JPH10300504A - Route searching equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable excellent route search, by combining static route searching results on the basis of map data with dynamic route searching results of roads except the predominant adoption range of roads on the basis of the static route searching results, according to vehicle velocity data. SOLUTION: A main controller 1 performs static route search calculation on the basis of map data read from a map data case 3. Infrastructure data obtained by receiving with a beacon receiver 9b or the like are stored in an infrastructure data memory 9a. Self vehicle velocity data are obtained by using a vehicle velocity sensor in a self-contained navigation sensor 2a and a GPS receiver 2b. According to the obtained vehicle velocity data, the main controller 1 determines a region where the route based on static route searching results is predominantly adopted, and performs dynamic route search about roads except the region, by using also the infrastructure data in the infrastructure data memory 9a. By combining the obtained dynamic route searching results with the static route searching results which are predominantly adopted, the final route searching results are obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route search device for determining a recommended route from a departure point or a current position to a destination.

[0002]

2. Description of the Related Art In a navigation system for a vehicle or the like, a conventional route search device that determines a recommended route from a departure point or a current position to a destination by performing a route search calculation and determines the current route, a current position obtained by a vehicle position calculation processing device, and a display. Recommended route from the starting point where an arbitrary point on the electronic map shown on the device is input from the input device to the destination where the arbitrary point on the electronic map also shown on the display device is input from the input device Is calculated by the Dijkstra method, the potential method, or the like, a method of calculating the shortest distance based on “distance data” included in the road network recorded in the map database, or a method of calculating “ “Distance data”, “road width data”, “lane number data”, “road type data (high speed, national road, general road, etc.)”,
There is a method of calculating a static minimum time route based on “speed limit data” and the like.

In order to calculate a dynamic shortest time route based on the above-mentioned method, taking into account infrastructure traffic information data such as VICS received by a beacon receiver or an FM multiplex receiver and held in an infrastructure data memory, a search by the above method is performed. When the regulation information such as “accident” or “no traffic” is given to the result, a method of performing a re-search to avoid this, or when travel time information is given to the search result by the above method, There is a method in which a re-search is performed based on the given travel time information, and if the result is different from the search result obtained by the above method, the search result is replaced with a newly searched result.

During route guidance based on the route search result, a dynamic shortest time route is calculated in consideration of infrastructure traffic information data such as VICS received by a beacon receiver or an FM multiplex receiver and held in an infrastructure data memory. In this case, the calculation of the travel time must be started as soon as possible after receiving the data in order to calculate the travel time based on the fresher traffic information. (Also, since the user can confirm the existence of the beacon, the data reception and the calculation are required.) You need to tell the user when to start processing.)

[0005]

However, even if the position of the own vehicle moves during the calculation process and the preceding result (static route calculation result) guidance route is displayed during the calculation process and the vehicle is traveling on it,
There is a possibility that the own vehicle position does not exist on the guidance route based on the result of the dynamic route calculation. However, in a route in which the previous result (the result of the static route calculation) and the guide route is emphasized and only the traffic congestion point (the point where an arrow indicating the traffic congestion is displayed on the map screen of the display device) is detoured, the shortest time is required. The route has not been calculated (it is not always possible to reach the destination quickly).

FIG. 8 is a schematic view showing an example of a result of a conventional static route calculation before receiving a dynamic route search and during a route calculation after receiving infrastructure data. Here, in the roads (links) between the current location P and the destination T, the route search target road is represented by a thin solid line, the guide road obtained as a result of the static route search is represented by a thick solid line, and the road connection points (nodes) are represented by circles. It is represented by a mark. That is, it is shown that the taxi road from the current location P to the destination T passes through the links a ', b', c ', d', and e '. Also, it is shown that the link d 'is congested.

FIG. 9 is a schematic diagram of an example of a result of a conventional dynamic route search after receiving infrastructure data. As a result of the route calculation taking into account the infrastructure data, the current location P to the destination T
Up to the link a ', j', g ', h', l ', e', but before the dynamic calculation result is obtained, the own vehicle travels based on the previous result and the current position of the own vehicle. Is located at the point P ′ and is not on the recommended road based on the result of the dynamic route calculation.

