JPH112535A - On board navigation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on board navigation system which allows retrieval of a route in conformity with the vehicle on which it is mounted. SOLUTION: A user inputs the kind of a vehicle (compact, normal, large. special) from a control part 2 when installing a navigation system in the vehicle. The kind of the vehicle input is stored in a vehicle kind storage memory 16. During retrieval of a route, a control part 15 sets retrieving conditions according to the kind of the vehicle to retrieve the route in such a way as to avoid roads of small widths which the vehicle cannot pass and roads with height or weight restrictions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle navigation device for receiving position information transmitted from a satellite, detecting the current position of a vehicle, and guiding the vehicle to a destination.

[0002]

2. Description of the Related Art An on-vehicle navigation device is a map data storage device such as a CD-ROM or an IC card storing map data, a display device, a self-contained navigation sensor such as a gyro, and a GPS (Global Positioning System).
It has a vehicle position detection device that detects the current position and current direction of the vehicle such as a receiver, reads out map data including the current position of the vehicle from the map data storage device, and generates a map around the vehicle position based on the map data. The image is drawn on the screen of the display device, and the vehicle position mark (location cursor) is displayed superimposed on the display screen,
Scroll the map image as the vehicle moves,
By fixing the map image on the screen and moving the vehicle position mark, it is possible to see at a glance where the vehicle is currently traveling.

[0003] In addition, usually, a car navigation system is equipped with a route guidance function that allows a user to easily travel to a desired destination without making a mistake on a road. According to this route guidance function, the lowest cost route from the starting point to the destination using the map data is automatically searched by performing a simulation calculation such as the horizontal search method or the Dijkstra method, and the searched route is guided. The route is stored as a route, and during driving, the guidance route is drawn on the map image in a different color from the other roads and displayed thicker, or displayed on the screen, or a certain distance to the intersection where the vehicle should change the route on the guidance route When approaching the inside, the user is guided to the destination by drawing an arrow indicating the course at the intersection where the course is to be changed on the map image and displaying the arrow on the screen.

The cost is a value obtained by multiplying a constant according to a road width, a road type (such as a general road or an expressway), a right turn, a left turn, and the like based on the distance, a predicted traveling time of the vehicle, and the like. , The degree of appropriateness as a guidance route is quantified. Even if there are two routes having the same distance, the cost differs depending on whether the user specifies, for example, whether to use a toll road, or gives priority to distance or time.

A map stored in a map data storage device such as a CD-ROM has a longitude width of an appropriate size according to a scale level such as 1/12500, 1/25000, 1/50000, and 1/100000. Roads and the like are stored as a coordinate set of vertices (nodes) represented by longitude and latitude. A road is formed by connecting two or more nodes, and a portion connecting the two nodes is called a link. The map data includes (1) a road layer including a road list, a node table, and an intersection configuration node list, and (2) a background layer for displaying roads, buildings, facilities, parks, rivers, and the like on a map screen. (3) Character / symbol layers for displaying characters such as administrative division names such as municipal names, road names, intersection names, and building names, and map symbols.

[0006]

However, in the conventional on-vehicle navigation device, when it is mounted on a large vehicle, for example, when traveling along a guidance route, it may be difficult to travel because it is guided on a narrow road. There is a disadvantage. In addition, it may not be possible to travel along the guidance route due to a limitation on the weight of a bridge or a height of a tunnel.

[0007] It is an object of the present invention to provide an on-vehicle navigation device capable of searching for a guidance route suitable for a vehicle to be mounted.

[0008]

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle-mounted navigation device which detects a vehicle position, searches for a guidance route to a destination, and guides the vehicle along the guidance route. Stored map data storage means, input means for inputting the type of vehicle, vehicle size or vehicle weight, search condition setting means for setting a route search condition based on the vehicle size or vehicle weight input by the input means, A guidance route searching means for searching for a guidance route using the route search conditions set by the search condition setting means, using the map data stored in the map data storage means. Solve.

