle position is displayed on the display together with the road map.

In this navigation device, the trajectory of the vehicle can be displayed together with a road map on a display connected to the navigation device (see Japanese Patent Laid-Open No. 5-313571). The user can confirm the road on which the vehicle has traveled along with the current position by displaying the travel locus. Therefore, for example, when the return road is the same road, it is convenient to drive along the traveling locus display shown on the display.

In the navigation device having such a display function of the running locus, the running locus is divided into sections based on a constant distance interval, and the average speed of the vehicle in the section is color-coded stepwise to display. Is displayed (see Japanese Patent Publication No. 5-88475). According to this device, when traveling on the same road next time, it is possible to refer to the approximate average speed for each section of the traveling locus acquired by the previous traveling, and the average of the vehicle for each section of the traveling locus. You can see how the speed has changed. Alternatively, if you want to know the actual travel time of the vehicle on the travel path, the sections on the travel path are separated by a fixed distance interval, so by dividing the value of the constant distance by the value of the average speed of the section, The actual traveling time of the vehicle in the section can be obtained.

[0005]

However, in the device described in Japanese Patent Publication No. 5-88475, when it is desired to know the actual traveling time of the vehicle on the traveling locus, the average speed of the vehicle is changed in stages in the section on the traveling locus. Since the actual traveling time of the vehicle is not specifically represented by numbers, the actual traveling time of the vehicle cannot be grasped at a glance in the section of the traveling locus.

Since it is not possible to grasp the actual running time, when trying to travel on a road that has been previously traveled, whether the user should travel on that road or whether to make a detour depends on the user's experience of traveling on that road. It is difficult to obtain a route that can be traveled in a shorter time because it is difficult to make decisions based on objective and quantitative data, because it often depends on intuition. By the way, in order to get a route that can be run in a short time,
It is conceivable to use a navigation device having a route calculation function for guiding a vehicle to a destination or the like. The route calculation method will be briefly described. The roads to be calculated are divided into several parts, the divided points are defined as nodes, and the vector connecting the nodes is defined as a link. Also,
A node or link closest to the current position (may be the destination) is a calculation start node or link, and a node or link closest to the destination (may be the current position) is a calculation end node or link. The road map data stored in the road map memory between them is read out and moved to the work area, and all the tree of links are searched in the work area. Then, the travel times of the routes forming the tree are sequentially added, and only the route with the shortest travel time to reach the destination or the current position is selected (Shibata, Tenmoku,
Shimoura "Development of Stochastic Route Search Algorithm"
Sumitomo Electric No. 143, p. 165, September 1993).

However, the travel time of the route used for the above route calculation is normally based on the time required for the vehicle to travel at the legal speed on the road of the route. for that reason,
The travel time of the route used for the route calculation does not take into account the time due to traffic congestion or regulations. Therefore, it is difficult to obtain a route that can be traveled in a short time according to actual road conditions even in route calculation.

[0008] Therefore, a road traffic information providing system (VICS: Vehicle Informat) for connecting a vehicle-mounted navigation device and a traffic control center or the like with a communication network to provide predetermined traffic information from the traffic control center to the vehicle-mounted device.
Ion and Communication System, etc.) Such a road traffic information providing system includes, for example, one using a car telephone network, one using a communication device (beacon transmitter) installed on the roadside, one using FM multiplex communication, etc. Is proposed.

The traffic information includes travel time information in addition to traffic jam information, accident information, construction information, and the like. The travel time information is time information required for a vehicle to travel between intersections of routes. Therefore, if this travel time information is incorporated into the vehicle-mounted navigation device and used for the above-described route calculation, it is possible to acquire a route that matches the actual road conditions.

However, since the above traffic information does not currently cover all the roads in the whole country, it is not always possible to acquire travel time information on a road where the user actually wants travel time information. Often not. Therefore, on the road where the user wants travel time information,
It is desirable that practical travel time information can be acquired only by the function of the vehicle-mounted device without relying on the traffic information, and such a vehicle-mounted device has been desired.

Therefore, an object of the present invention is to solve the above-mentioned technical problem, to obtain the actual traveling time of the vehicle for each specified section in the traveling locus only by the function of the on-vehicle device, and to obtain the actual traveling result for each section. It is an object of the present invention to provide a navigation device having a traveling locus display function capable of displaying time together with a traveling locus in a user-friendly manner. Another object of the present invention is to obtain the actual traveling time of the vehicle for each specified section in the traveling locus only by the function of the on-vehicle device, and apply the actual traveling time for each section to the route calculation performed later. Then, it is an object of the present invention to provide a navigation device having a traveling locus display function capable of displaying the shortest route to a destination or the like to the user.

[0012]

[Means for Solving the Problems]

(1) In order to achieve the above object, a navigation device having a traveling locus display function according to claim 1 is to manually set the current position of a vehicle as a starting point of a traveling route, as shown in the outline in FIG. The starting point setting means 31 that can be performed, the time measuring means 32 that starts measuring time when the starting point is set by the starting point setting means 31, and the starting point setting means 3
After the start point is set by 1, when the vehicle passes through a predetermined specific point existing on the road map, the first traveling time storage means 33 for storing the actual traveling time of the vehicle from the start point to the specific point. After the start point is set by the start point setting means 31, an end point setting means 34 that can manually set the current position of the vehicle as the end point of the travel route, and when the end point is set by the end point setting means 34, the start point is set. Travels in a section between the second traveling time storage means 35 for storing the actual traveling time of the vehicle from the end point to the end point, the start point set by the start point setting means 31, and the end point set by the end point setting means 34. A traveling locus storage unit 36 that stores the locus, a traveling actual time from the start point to a specific point stored by the first traveling time storage unit 33, and the second traveling time record. Display control means 37 for displaying the actual traveling time from the start point to the end point stored by the means 35 together with the traveling locus stored by the traveling locus storage means 36 in numerical values. .