FIG. 10 is a schematic diagram of another example of a result of a conventional dynamic route search after receiving infrastructure data. As a result of the route calculation taking the infrastructure data into account, the links a ', b', c ', k', h ', l',
e ', the vehicle travels based on the previous result and the current vehicle position is at the point P' until the dynamic calculation result is obtained, but the link a ', b', and c ' A case is shown where the static route calculation result and the dynamic route calculation result match, and the current vehicle position P 'is on the recommended road.

An object of the present invention is to provide a route search device capable of performing a good route search in consideration of vehicle speed information.

[0010]

A route search device according to the present invention is a route search device for searching and calculating a recommended route from a departure point or a current position of a vehicle to a destination. Means for performing a route search calculation based on the static route search result, means for obtaining vehicle speed information, and means for determining a range in which a route based on the static route search result is preferentially adopted according to the vehicle speed information. Means for performing a route search calculation on a road other than the range based on the data and the infrastructure data to obtain a dynamic route search result; and the obtained dynamic route search result and a static value of the preferentially adopted range. Means for obtaining the final route search result by combining the route search result.

A route search device according to the present invention is a route search device for searching and calculating a recommended route from a departure point or a current position of a vehicle to a destination, and the route search calculation is performed based on data obtained from a map database. And a second means for obtaining vehicle speed information, and a temporary departure point is determined on a guidance route based on the static route search result according to the vehicle speed information. A third means for storing the static route search result from the vehicle position to the temporary departure point, and a recommendation from the temporary departure point to the destination based on the data and the infrastructure data. Fifth to obtain the dynamic route search result by performing the route search calculation of the route
And the dynamic route search result obtained by the fifth means and the static route search result held by the fourth means are combined to obtain a final route search result. Means.

Further, in the route search apparatus according to the present invention, the temporary departure point is a point on a guide road located ahead of a nearest road connection point located in front of the current position of the vehicle, and It is determined to be a point away from the point by a distance according to the vehicle speed information.

Further, in the route search device according to the present invention, the temporary departure point is located at a point separated from the road connection point by a distance determined by the vehicle speed information, the route search calculation time, and the driver's judgment time. Is to be determined.

[0014]

When searching for a recommended route from the departure point or present position of the vehicle to the destination, first, a route search calculation is performed based on data obtained from the map database to obtain a static route search result, and then the vehicle speed information is obtained. And determines a range in which a route based on the result of the static route search is preferentially adopted according to the vehicle speed information, and performs a route search calculation for a road outside the range based on the data and the infrastructure data to perform a dynamic route search Get results. Next, the obtained dynamic route search result is combined with the static route search result in the preferentially adopted range to obtain a final route search result.

[0015]

FIG. 1 is a block diagram showing an embodiment of a route search device according to the present invention. In FIG.
1 is a main controller composed of a microcomputer or the like, 2 is a vehicle position processing device, 3 is a map database composed of a storage medium such as a CD-ROM, 4 is a storage medium reading device, 5 is a main storage memory, 6 is an input device, Reference numeral 7 denotes a video processing device, 8 denotes an audio output device, and 9 denotes an infrastructure data processing device.

The own-vehicle position processing device 2 comprises an autonomous navigation sensor 2a, a GPS receiver 2b, and an own-vehicle position calculation device 2c. The own vehicle-related sensor information from the autonomous navigation sensor 2a and the GPS from the GPS receiver 2b are provided. The own vehicle position is calculated by the own vehicle position calculation device 2c based on the current position information of the own vehicle by the satellite radio wave reception. The storage medium reading device 4 reads map data from the map database 3 and supplies the map data to the main controller 1.

The main controller 1 includes unit data of a road network from the storage medium reading device 4 and
The recommended route is calculated based on the current position data of the own vehicle from the own vehicle position processing device 2 and the position data relating to the departure point and the destination of the own vehicle input from the input device 6, and the obtained recommended route data is calculated. It is stored in the main storage memory 5. Further, the main controller 1 reads the recommended route data from the main storage memory 5 and supplies the recommended route data to the video processing device 7. The video processing device 7 includes a graphic controller 7a, a video RA
M7b and a display device 7c. The graphic controller 7 stores recommended route data in the video RAM 7b.
And the recommended route data read from the video RAM 7b is supplied to the display device 7c and displayed on the display screen. The infrastructure data processing device 9 receives infrastructure traffic information such as VICS from the beacon receiver 9b and the FM multiplex receiver 9c, and stores the information in the infrastructure data memory 9a.

