JPH10239081A - Device for searching route - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute cost calculation corresponding to the state of signals on a route by adding corresponding cost between red lighting time and yellow lighting time of the signals existing on the route between the position of an own vehicle and the requested destination. SOLUTION: A device RS1 for searching route is provided with a GPS receiver 4, a gyroscope 7, a vehicle speed pulse detecting part 8, an FM multiple receiving unit 6, a traffic information data memory 9, a route searching device body 10, and the like. The route searching device body 10 detects the present position, azimuth, speed, and the like of a vehicle with high accuracy on the basis of information obtained from the GPS receiver 4, gyroscope 7 and vehicle speed pulse detecting part 8. On the basis of map data stored in a CD-ROM 3 and traffic information acquired through the beacon receiver 5 and FM multiple receiving unit 6, a route lowest in cost from a starting spot to the destination assigned by a user is searched and made a guide route, and a map image near the present position of the vehicle, a position mark, the guide route, and the like are displayed using map data stored in the CD-ROM 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a route search device.

[0002]

2. Description of the Related Art A conventional route search apparatus searches for an optimum route between a position of a vehicle and a desired destination, and reduces the cost of a first link from a predetermined node to a first node. Comparing the cost of the second link from the predetermined node to the second node, selecting a link with a low cost, repeating the above operation, and determining the route that can reach the destination with the lowest cost as the optimal route. Is done. When calculating the cost, factors to be taken into account include road width, distance, and the like.

[0003]

When a traffic light on a route between the position of the vehicle and a desired destination is lit red or yellow, it is necessary to actually stop the vehicle. The time required to reach the destination differs depending on the state of the traffic light.

For example, if there are two routes from the position of the vehicle to the destination, and according to the conventional cost calculation, the total costs of the two routes are substantially the same, one of the routes is assumed. Has many traffic lights,
If only a small number of traffic lights are installed on the other route, the time required for the route with fewer traffic signals will be shorter, and the route with fewer traffic signals should be the optimal route. Judgment is not made in the conventional example, and there is a problem that the case may not match the actual situation.

Further, according to the conventional cost calculation, when two routes whose total costs are substantially the same are considered, even if substantially the same number of traffic signals are installed, the traffic signals on one route are not considered. If the total time of the red lighting time is longer than the total time of the red lighting time of the traffic light on the other route, the route with the shorter total time of the red lighting time should be the optimal route. Is not done in the conventional example, and has a problem that it does not match the actual situation.

[0006] The present invention provides a route search device capable of executing cost calculation in accordance with the state of a traffic light on a route when searching for an optimum route between the position of the vehicle and a desired destination. It is intended for.

[0007]

SUMMARY OF THE INVENTION According to the present invention, a cost calculation for searching for an optimal route between a host vehicle position and a desired destination is performed on a route between the host vehicle position and the desired destination. The cost corresponding to the red lighting time and the yellow lighting time of the traffic light existing in the vehicle is added.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram showing a route search device RS1 according to one embodiment of the present invention.

The route searching device RS1 comprises an input device 1, a monitor 2, a CD-ROM 3, a GPS receiver 4, a beacon receiver 5, an FM multiplex receiving unit 6, a gyro 7, a vehicle speed pulse detecting section. 8, a traffic information data memory 9 and a route search device main body 10.

The route search apparatus main body 10 is composed of a microcomputer, and displays a map near the current position of the vehicle on the monitor 2 or a guidance route from the departure point to the destination, a vehicle position mark, and other guidance. It displays information.

The input device 1 is an example of a means for inputting a destination and the like, and the monitor 2 is composed of a liquid crystal display device or the like, and displays a map, a guide route, an intersection guide map, various menus and the like. . The CD-ROM 3 is a memory that stores map data composed of road layers, background layers, character / symbol layers, and the like for each scale. GPS receiver 4
Is to detect the current position of the vehicle, the vehicle direction, the vehicle speed, and the like by satellite navigation.

The beacon receiver 5 receives an optical beacon or a radio beacon output from a transmitter provided along a road. The FM multiplex receiving unit 6
This unit receives traffic information multiplexed on FM broadcasts. The optical beacon and the radio beacon are used for supplying traffic information in a narrow range, and can supply relatively detailed traffic information. On the other hand, the communicable range of FM multiplex broadcasting is extremely wide, for example, in the entire Kanto region,
Information density is relatively low. The gyro 7 detects a rotation angle of the vehicle, and the vehicle speed pulse detector 8 detects a vehicle speed pulse generated as the vehicle moves. The traffic information data memory 9 is a memory for storing traffic information obtained via the beacon receiver 5 or the FM multiplex receiving unit 6, and stores past traffic information.