The operation of the present invention will be described below. In the present invention, when the user inputs a vehicle type (small car, ordinary car, large car or special car, etc.), a vehicle size or a vehicle weight through the input means, the search condition setting means sets the input vehicle type, The route search condition is set based on the vehicle size or the vehicle weight. For example, depending on the type of vehicle, a search condition is set so that a road having a road width smaller than a certain value is excluded from the guidance route, or a road having a height limit or a weight limit (including a tunnel and a bridge). ) Is set as a search condition so that the search route is excluded from the guidance route.

[0010] The guide route searching means searches for a guide route under the conditions set by the search condition setting means when searching for a guide route using the map data stored in the map data storage means. Therefore, the on-board navigation device of the present invention searches for a guidance route according to the type, size, and weight of the vehicle, and so on. There is no need to guide the user to a road on which traveling is impossible.

[0011]

Embodiments of the present invention will be described below with reference to the accompanying drawings. (First Embodiment) FIG. 1 is a block diagram showing a vehicle-mounted navigation device according to an embodiment of the present invention. In addition,
In the following description, a small car is a passenger car having a vehicle width of 170 cm or less including a minicar, and a regular car is a passenger car having a vehicle width of 170 cm or less.
cm and vehicles of the same size and weight. In addition, a large vehicle is a truck having a total vehicle load of less than 8 t and a vehicle having a size and weight equivalent thereto, and a special vehicle is a truck and a towing vehicle having a total vehicle load of more than 8 t and vehicles having a size and weight equivalent thereto. Say. The total load of the vehicle refers to the weight of the vehicle in the maximum loaded state.

A CD-ROM 1 stores map data. The CD-ROM 1 stores a road layer, a background layer, a character / symbol layer, and the like. Reference numeral 2 denotes an operation unit provided with various operation keys for operating the navigation device main body 10 described later. The operation unit 2 inputs the type of vehicle (the type of small car, ordinary car, large car, and special car). There is also provided a key for performing the operation. 3 is GP
It is a GPS receiver that receives position information sent from the S satellite. Reference numeral 4 denotes a self-contained navigation sensor.
Is an angle sensor 4 such as a gyro for detecting a vehicle rotation angle.
a, and a traveling distance sensor 4b that generates a pulse for each constant traveling distance. Reference numeral 7 denotes a liquid crystal display device, and the navigation device body 10 displays a map near the current position of the vehicle on the display device 7 and displays a guidance route from a departure place to a destination, a vehicle position mark, and other guidance information. indicate.

The navigation apparatus main body 10 comprises the following. Reference numeral 11 denotes a map buffer for temporarily storing map information read from the CD-ROM 1. Reference numeral 12 denotes an interface connected to the operation unit 2;
Is an interface connected to the GPS receiver 3, and 14 is an interface connected to the self-contained navigation sensor 4.
A control unit 15 detects the current position of the vehicle based on various information input from the interfaces 12 to 14, reads predetermined map data from the CD-ROM 1 to the map buffer 11, The search condition is set in accordance with the type of the vehicle, and the optimum route from the departure point to the destination is searched based on the set search condition. Reference numeral 16 denotes a vehicle type storage memory, which stores the vehicle type input by a user operation.

A map drawing unit 17 generates a map image using the map data stored in the map buffer 11, and a VRA 18 stores the map image generated by the map drawing unit 17.
M. 19 is a VRA according to an instruction from the control unit 15.
The display device 7 in the map image stored in M18
The control unit 15 controls the image reading unit 19 to smoothly scroll the map image displayed on the display device 7.

A guidance route memory 20 stores the guidance route searched by the control unit 15, and a guidance route drawing unit 21 renders the guidance route. The control unit 1 is provided in the guidance route memory 20.
5, the position data of all the nodes of the guide route searched for from the starting point to the destination are recorded. Guidance route drawing unit 2
When displaying a map, 1 reads out guidance route information (node sequence) from the guidance route memory 20 and draws the guidance route in a color and line width different from those of other roads.