According to the above construction, when the current position of the vehicle is manually set as the starting point, the time measuring means 32 starts measuring the traveling time of the vehicle. After the starting point is set, when the vehicle passes through a specific point that is specified in advance on the road map, the actual traveling time of the vehicle from the starting point to the specific point can be stored. Further, after the start point is set, if the current position of the vehicle is manually set as the end point, the actual traveling time of the vehicle from the start point to the end point can be stored.

Further, the section from the start point to the end point can be stored as a traveling locus, and when the traveling locus is displayed, the actual traveling time of the vehicle from the stored starting point to the specific point and the stored starting point to the end point are stored. The actual travel times of the vehicles can be read out and displayed numerically together with the actual travel times. Therefore, the user can grasp at a glance the actual traveling time of the vehicle from the starting point to the specific point of the traveling locus or the actual traveling time of the vehicle from the starting point to the end point. (2) Further, a navigation device having a traveling locus display function according to claim 2 is a navigation device having a traveling locus display function according to claim 1, as shown in FIG. Destination setting means 40 for setting and inputting, a map storage means 41 in which route calculation road map data is stored in advance, and a travel locus stored by the travel locus storage means 36 is divided into each specific point. Section time acquisition means 42 for acquiring the traveling time of the vehicle in each of the sections based on the actual traveling time stored in the first traveling time storage means 33 or the second traveling time storage means 35. When the destination or the like is set from the destination or the like setting means 40, the route calculation road map data stored in the map storage means 41 is read out and the destination is set. Links included in the route calculation road map data when calculating routes between links closest to the destination set by the equal setting unit 40 and the current position of the vehicle detected by the position detection unit 30. Among these, the standard passage time of the link corresponding to the road in the section divided by the section time acquisition unit 42 is replaced with the actual travel time of the vehicle in the section acquired by the section time acquisition unit 42 and replaced. Route calculation means 43 for calculating the shortest route based on the actual traveling time
And are further included.

According to the above configuration, the traveling locus of the section set by the start point and the end point can be divided for each specific point, and the traveling time of the vehicle in the section can be acquired for each section. Among the links included in the route calculation road map data, the standard passage time of the links corresponding to the roads in the divided section is replaced with the acquired actual travel time of the vehicle in the section. Then, by applying the replaced actual traveling time, the route between the links closest to the destination or the like input from the destination setting unit 40 and the current position of the vehicle detected by the position detecting unit 30 is determined. The shortest route can be calculated and displayed along with the road map.

Therefore, the actual time when the vehicle actually travels and is stored can be applied to the route calculation to be performed later, and the user can obtain the more practical shortest route that matches the road condition. Note that the above route calculation can be specifically performed by the Dijkstra method or the like. (3) Further, a navigation device having a traveling locus display function according to claim 3 is, in the navigation device having a traveling locus display function according to claim 2, as shown in FIG. When the shortest route is calculated by 43, the actual time application selecting means 44 capable of selecting whether or not the actual traveling time of the vehicle acquired by the section time acquiring means 42 is applied to the route calculating means 43. , Is further included.

According to the above construction, when the route calculation is executed, the actual travel time of the vehicle acquired by the section time acquisition unit 42 is applied to the route calculation unit 43 to determine whether or not the shortest route is calculated. Can be selected as required. (4) In addition, the navigation device having the traveling locus display function according to claim 4, as shown in the outline of FIG. 4, is a start point setting means 31 capable of manually setting the current position of the vehicle as the start point of the traveling route. Then, when the starting point is set by the starting point setting means 31, the time measuring means 32 for starting time measurement, and after the starting point is set by the starting point setting means 31, an arbitrary point on the traveling route of the vehicle is set. Passing point setting means 38 that can be manually set as a passing point
When the passing point is set by the passing point setting means 38, the third traveling time storage means 39 for storing the actual traveling time of the vehicle from the starting point to the passing point, and the starting point is set by the starting point setting means 31. After that, when the end point is set by the end point setting means 34 that can manually set the current location of the vehicle as the end point of the traveling route, and the end point is set by the end point setting means 34, the actual traveling time of the vehicle from the start point to the end point is set. The second traveling time storage means 35 to be stored, the start point set by the start point setting means 31, and the end point setting means 3
The traveling locus storage means 36 for storing the section between the end point set by 4 as a traveling locus, the actual traveling time from the starting point to the passing point stored by the third traveling time storage means 39, and the second traveling. Display control means 37 for displaying the actual travel time from the start point to the end point stored by the time storage means 35 on the display device numerically together with the travel locus stored by the travel locus storage means 36. It is what

According to the above construction, when the current position of the vehicle is manually set as the starting point, the time measuring means 32 starts measuring the required travel time of the vehicle. After the start point is set, if an arbitrary point on the running of the vehicle is manually set as a passing point, the actual traveling time of the vehicle from the starting point to the passing point can be stored. Further, after the start point is set, if the current position of the vehicle is manually set as the end point, the actual traveling time of the vehicle from the start point to the end point can be stored.

Further, the section from the start point to the end point can be stored as a traveling locus, and when the traveling locus is displayed, the actual traveling time of the vehicle from the stored starting point to the passing point and the stored starting point to the end point are stored. The actual travel times of the vehicles can be read out and displayed numerically together with the actual travel times. Therefore, the user can recognize at a glance the actual traveling time of the vehicle from the starting point to the passing point of the traveling locus or the actual traveling time of the vehicle from the starting point to the end point.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below.
It will be described in detail with reference to the accompanying drawings. <Device Block Configuration> FIG. 5 is a block diagram showing the configuration of a navigation device having a traveling locus display function according to an embodiment of the present invention.

The navigation device having the present traveling locus display function is provided with a distance sensor 6 and a direction sensor 8 for detecting the amount of movement and the amount of change in direction of the vehicle, respectively. For example, a wheel speed sensor or a vehicle speed sensor can be applied to the distance sensor 6. In addition, the direction sensor 8
For example, a geomagnetic sensor, a vibration gyro sensor, an optical fiber sensor, or the like can be applied. The outputs of the distance sensor 6 and the azimuth sensor 8 are given to the position detector 14 of the navigation device body 1.