In the above configuration, when a route search calculation is performed for a recommended route from the departure point or the present location to the destination, first, a static route search calculation is performed using the map information read from the map database 3, and the obtained static route is calculated. Based on the search result, infrastructure data is received by the beacon receiver 9b, the FM multiplex receiver 9c, and the like during route guidance of the own vehicle, and stored in the infrastructure data memory 9a.

Next, when a dynamic route search request is issued,
The infrastructure data stored in the infrastructure data memory 9a is also used for calculation, and the vehicle speed information of the own vehicle at that time is obtained from the vehicle speed sensor in the autonomous navigation sensor 2a or the GPS receiver 2b, and static information is obtained according to the obtained vehicle speed information. Based on the route search result, a range in which the route is preferentially adopted is determined, and then a dynamic route search is performed for roads other than the range. Next, the obtained result of the dynamic route search is combined with the result of the static route search that has been preferentially adopted to obtain a final route search result.

FIG. 2 is a flowchart showing the above route search operation. After the static route search calculation is performed by operating the route search command key of the input device 6 and the static route search result is obtained, first, in step S1, the current vehicle speed information is obtained. Next, in S2, a temporary departure point S is provided on the guidance route based on the previous search result (static route search result) according to the vehicle speed information.
To determine. This temporary departure point S is a point on the guide road that is ahead of the nearest road connection point located ahead of the current position P of the vehicle, and is separated from the road connection point by a distance according to the vehicle speed information. Determined by the point.

The determination of the temporary departure point S is, specifically,
For example, it is assumed that it takes 20 seconds for the route search calculation and 10 seconds for the driver's judgment. If the vehicle is traveling at 100 km / h, the route is set to a point 600 m ahead of the road connection point. The guidance route during guidance is adopted. (Calculation formula at 100 km / h: 100 km / h
Since h = 20 m / s and the route search calculation takes 20 seconds and the driver's judgment takes 10 seconds, 20 m × (20 seconds + 10 seconds) = 600 m. Similarly, if the vehicle is traveling at 50 km / h, the guidance route currently being guided up to 420 m ahead is adopted, and if the vehicle is traveling at 20 km / h, the guidance route currently being guided up to 165 m ahead is adopted. When the vehicle is stopped, a dynamic route search is performed without giving priority to the current guidance route.

Next, in S3, the previous search result (static route search result) from the current position P of the vehicle to the temporary departure point S is held. Next, in S4, a dynamic route search calculation from the temporary departure point S to the destination T is performed. Next, in S5, the calculation result by the current dynamic route search is connected to the held previous search result,
Finish the work.

In the above work, the determination of the temporary departure point S is, for example, assuming that it takes 20 seconds for the route search calculation and 10 seconds for the driver's judgment. h, it is 600 from the road junction
m is determined as the point ahead. (Calculation formula at 100 km / h: 100 km / h = 20 m / s. Since it takes 20 seconds for the route search calculation and 10 seconds for the driver's judgment,
20m x (20 seconds + 10 seconds) = 600m. Therefore, the guide route that is currently being guided is adopted from the static route search result up to 600 m ahead of the road connection point. Similarly, if the own vehicle is traveling at 50 km / h, it is 420 km from the road connection point.
20m from the current guidance route
If the vehicle is traveling at / h, the guidance route that is currently being guided to the point 165 m ahead of the road connection point is adopted. If the vehicle is stopped, only the result of the dynamic route search is employed without giving priority to the current guidance route.

FIG. 3 is a schematic route diagram showing a static route search result after receiving infrastructure data before a dynamic route search and during route calculation. Here, in the roads (links) between the current position P and the destination T, the route search target road is represented by a thin solid line, the guide route of the static route search result is represented by a thick solid line, and the road connection points (nodes) are represented by circles. It is represented by a mark. In other words, it is shown that the current guidance road from the current location P to the destination T passes through the links a, b, c, d, e, and f. The road distance of the link b is 300 m, and the link c is
Road distance is 200m, link d road distance is 500m
Further, it is shown that the link e is congested.

FIG. 4 is a schematic diagram of a route obtained as a result of a stopped dynamic route search. As a result of the route calculation taking into account the infrastructure data, the links a, k, h,
It is shown that the route passes through i, m, and f.

FIG. 5 is a schematic diagram of a route obtained as a result of a dynamic route search while traveling at 20 km / h. As a result of the route calculation in consideration of the infrastructure data and the vehicle speed information, the temporary departure point S is determined to be a point on the link b, and the links o, u, v, w, r to the destination T based on the result of the dynamic route search. , F.