That is, the route search device main body 10 uses the GPS
Based on information obtained from the receiver 4, the gyro 7, and the vehicle speed pulse detector 8, the current position, direction, speed, and the like of the vehicle are detected with high accuracy.
3 to search for the lowest cost route from the departure point to the destination specified by the user, based on the map data stored in 3 and the traffic information obtained via the beacon receiver 5 or the FM multiplex receiving unit 6. Guide route, CD-RO
Using the map data stored in M3, a map image near the current position of the vehicle is displayed on the monitor 2, and a vehicle position mark and a guidance route are displayed according to the map image.
Further, various guidance information is provided to the user in accordance with the movement of the vehicle.

FIG. 2 is a diagram showing an example of the configuration of road data in map data in the route search device RS1.

The map information generally includes a road layer, a background layer for displaying objects on the map, a character layer for displaying characters such as city names, and an IIS.
(Integrated Information S
service information) and an IIS layer for storing information. The road layer includes road link data RLDT and node data NDD as shown in FIG.
T and intersection data CRDT.

The road link data RLDT gives attribute information of the road, and includes the total number of nodes on the road link, the number of each node constituting the road, the road number (road name), and the type of road. (National roads, expressways, prefectural roads, and other types).

The intersection data CRDT includes, for each intersection on the map, a set of nodes closest to the predetermined intersection (intersection constituent nodes) among the nodes on the links connected to the predetermined intersection. It is.

The node data NDDT is a list of all the nodes constituting the road (the place where the landmark exists is also defined as a node). The node information NDDT contains position information (node coordinates indicated by longitude and latitude) for each node, and and whether a traffic identification indicating flag F _CR node traffic is present (if traffic exists "1", if there _"0"), the lighting information of the traffic signal, if not the node is traffic the It is composed of a pointer or the like indicating a road link to which the node belongs.

The lighting information of the traffic signal is, for each node,
It is composed of a time zone, a cycle time (total time of turning on blue, yellow, and red once) and a total time of turning on red and yellow once in one cycle. .

FIG. 3 is a flowchart showing the operation of the route search device RS1.

FIG. 3A is a flowchart showing the basic operation of the route search device RS1. First, a destination is input through the input means 1 (S1), a start node and an end node are determined (S2), and an optimal route in which the time from the start node to the end node is the shortest is determined. Evaluation function Z =
It is calculated based on ΣAm + ΣBn (S3).

Here, Am is the link travel time,
It is a total evaluation (sum) of the costs (time) of the link attribute a1, the link attribute a2, and the link attribute a3, and indicates the time required to pass through the link. That is, the link travel time Am = a1 + a2 + a3.

The link attribute a1 is a road width.
The value of the link attribute a1 decreases as the width increases. The link attribute a2 is a link length, and the shorter the distance, the smaller the value of the link attribute a2. The link attribute a3 is a road type (expressway, national road, general road), and has the smallest value for an expressway and the largest value for an ordinary road.

Bn is an intersection cost, which is a node attribute b1, a node attribute 2, a node attribute b3, and a cost (time).
Is a comprehensive evaluation (totaling), and indicates the time required to pass through an intersection. That is, Bn = b1
+ B2 + b3.

The node attribute b1 is an intersection passing basic cost, which is a duty to pay attention to a side road when passing an intersection, and is a cost for deceleration. The node attribute b2 is
The intersection left / right cost, the cost for decelerating when turning right or left, the node attribute b3 is the cost based on the lighting information of the traffic light, and the node attribute b3 = c × t1
× t1 / t2. Here, c is a coefficient, and “1.
It is adjusted according to the actual situation centering on "0". t1 is 1
The total time (seconds) of the red and yellow lighting times during the cycle, and t2 is the total time (one cycle time) (seconds) of the blue, yellow, and red lights each one time.

FIG. 3B is a flowchart specifically showing the calculation (S3) of the evaluation function Z = ΣAm + ΣBn in the above embodiment.

To obtain the evaluation function Z = ΣAm + ΣBn, the node number N is set to 1 (S11), and the link attribute a1 is set according to the road width of the node having the node number 1.
(S12), a link attribute a2 is determined according to the length of the link relating to the node with the node number 1 (S13), a link attribute a3 is determined according to the road type with respect to the node number 3 (S14), and the link travel time A1 = A1 + a2 + a
3 is calculated (S15).