In the position detecting section 14, the above-mentioned sensors 6, 8 are provided.
The current position data of the vehicle is calculated by so-called autonomous navigation based on the vehicle movement amount data and the heading change amount data output from. Then, the position detector 14
A traveling locus is calculated based on the current position data of the vehicle, and the traveling locus is compared with a road pattern stored in the road map memory D (so-called map matching method, see JP-A-64-42000). Based on this, it has a function of correcting the road and the vehicle position on the road in consideration of the existence probability of the vehicle.

In order to detect the current position of the vehicle, the GPS receiver 5 connected to the navigation device body 1 receives the radio waves transmitted from the GPS satellites by the GPS receiver 5, and the propagation delay of the radio waves is received. GPS navigation for detecting the position of the vehicle based on time may be applied, and the current position of the vehicle may be used for correcting the current position of the vehicle obtained by so-called autonomous navigation (Japanese Patent Publication No. 7-39960). See the bulletin).

The current position data of the vehicle detected by the position detector 14 is given to the controller 16. Note that the “travel locus” is calculated based on the current position data of the vehicle as described above, but in the present embodiment,
In addition to the above-mentioned running locus, the starting point, specific point, or end point of the route being run is set, and the coordinate position of each set point and the actual running time of the vehicle from the starting point to each point (excluding the starting point) Data is registered in the nonvolatile memory 17 described later and handled as travel locus data. Therefore, in order to distinguish from the traveling locus calculated based on the current position data of the vehicle, the start point and the end point are set, and the nonvolatile memory 17
The traveling locus data registered in 1) will be particularly referred to as “registered locus data”. Further, the traveling locus to be registered will be referred to as a “registered locus”.

Further, the "specific point" is, for example, a point in which a start point node of the link or an end point node of the link included in the road map data for route calculation described later is specified in advance. When the vehicle travels and passes through this specific point, the CPU 161 (described later) automatically stores data such as the position coordinates of this specific point in the non-volatile memory 17. The stored data of the specific point is read when the registration locus is displayed, and is used as a mark indicating the section of the registration locus.

In addition to the above, the specific point is an interpolation point node (explained later) representing a bending point (excluding an intersection) of the road, a main intersection on the road, such as an intersection where national roads cross each other or two or more lanes each way. An intersection or the like at which roads intersect may be defined in advance as a specific point. The controller 16 functions as a control center of the navigation device body 1, and includes a CPU 161 having a timer 164 built therein and an SRAM.
162, a DRAM 163, and the like. The timer 164 is for measuring the traveling time of the vehicle from the starting point of the traveling route described later to each point (excluding the starting point). In addition, the controller 16 is provided with, for example, a CD-RO via a bus in the navigation device body 1.
A memory controller 1 connected to a memory driver 2 in which a road map memory D composed of M, a magneto-optical disk, etc. is loaded.
1 is connected.

The road map memory D divides a road map (including highway national roads, motorways, general national roads, prefectural roads, prefectural roads, city roads of designated cities, and other living roads) into meshes and divides them into meshes. It stores road map data such as route calculation road map data, display road map data, position detection road map data, and the like, which is a combination of nodes and links in mesh units, and a route calculation program.

Here, the "node" is generally a coordinate position for identifying an intersection or a bending point of a road,
A node representing an intersection is referred to as an intersection node, and a node representing a road bending point (excluding an intersection) is referred to as an interpolation point node. The vector connecting the nodes is a "link". Link data includes link number, link start node address and link end node address, link distance, link passing direction, required time in that direction, road type or type, road width, one-way traffic, right turn Includes data on prohibition, left turn prohibition, toll roads, etc.

The standard transit time in the direction of passing the link is called "link cost", and the time required to travel the link is expressed in seconds, for example. Normally, the link cost uses the cost at the time of traveling at the legal speed, but in the present embodiment, the actual traveling time of the vehicle on the road in the section divided by the specific points of the traveling route is included in the route calculation road map data, It is used by replacing with the cost of the link corresponding to the road in the section divided by the specific point. Then, the route calculation is performed using the replaced link cost.

The display road map data is created from a map database of 1/2500, for example, and is composed of detailed map data for specifying roads, place names, famous facilities, railways, rivers, etc. . Controller 1
A display control unit 12 to which a display 3 having a display screen composed of, for example, a liquid crystal display device, a CRT or a plasma device is connected is connected via a bus in the navigation device body 1.

When the current position data of the vehicle is given, the controller 16 controls the memory control unit 11 to read the road map data around the current position of the vehicle from the road map memory D via the memory drive unit 2. . Then, the read road map data and the current vehicle position data are given to the display controller 15. As a result, the current position of the vehicle is displayed on the display 3 by the car mark together with the road map.

Further, the controller 16 is requested to register a new registration locus, display a registered locus, input the start and end points of the travel route, and enter the place name of the start or end point via the bus in the navigation device body 1. An input processing unit 13 is connected to which a remote control key 4 composed of, for example, a joystick remote control key is connected, and a voice output device 7 for informing the user of various types of guidance is connected to perform change input, setting input of route calculation conditions, and route calculation request. Voice control unit 15,
And the non-volatile memory 17 is connected.

The position detecting section 14 serves as the position detecting means according to claims 1 to 4 of the claims.
Further, the CPU 161 is also the route calculating means according to claim 2 or 3, and the timer 164 is the time measuring means according to any of claims 1 to 4, and the interval time is also according to claim 2 or 3. As an acquisition method,
Further, the road map memory D is also the map storage means according to claims 1 to 4, the display controller 15 is the display control means according to claims 1 to 4, and the remote controller is also included. The key 4 is also the start point setting means, the end point setting means, and the passing point setting means according to claims 1 to 4, the destination input device according to claim 2 or 3, and the nonvolatile memory. Reference numeral 17 is also the first traveling time storage means according to claims 1 to 3, second traveling time storage means and traveling locus storage means according to claims 1 to 4 as well. They function as three running time storage means, respectively.