FIG. 6 is a schematic diagram of a route obtained as a result of a dynamic route search while traveling at 50 km / h. As a result of the route calculation in consideration of the infrastructure data and the vehicle speed information, the temporary departure point S is determined as a point on the link c, and the links c, p, v, w, and r to the destination T based on the dynamic route search result. , F.

FIG. 7 is a schematic diagram of a route obtained as a result of a dynamic route search while traveling at 100 km / h. As a result of the route calculation in consideration of the infrastructure data and the vehicle speed information, the temporary departure point S is determined to be a point on the link d, and the link d, l, i, m, f based on the result of the dynamic route search to the destination T. It is shown that it is via.

As described above, during the route calculation, it is only necessary to travel on the current (previous search result) guidance route, and the vehicle position is always present on the dynamic search result guidance route. Do not let This leads to giving priority to the road currently being guided if it is available, if you turn it over.

[0030]

According to the route search apparatus of the present invention, it is possible to perform a good route search in consideration of vehicle speed information.

[Brief description of the drawings]

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

FIG. 2 is a flowchart showing a route search operation in the block diagram of FIG.

FIG. 3 is a schematic route diagram showing a static route search result after receiving infrastructure data, before a dynamic route search, and during route calculation.

FIG. 4 is a schematic view of a route obtained as a result of a stopped dynamic route search.

FIG. 5 is a schematic diagram of a route obtained as a result of a dynamic route search while traveling at 20 km / h.

FIG. 6 is a schematic diagram of a route obtained as a result of a dynamic route search while traveling at 50 km / h.

FIG. 7 is a schematic diagram of a route obtained as a result of a dynamic route search while traveling at 100 km / h.

FIG. 8 is a schematic path diagram showing an example of a conventional static path calculation result after receiving infrastructure data, before searching for a dynamic path, and during path calculation.

FIG. 9 is a schematic diagram of an example of a result of a conventional dynamic route search after receiving infrastructure data.

FIG. 10 is a schematic diagram of another example of a result of a conventional dynamic route search after receiving infrastructure data.

[Explanation of symbols]

 Reference Signs List 1 main controller 2 own vehicle position processing device 3 map database 4 storage medium reading device 5 main storage memory 6 input device 7 video processing device 8 audio output device 9 infrastructure data processing device 2a autonomous navigation sensor 2b GPS receiver 2c own vehicle position calculation Device 7a Graphic controller 7b Video RAM 7c Display device 9a Infrastructure data memory 9b Beacon receiver 9c FM multiplex receiver

Claims (4)

[Claims] 1. A route search device for searching and calculating a recommended route from a departure point or a current position of a vehicle to a destination, wherein a route search calculation is performed based on data obtained from a map database to obtain a static route search result. Means for obtaining vehicle speed information; means for determining a range in which a route based on a result of a static route search is preferentially adopted according to the vehicle speed information; and roads other than the range based on the data and infrastructure data. Means for performing a route search calculation to obtain a dynamic route search result, and combining the obtained dynamic route search result with the static route search result in the preferentially adopted range to obtain a final route search A route search device comprising: means for obtaining a result. 2. A route search device for searching for and calculating a recommended route from a departure point or a current position of a vehicle to a destination, and performing a route search calculation based on data obtained from a map database to obtain a static route search result. First means for obtaining, second means for obtaining vehicle speed information, third means for determining a temporary departure point on a guidance route based on the result of the static route search, according to the vehicle speed information, Fourth means for holding the static route search result from the position to the temporary departure point, and performing a route search calculation for a recommended route from the temporary departure point to the destination based on the data and infrastructure data. Means for obtaining a dynamic route search result; combining the dynamic route search result obtained by the fifth means with the static route search result held by the fourth means; Sixth Means for Obtaining Simple Route Search Results A route search device comprising: 3. The route search device according to claim 2, wherein
The temporary departure point is a point on the taxiway that is ahead of the nearest road connection point located in front of the current position of the own vehicle, and is determined as a point that is separated from the road connection point by a distance according to the vehicle speed information. A route search device characterized by being performed. 4. The route search device according to claim 3, wherein
The route search device is characterized in that the temporary departure point is a point separated from the road connection point by a distance determined by the vehicle speed information, the route search calculation time, and the driver's judgment time.