The node attribute b1 of the basic deceleration cost immediately before the traffic signal for the node of node number 1
(S16), a node attribute b2, which is a cost for decelerating when turning right or left, is obtained for the node of node number 1 (S17), and a node attribute which is a cost based on the lighting information of the traffic light for the node of node number 1. b
3 is obtained (S18).

Node attribute b3 = c × t1 × t1 / t2, for example, C = 1.0, and the total time (one cycle time) of each of the blue, red, and yellow lighting times is 30 seconds. If the total lighting time of red and yellow is 10 seconds, the node attribute b3 = 1 × 10 × 10/30 =
3.3 (seconds).

Then, the intersection cost B1 = b1 + b2 +
b3 is calculated (S19). If the node number N is not the final number m of the node (S20), the node number N is incremented by "1" (S21), and the above processing (S12 to S21) is performed. , Until the node number N reaches the final number m (S20), and the evaluation function Z = ΣAm + ΣBm
Is calculated (S22).

FIG. 4 is a diagram for explaining the operation of the above embodiment.

In FIG. 4, A1, A2, A3, A4
Are the costs of each node, respectively, B1, B2,
B3 is the cost at each intersection. The required time T from the start node to the end node in this case is: T = (A1 + A2 + A3 + A4) + (B1 + B2 + B
3)

In the above embodiment, in the cost calculation for searching for an optimal route between the own vehicle position and a desired destination, a traffic signal existing on the route between the own vehicle position and the desired destination is calculated. The cost corresponding to the red lighting time and the yellow lighting time is added, and the cost can be calculated according to the state of the traffic light on the route between the own vehicle position and the desired destination. Further, in this case, since the costs corresponding to the red lighting time and the yellow lighting time are set differently according to the time zone, the cost calculation corresponding to the actual situation can be executed.

In the above embodiment, instead of adding the costs corresponding to the red lighting time and the yellow lighting time of the traffic light existing on the route between the own vehicle position and the desired destination, the own vehicle position is changed. The number of traffic lights provided on a plurality of routes searched between the route and a desired destination may be displayed on the monitor 2 for each of the plurality of searched routes. In this way, by displaying the number of traffic lights provided on each of a plurality of searched routes for each route, the total number of traffic lights installed in one route can be seen at a glance, and a valuable judgment criterion for route selection. become.

Further, in the above embodiment, instead of adding the costs corresponding to the red lighting time and the yellow lighting time of the traffic light existing on the route between the own vehicle position and the desired destination, the own vehicle position is changed. The optimum route searched between the destination and the desired destination may be displayed on the monitor 2, and the traffic signal existing on the optimum route may be displayed on the monitor 2.

[0036]

According to the present invention, the traffic signal on the route between the own vehicle position and the desired destination is used in the cost calculation when searching for the optimum route between the own vehicle position and the desired destination. This makes it possible to execute the cost calculation according to the state of.

[Brief description of the drawings]

FIG. 1 is a diagram showing a route search device RS1 according to an embodiment of the present invention.

FIG. 2 is a diagram showing an example of a configuration of road data in map data in a route search device RS1.

FIG. 3 is a flowchart showing an operation of the route search device RS1.

FIG. 4 is an operation explanatory diagram of the embodiment.

[Explanation of symbols]

 RS1 route search device, 1 input device, 2 monitor, 3 CD-ROM, 4 GPS receiver, 5 beacon receiver, 6 FM multiplex receiving unit, 7 gyro, 8 vehicle speed pulse detector 9 memory for traffic information data 10 main body of route search device

Claims (4)

[Claims] In a cost calculation for searching for an optimal route between a host vehicle position and a desired destination, a red light of a traffic light existing on a route between the host vehicle position and the desired destination is provided. A route search device that adds a cost corresponding to a lighting time and a yellow lighting time. 2. The route search device according to claim 1, wherein costs corresponding to the red lighting time and the yellow lighting time are different according to time zones. 3. A route search means for searching a plurality of routes between the own vehicle position and a desired destination, and the number of traffic lights provided on each of the searched plurality of routes is determined by determining the number of traffic lights provided on the plurality of searched routes. A route search device comprising: traffic signal number display means for displaying for each of a plurality of routes. 4. An optimum route searching means for searching for an optimum route between the position of the vehicle and a desired destination, and a display means for displaying the optimum route and a traffic signal existing in the optimum route. A route search device characterized by the following.