It is preferable that the nonvolatile memory 17 can be erased from the stored contents so that the user can register or delete the registration locus again or more times. Therefore, the nonvolatile memory 17 is, for example, an E that can electrically write and erase data.
EPROM or the like is applicable. This non-volatile memory 1
Even if the user turns off the power of the navigation device by 7, the various data of the registration locus to be set is stored in the non-volatile memory 17. Therefore, if the user turns on the power of the navigation device again, it is possible to use various data of the registered locus that was input when the vehicle was driven up to the previous time.

In the non-volatile memory 17, various data in the registered locus are stored in a locus point registration table, which will be described later.
It is stored in the form of a trajectory link registration table. Each data stored in the locus point registration table is referred to and used when displaying a registered locus described later. Further, each data of links stored in the trajectory link registration table is mainly used for route calculation described later.

In the locus point registration table, the starting point, passing point (described later), end point, and CPU 16 of the traveling route set when the user registers the traveling route as a registered trajectory.
Each data corresponding to each specific point which is automatically set and input by 1 is stored for each point. Table 1 shows
It is an example of a locus point registration table.

[0037]

[Table 1]

In the locus point registration table, as shown in Table 1, a point type code such as a starting point, a passing point, a specific point or an end point of a traveling route, and a running record of a vehicle from the starting point to each point (excluding the starting point) Data such as time, position coordinates of each point, and each point name are stored. More specifically, in the location type code column, various types of codes of the starting point, passing point, and ending point of the travel route set by the user, or the CPU 1
The type code of the specific point which is automatically set and input by 61 is stored. This type code is stored in advance in the road map memory D, is read from the road map memory D every time each point is set, and is stored in the locus point registration table.

The column of the actual traveling time stores the actual traveling time from the starting point to the passing point or the end point set by the user, or the actual traveling time from the starting point to the specific point automatically set and input by the CPU 161. It
These traveling actual times are measured by the timer 164. The position coordinates column stores position coordinates that represent the position of the vehicle on the road map when each point is set. Specifically, when the vehicle is located on the road map, for example, the road map is divided into meshes, and the code numbers given in advance for each mesh and the x-coordinates and y when each mesh is represented by coordinate axes. The coordinates are stored.

In the spot name column, the intersection name of each spot or an appropriate nearby place name included in the position detection road map data in which the vehicle exists when each spot is set is stored in the CPU.
161 is automatically selected, and the character string of the intersection name or the character string of the place name is converted into a JIS code and stored. In particular, the place names of the start point and the end point are names that represent the registered locus so that the user can easily select the registered locus when the registered locus is displayed on the display 3. The user can select the registered locus to be displayed by the list screen of registered loci to be described later in which the start point name and the end point name are displayed. The name of each point can be changed to any name by the user (described later).

On the other hand, in the above trajectory link registration table,
As the vehicle travels, a link corresponding to a road in a section that divides the registered locus into specific points is searched from the route calculation road map data, and data regarding the registered locus of the link is stored. Table 2 is an example of the trajectory link registration table.

[0042]

[Table 2]

In the trajectory link registration table, as shown in Table 2, the link number of the link corresponding to the road in the section in which the registered trajectory is divided into specific points, the actual traveling time of the vehicle on the road corresponding to the link, etc. Each data of is stored. FIG. 6 is an illustrative view showing an example of a correspondence relationship between a registration trajectory and a link. According to the figure, if the user sets the start point of the travel route at the point S as the vehicle travels, each data regarding the above-mentioned start point is stored in the locus point registration table, and the timer 164 starts the time measurement. To be done.

[0044] When the vehicle passes through the point P _1, since the point P ₁ has been identified in advance as a specific point, CPU 161 is a point P
₁ is automatically recognized as the specific point, and the data regarding the specific point is stored in the locus point registration table. Also, Table 2
In the trajectory link registration table of, the CPU 161 automatically recognizes the specific point P ₁ and at the same time, the start point S to the specific point P 1
The link number of the link corresponding to the road in the section up to _{1 is} read from the road map data for route calculation and stored.
Further, since the time measurement is started at the starting point S, the actual traveling time of the vehicle from the starting point S to the specific point P ₁ is known, and the actual traveling time is stored in a predetermined field of the trajectory link registration table together with the link number. .

Similarly, when the CPU 161 recognizes the specific point P ₂ or the specific point P ₃ , the link number or the link number is read from the route calculation road map data and stored in the trajectory link registration table. Also, the specific point P ₁
To the specific point P ₂ or the actual traveling time of the vehicle from the specific point P ₂ to the specific point P ₃ is also measured by the timer 164 and stored in a predetermined column of the trajectory link registration table.

If the end point of the travel route is set at the point E, the data regarding the end point is stored in the locus point registration table. The section set from the start point S to the end point E described above is the registration locus. Further, in the trajectory link registration table, at the same time when the end point is set, the specific point P
The link number of the link corresponding to the road in the section from ₃ to the end point E is read from the road calculation road map data and stored. Further, the actual traveling time of the vehicle from the specific point P ₃ to the end point E is measured by the timer 164 and stored in a predetermined column of the trajectory link registration table.

As described above, when the CPU 161 automatically recognizes the specific point or the user sets the end point,
The link number of the link corresponding to the road on the travel route is read from the route calculation road map data and stored in the trajectory link registration table. The actual traveling time of the vehicle from one point to the next point is also measured by the timer 164 and stored in the trajectory link registration table.

In the example of FIG. 6, the link number of the link corresponding to the road on the registered track, and the actual traveling time of the vehicle on the road corresponding to each link are stored in the track link registration table. <Schematic Control Procedure> FIGS. 7 to 9 are flowcharts for explaining a schematic control procedure of the navigation device having the main traveling locus display function. This control process is roughly divided into (1) a process for newly registering a travel route as a registered track, (2) a process for displaying a registered track that has already been registered, and (3) a process for executing a route calculation. . <New Registration Process of Traveling Route> First, a process of newly registering a traveling route as a registration locus will be described. Normally, while the vehicle is traveling, a road map having a plurality of function keys arranged on the display screen of the display 3 is displayed as shown in FIG.

Here, the contents of the main display screen will be briefly described. When any function key on the main display screen is input, a process corresponding to any function key is executed. For example, when the "menu" key 61 is set, the display screen asks whether to set the destination in the route calculation, whether to start the route calculation, whether to set the registered place, or other optional function. The screen switches to a menu setting screen (not shown) in which you can enter functional requests such as.

Further, instead of inputting this function key, it is also possible to specify any one of the function keys arranged on the display screen by the remote control key 4 and input the setting. According to the flowchart of FIG. 7, first, the CPU 161 displays the lower part of the screen (see FIG. 10 (a)).
A determination process is performed as to whether or not the "trajectory" key 62 arranged at is set by the user (step S1). By setting this “trajectory” key 62, the CPU 1
Reference numeral 61 starts a series of processing relating to the registered trajectory. When the "trajectory" key 62 is input by the user, the CPU 16
1 switches the display screen to the locus function menu screen (see FIG. 10B) (step S2). When the "new registration" key 63 displayed on this display screen is set by the user, the process proceeds to the process of newly registering the travel route as a registration locus, and the "display of already registered locus" key 64 is set by the user. Then, the process proceeds to the process of displaying the registered trajectory.

The determination process of step S3 is a process of determining which of the above keys has been selected by the user. When the user sets "new registration" with the travel route as the registration locus, the display screen of the display 3 is displayed with the "start point" key 65 at the lower left along with the road map as shown in Fig. 10 (c). Switch to the displayed screen. The vehicle position on the road map set by the "starting point" key 65 becomes the starting position of the registered locus.

Next, the CPU 161 determines whether or not the "start point" key 65 is set by the user in step S5 in order to store the start position of the traveling route (step S5). When the "start point" key 65 is set at a position where the user wants to start registration of the traveling route, C
The PU 161 starts the built-in timer 164 (step S6). At the same time, the type code of the starting point is read from the road map memory D, and each data such as the intersection name of the starting point or the name of a nearby place, which is used as the position coordinates of the starting point on the road map and the name of the registered trajectory, is used as the position detecting road map. It is read from the data and stored in a predetermined column of the locus point registration table (see Table 1) (step S7).

The display screen of the display 3 is shown in FIG. 11 (d).
As shown in, the current position of the vehicle is the center of the screen and the "passing point" key 66, together with the road map on which the car mark is superimposed,
Each of the "stop" key 67 and the "end point" key 68 is switched to the screen displayed at the bottom of the screen (step S
8). The function keys displayed on this screen will be described later.

In order to store the data of the specific point of the traveling route, the CPU 161 performs the processing for determining whether or not the vehicle has passed the specific point in step S9 of FIG. When the vehicle passes a predetermined point on the road map, the CPU
161 reads the type code of this specific point from the road map memory D and stores it in a predetermined column of the locus point registration table.
In addition, the timer 16 that started the measurement at the start point setting
4, the time when the vehicle passes the specific point is stored in the locus point registration table as the actual traveling time of the vehicle from the start point to the specific point. Further, each data such as the position coordinate of the specific point on the road map, the intersection name of the specific point or the nearby place name is read from the position detection road map data and stored in a predetermined column of the locus point registration table (step S10). ). As described above, these data stored in the locus point registration table are used when displaying a registered locus to be described later on the display 3.

At this time, the link corresponding to the road from the starting point to the specific point is acquired from the route calculation road map data based on the traveling position data detected by the position detecting unit 14. Then, the link number of this link and the actual traveling time of the vehicle in the section corresponding to this link are stored in the above-mentioned trajectory link registration table (see Table 2). These data stored in the trajectory link registration table are used in the route calculation described later.

If it is determined in step S9 that the vehicle has not passed the specific point, the process proceeds to step S11. Further, when the storage process of each data in the locus point registration table is completed in step S10, the process proceeds to step S11. CPU16
Since 1 stores the data of the passing point of the traveling route, in step S11, a determination process as to whether or not the setting of the passing point is manually input by the user is performed. FIG. 11 described above.
In the display screen shown in (d), when the "passing point" key 66 is input by the user at an arbitrary point during traveling, the type code of the passing point is read from the road map memory D, and the predetermined field of the locus point registration table is read. To store. Further, the time when the user sets the passage point is stored in the locus point registration table as the actual traveling time of the vehicle from the start point to the passage point by referring to the timer 164 that started the measurement in setting the start point. Further, each data of the position coordinates of the passing point on the road map, the intersection name of the passing point or the nearby place name is read from the position detecting road map data and stored in a predetermined column of the locus point registration table (step S).
12).

If it is determined in step S11 that the passing point key 66 has not been manually set by the user, the process proceeds to step S13. When the process of storing each data in the locus point registration table is completed in step S12, the process proceeds to step S13. In the present embodiment, in addition to automatically setting and inputting a specific point on the traveling route by the CPU 161, an arbitrary point on the traveling route can be set as a passing point by the user as described above. Therefore,
Since the set passing point data is stored in the locus point registration table, the position of this passing point and the actual traveling time from the starting point to the passing point can be displayed when the registered locus is displayed.

In step S13, it is determined whether or not the "stop" key 68 is input by the user (step S19). When the user presses the “stop” key 68 when the user wants to cancel the registration for some reason while registering the travel route, the CPU 16
1 stops the built-in timer 164 (step S14), the data in the locus point registration table input in the process of registering the current travel route, and the road on which the vehicle stored in the locus link registration table traveled. Delete the data of the link corresponding to (step S1
5). When the data has been erased, the new registration process of the main registration locus is completed.

On the other hand, if the "stop" key 68 is not set in step S13, the "end" key 6 is set by the user.
A determination process of whether or not the setting of 7 is made is performed. If the "end point" key 67 is not set by the user, the process returns to the determination process of whether or not the specific point is passed in step S9, and the "end point" is returned.
Unless the key 67 or the "Cancel" key 68 is pressed,
Repeat a series of processes.

During the repeated processing, when the vehicle passes the next specific point as the vehicle travels, step S1
Each data regarding the specific point described in 0 is stored in a predetermined column of the locus point registration table. Further, when the user inputs the passing point, each data regarding the passing point described in step S12 is stored in a predetermined column of the locus point registration table. Furthermore, the link number of the link corresponding to the road in the section between the specific point (or the passing point) that has passed before and the specific point (or the passing point) that passes next is the number of the vehicle of the section measured by the timer 164. It is stored in a predetermined column of the trajectory link registration table together with the actual traveling time.

As described above, until the "stop" key 68 or the "end point" key 67 is set and input in the trajectory link registration table, the data of the passing point set by the user, the data of the specific point through which the vehicle has passed, Each data of the links corresponding to the roads in the section divided by the specific points of the road on which the vehicle travels are sequentially stored. On the other hand, in step S16, when the "end point" key 67 is set at the point where the user desires to end the route registration, the CPU 161 stops the built-in timer 164 (step S1).
7) The end point type code is read from the road map memory D in a predetermined column of the locus point registration table and stored in the predetermined column of the locus point registration table. Further, the time when the user sets the end point is referred to as the traveling actual time of the vehicle from the start point to the end point with reference to the timer 164 that has finished measuring in setting the end point, and is stored in the locus point registration table. Further, each data of the position coordinate on the road map at the end point, the intersection name of the passing point or the nearby place name is read from the position detection road map data and stored in a predetermined column of the locus point registration table (step S18).

In addition, in order for the user to confirm the starting point name or the ending point name of the traveling route automatically selected by the CPU 161, the starting point name or the ending point name of the trajectory being registered is displayed on the screen as shown in FIG. 11 (e). The screen is switched to the displayed screen (step S19). The starting point name or the ending point name of the travel route is stored in the locus point registration table when each point is set by the user. The starting point name and the ending point name of the travel route displayed on this screen are names that represent the registered locus so that the user can easily select the registered locus when the registered locus is displayed on the display 3. is there.

Therefore, when the user wants to set the starting point name or the ending point name to an individual name that is easier for the user to understand instead of the intersection name or the like, the starting point name and the ending point name can be changed by the user ( Step S19). That is, since the character string "Do you want to change the name?" Is displayed at the bottom of the display screen, when the "YES" key 69 is selected by the user, the name as shown in Fig. 11 (f) is displayed. A change input screen is displayed, and the user can directly change the name by directly inputting the name.

In step S21, when the renaming of the starting point name or the ending point name of the traveling route is completed, the process of newly registering the traveling route as a registration locus ends. Further, in FIG. 11 (e), when the user selects the "NO" key 70, the process of newly registering the travel route as the registration locus ends. As described above, the new registration processing as the registration locus of the traveling route is started when the starting point of the traveling route is set and input by the user while the vehicle is traveling, and when the vehicle passes the specific point, the specific point is set to the CPU 161. Is automatically set by. Since the time measurement is started when the starting point is set, the actual traveling time of the vehicle from the starting point to each point (excluding the starting point) is measured and the actual traveling time is stored in the locus point registration table. And
The new registration processing of the travel route ends when the end point of the travel route is set and input by the user. The data stored in the locus point registration table is used when the registered locus described later is displayed on the display 3.

Further, in the new registration processing of the traveling route,
The link corresponding to the road in the section divided by the specific point and the actual traveling time of the vehicle in the section are stored in the trajectory link registration table. This stored data is used for route calculation described later. <Display Processing of Registered Trajectory> Meanwhile, step S3 (FIG. 7)
In the determination processing of, the locus function menu screen (see FIG.
When the user selects “display registered track” based on (b), the CPU 161 displays a display screen as shown in FIG. 12 in order to select which registered track is to be displayed by the user. The display is switched to a list display of registered tracks (step S22). According to this list display, since the starting point name and the ending point name of the registration locus are displayed, the registration locus desired by the user can be selected. Further, since the registration loci are represented by loci, one or a plurality of registration loci can be set. Further, by setting the "all" key 71, it is possible to set all registration loci.

When the user selects any or all of the registered loci (step S23), the CPU 16
1 retrieves the selected registered trajectory data stored in the trajectory point registration table. Then, the selected registered locus is displayed on the display 3 in a superimposed manner with the road map by referring to the point type code of the corresponding registered locus, the actual traveling time of the vehicle from the starting point, and the position coordinates of each point (step S24). ).

FIG. 13 and FIG. 14 are examples of display screens when the registration locus is displayed. In this example, the position of the vehicle is ignored, and one registration locus is displayed in consideration of entering the screen of the display 3. In addition to this example, the car mark of the vehicle may be displayed in the center of the screen and the registration locus may be displayed together with the road map. According to FIG. 13, the actual traveling time of the vehicle from the starting point S at the specific points P ₁ , P ₂ , P ₃ and the end point E of the registered trajectory is displayed on the road map. The value of the displayed actual traveling time is displayed based on the actual traveling time of the vehicle from the starting point S to each point (excluding the starting point) stored in the locus point registration table.

The registered locus is displayed, for example, on another road.
The colors are different so that
As shown, it may be displayed as a dotted line along the route
May be. In addition, the display of the actual running time is
In addition to displaying the actual travel time to a point,
The actual running time from the previous point, that is, a certain point
The actual running time of the cut section may be displayed (FIG. 14).
reference). This time is the track record from the starting point to a certain point
Running results from the start point to the previous point from the time value
It can be easily calculated by subtracting the time value. Figure
According to 13, the starting point S to the specific point P₁, P₂, P_Three， O
And the actual running time to the end point E is 16 minutes and 24 hours, respectively.
Minutes, 30 minutes, 48 minutes. Therefore, the specific point P₁, P₂
The actual traveling time of the vehicle between the start point S and the specific point P₂Until
From the actual travel time value of the starting point S to the specific point P₁Run up to
Since it is 8 minutes after subtracting the value of line actual time, that value is specified.
Fixed point P ₂Is displayed as "8" (see FIG. 14). same
The specific point P₂, P_ThreeThe actual running time of the vehicle during the period is 6 minutes
Therefore, the specific point P_ThreeIs displayed as "6".
Similarly, the specific point P_ThreeThe actual running time of the vehicle between the end points E is
Since it is 18 minutes, "18" is displayed at the end point E.
You.

As described above, when the registration locus is newly registered, the actual traveling time from the starting point to each point (excluding the starting point) can be stored in the non-volatile memory 17, and the registered locus can be registered. Can be displayed together with the actual traveling time from the starting point to each point. In this way, since the actual traveling time from the start point of the registered locus to each specific point or the end point is displayed, the user can confirm the actual traveling time of the vehicle on the road that has traveled previously.

Further, in displaying the registration loci, the user can select a plurality of registration loci, so that a plurality of registration loci can be displayed. Therefore, as the number of registered trajectories increases, the value of the actual traveling time of the vehicle in the section delimited by the specific point is displayed, and the user can easily select the optimum course for traveling. <Route calculation processing> Further, in the present embodiment, in addition to the display function of the actual travel time of the registered trajectory, the actual travel time from the present location to the destination etc. is calculated based on the actual travel time of each section divided by the set points of the registered trajectory. It is possible to calculate a route that gives the user the shortest route to.

The route calculation in this embodiment will be described with reference to the flowchart of FIG. First, after the user sets the destination using the remote control key 4 (step T1), the CPU 161 determines whether or not a route calculation request has been made (step T2).

When it is determined that there is a request for route calculation, CP
U 161 informs the memory control unit 11 of that fact, and the memory control unit 11 operates the CD drive 2, reads the route calculation program and the route calculation road map data from the road map memory D, and the SRAM 162 in the controller 16
(Step T3). At this time, the display screen is switched to the route calculation condition menu screen for the user to set the route calculation condition (step T4). The route calculation condition means whether to give priority to a toll road, whether to use a ferry, whether to use a transit point, whether to set a departure point to be a toll road or an ordinary road, and the like.

In the present embodiment, in addition to these route calculation conditions, the calculation condition for whether or not to use the registered trajectory data is added. To use the registered trajectory data means to execute the route calculation by applying the registered trajectory data. Specifically, the actual travel time of the road in the section divided by the specific point, which is acquired in the registration of the travel route, is replaced with the link cost of the link corresponding to the road in the section, and the replaced actual travel time is applied to the route. To perform the calculations.

Returning to FIG. 9, in step T5, the process of determining whether or not to use the registered trajectory data for route calculation is performed, and when the user selects to use the registered trajectory data, the registered trajectory selection screen is displayed. Is displayed (step T6). This display screen is the same screen as the screen of the registered trajectory list shown in FIG. 12, and the user can select the registered trajectory to be applied to the route calculation on this display screen.

According to this list display, since the starting point name and the ending point name of the registered locus are displayed, the registered locus desired by the user can be selected and applied to the route calculation.
Further, since the registration loci are represented by loci, one or a plurality of registration loci can be set. further,
By setting the “all” key 71, it is possible to set all registration loci.

When all the registered trajectories or one of the registered trajectories has been selected on the registered trajectory selection screen (step T7), the link data stored in the trajectory link registration table is stored in the non-volatile memory 17. Read from. Then, the actual travel time of the road in the section divided by the specific point of the registration locus is replaced on the DRAM 163 with the link cost of the link included in the route calculation road map data read from the road map memory D (step T8). ).

Next, the CPU 161 determines the route calculation start link and the route calculation end link based on the current vehicle position and the destination position (step T9). After the determination, the shortest route from the current position to the destination is calculated by the Dijkstra method or the potential method based on the route calculation road map data (step T10). That is, all the trees starting from the starting point link are searched, the link costs of the links forming the tree are added, and only the route having the lowest link cost to reach the destination link is selected.

Next, in step T11, the CPU 16
1 is converted into a coordinate sequence corresponding to the link of the obtained shortest route in order to display it on the display 3. Then, it is determined whether or not there is a request for displaying the shortest route (step T
12) If the user requests the map display, the shortest route is displayed on the display 3 based on the coordinate sequence (step T13).

When the above route calculation is carried out, the data of the registered trajectory actually run and stored is reflected in the route calculation to obtain the shortest route. Therefore, the user can obtain the shortest route that suits the actual road conditions. This is the end of the description of the present embodiment, but the present invention is not limited to the above embodiment. In the above-described embodiment, the actual time for each link is derived by using the timer 164 when registering the registration locus. However, by providing the clock for measuring the time, the time when each point is passed is recorded in the locus point registration table. It may be stored in. Then, when displaying the actual traveling time from the starting point to each point (excluding the starting point), the time when the vehicle passes each point may be displayed instead of the actual traveling time. By doing so, the user can refer to the actual traveling time of the vehicle on the road at the displayed time.

Besides, various modifications can be made without departing from the spirit of the present invention.

[0081]

As described above, according to the navigation device having the traveling locus display function of the first or fourth aspect, the actual traveling time of the vehicle from the starting point of the traveling route to each point is stored, and Since the actual travel time can be displayed together with the travel locus in an easy-to-understand manner for the user, when the user next tries to travel on the same road, etc., the vehicle from the start point of the travel locus registered at the time of the previous travel to each point can be displayed. You can grasp the actual running time at a glance.

Particularly, according to the navigation device having the traveling locus display function of the second aspect, the traveling locus is divided into predetermined specific points, and the actual traveling time of the vehicle in the divided sections is acquired. The actual travel time may be applied to the route calculation by replacing the actual travel time with the standard transit time of the link included in the road calculation road map data and corresponding to the road in the section delimited by the specific point. Therefore, it is possible to provide the user with a navigation device that shows a more practical and effective shortest route that is suitable for the road conditions.

Particularly, according to the navigation device having the traveling locus display function of the third aspect, when the route calculation is executed, it is determined whether or not the acquired actual traveling time of the vehicle is applied to the route calculation. Since the selection can be made as necessary, it is possible to provide a navigation device that suits the user's intention. For example, if the user cannot obtain the data of the actual traveling time of the vehicle in the registered locus in the normal traveling state, for example, the vehicle is traveling while searching for the road to be traveled, and thus the vehicle travels at a low speed unlike the normal traveling state. When the user wants to calculate the route excluding the data of the actual traveling time of the vehicle in the registered trajectory that was acquired when it took a long time or the degree of traffic congestion on the road that was traveled due to an accident was severe. It is valid.

[Brief description of drawings]

FIG. 1 is a block diagram showing a functional configuration of a navigation device with a registered location setting function of the present invention, and particularly relates to claim 1.

FIG. 2 is a block diagram showing a functional configuration of a navigation device with a registration place setting function of the present invention, and particularly relates to claim 2;

FIG. 3 is a block diagram showing a functional configuration of a navigation device with a registered location setting function of the present invention, and particularly relates to claim 3;

FIG. 4 is a block diagram showing a functional configuration of a navigation device with a registered location setting function of the present invention, and particularly relates to claim 4;

FIG. 5 is a block diagram showing a configuration of a navigation device having a traveling locus display function according to an embodiment of the present invention.

FIG. 6 is an illustrative view showing a correspondence relationship between a traveling locus of a vehicle and a link.

FIG. 7 is a flowchart illustrating a schematic control procedure of a navigation device having a main traveling locus display function.

FIG. 8 is a flowchart illustrating a schematic control procedure of the navigation device having the present traveling locus display function (continuation of FIG. 7).

FIG. 9 is a flowchart illustrating a schematic control procedure of the navigation device having the present traveling locus display function, particularly a flowchart in route calculation.

FIG. 10 is a diagram showing an example of a screen displayed on the display 3 in the schematic control process of the navigation device.

FIG. 11 is a diagram showing an example of a screen displayed on the display 3 in the outline control processing of the navigation device.

FIG. 12 is a diagram showing a list screen of registration loci displayed on the display 3 in the outline control processing of the navigation device.

FIG. 13 is a diagram showing an example in which a registered locus and actual travel times of vehicles at respective points are displayed.

FIG. 14 is a diagram showing an example in which a registered locus and a traveling actual time of a vehicle in a section delimited by a specific point are displayed.

[Explanation of symbols]

 1 Navigation Device Main Body 3 Display 14 Position Detection Unit 16 Controller 17 Nonvolatile Memory 30 Position Detection Means 31 Start Point Setting Means 32 Time Measuring Means 33 First Travel Time Storage Means 34 End Point Setting Means 35 Second Travel Time Storage Means 36 Travel Locus Memory Means 37 Display control means 38 Passing point setting means 39 Third traveling time storage means 40 Destination information input means 41 Map storage means 42 Section time acquisition means 43 Route calculation means 44 Actual time application selection means 161 CPU 164 Timer D Road map memory

Claims (4)

[Claims] 1. A position detecting means for detecting a current position of a vehicle, a road map storing means for storing road map data in advance, a road map data read by the road map storing means, and the position detecting means. In a navigation device that includes a display unit that displays the vehicle position together with a road map, a start point setting unit that can manually set the current position of the vehicle as the start point of the travel route, and a start point set by the start point setting unit. When the vehicle passes through a pre-specified specific point existing on the road map after the starting point is set by the time measuring means for starting time measurement and the starting point setting means, the vehicle from the starting point to the specific point First traveling time storage means for storing the actual traveling time of the vehicle; An end point setting means that can be manually set as an end point of the road; and when the end point is set by the end point setting means, a second travel time storage means that stores the actual traveling time of the vehicle from the start point to the end point; A travel locus storage unit that stores a section between the start point set by the start point setting unit and the end point set by the end point setting unit as a travel locus; and a start point stored by the first travel time storage unit Display control means for displaying the actual travel time up to a point and the actual travel time from the start point to the end point stored by the second travel time storage means together with the travel locus stored by the travel locus storage means in numerical values, A navigation device having a traveling locus display function. 2. A destination and the like setting means for setting a destination, a waypoint, a registered place, etc. (hereinafter collectively referred to as "destination etc."), and route calculation road map data are stored in advance. The map storage means and the travel locus stored by the travel locus storage means are divided for each of the specific points, and the traveling time of the vehicle in the section is divided into the first traveling time storage means or the first traveling time. (2) Section time acquisition means for acquiring based on the actual travel time stored by the travel time storage means, and when destinations etc. are set from the destination etc. setting means, route calculation stored in the map storage means The road map data is read out and the route between the links closest to the destination etc. set by the destination etc. setting means and the current position of the vehicle detected by the position detecting means is calculated. In this case, among the links included in the route calculation road map data, the standard passage time of the links corresponding to the roads of the section delimited by the section time acquisition unit is set in the section acquired by the section time acquisition unit. The navigation device having the traveling locus display function according to claim 1, further comprising: a route calculation unit that replaces the actual traveling time of the vehicle and calculates the shortest route based on the replaced actual traveling time. .. 3. A track record capable of selecting whether or not to apply the travel record time of the vehicle acquired by the section time acquisition section to the path calculation section when the shortest path is calculated by the path calculation section. The navigation device having a traveling locus display function according to claim 2, further comprising time application selecting means. 4. A position detecting means for detecting a current position of a vehicle, a road map storing means for storing road map data in advance, a road map data read by the road map storing means, and the position detecting means. In a navigation device including a display means for displaying a vehicle position on a road map, a start point setting means capable of manually setting the current position of the vehicle as a start point of a traveling route, and the start point is set by the start point setting means. And a time measuring means for starting time measurement, and a passing point setting means capable of manually setting an arbitrary point on the traveling route of the vehicle as a passing point after the starting point is set by the starting point setting means. When the passing point is set by the passing point setting means, a third traveling time record that stores the actual traveling time of the vehicle from the starting point to the passing point is stored. Means, after the start point is set by the start point setting means, an end point setting means that can manually set the current position of the vehicle as the end point of the travel route, and when the end point is set by the end point setting means, from the start point Second traveling time storage means for storing the actual traveling time of the vehicle to the end point, a section between the start point set by the start point setting means and the end point set by the end point setting means is stored as a traveling locus. The traveling track storage means, the traveling actual time from the start point to the passing point stored by the third traveling time storage means, and the traveling actual time from the start point to the end point stored by the second traveling time storage means, And a display control means for displaying numerical values together with the travel loci stored by the travel locus storage means, and a travel locus display function. Navigation device.