Reference numeral 22 denotes an operation screen generator for generating various menu screens (operation screens) in accordance with the operation status, and reference numeral 23 denotes a mark generator for generating various marks such as a vehicle position mark and a cursor. Reference numeral 24 denotes an image synthesizing unit, and an image reading unit 19
In the map image read out from the VRAM 18, various marks generated by the mark generation unit 23 and the operation screen generation unit 2
The operation screen generated in step 2, the guidance route drawn by the guidance route drawing unit 21, and the like are superimposed and displayed on the display device 7.

FIG. 2 is an explanatory diagram showing the structure of the road layer in the map data recorded on the CD-ROM 1.
The road layer includes a road list RDLT and a node table N
It is composed of a DTB, an intersection configuration node list CRLT, and the like. The road list RDLT includes, for each road, the type of the road (national road, expressway, prefectural road, and others), the total number of nodes constituting the road, the position of the node constituting the road on the node table NDTB, and the next node. It consists of data such as road width, weight limit and height limit. As for the weight limit, if there is a weight limit between the next node, the limit value is recorded, and if there is no weight limit, “0” is recorded. As for the height limit, a limit value is recorded when there is a height limit before the next node, and “0” is recorded when there is no height limit.

The intersection configuration node list CRLT includes, for each intersection on the map, a node table N of the other end node (referred to as an intersection configuration node) of each link connected to the intersection.
A set of positions on the DTB. Node table NDT
B is a list of all nodes on the map, location information (longitude and latitude) for each node, an intersection identification flag indicating whether or not the node is an intersection, and an intersection (if the intersection identification flag is "1", Intersection configuration node list CRLT (if any)
Pointer (Pn) indicating the position of the road to which the node belongs on the road list RDLT if the intersection is not an intersection (if the intersection identification flag is “0”).
And so on.

The intersection netlist CRNL is read out to the map buffer 11, and (1) an intersection sequential number (information for identifying the intersection); (2) a map leaf number including the intersection node; 3) Data unit, (4) Number of nodes constituting intersection, (5) Sequential number of each adjacent intersection, (6) Distance to each adjacent intersection, (7) Attributes of road to each adjacent intersection (road type, width) Etc. Also, the intersection netlist CRNL has a rewrite data area, and at the time of a route search, the total cost and one before (the order is one less).
The sequence number of the intersection and the search order can be stored.

The operation of the on-vehicle navigation device according to this embodiment when setting search conditions will be described with reference to the flowchart shown in FIG. First, step S11
, The navigation device displays a screen on the display device 7 for selecting the type of the vehicle (a small car, a normal car, a large car, or a special car) when the power is first turned on after being attached to the vehicle. I do. When the user inputs a vehicle type from the operation unit 2 on this screen, the control unit 15 stores the input vehicle type in the vehicle type storage memory 16.

Thereafter, in step S12, when the user sets a destination and instructs to start a guidance route search, the process proceeds to step S13, where the control unit 15 reads the vehicle type from the vehicle type storage memory 16. Then, in the case of a large car, step S14, in the case of a special car, step S15,
Otherwise, the process moves to step S16. In step S <b> 14, the conditions at the time of the guidance route search are set to exclude roads having a road width of 5.5 m or less, a corner angle (radius) of 6 mR or less, a weight limit of 8 t or less, and a vehicle height limit of 250 cm or less. .

In step S15, conditions for guiding route search are set to exclude roads having a road width of 8 m or less, a corner angle of 8 mR or less, a weight limit of 10 t or less, and a vehicle height limit of 300 cm or less. In step S16, it is further determined whether the vehicle is a normal vehicle or a small vehicle. When the vehicle is a small vehicle, the process proceeds to step S17, and no exclusion item is set as a search condition.

In step S18, a setting is made to search for a guidance route excluding a road having a road width of less than 3 m. FIG.
Is a schematic diagram showing a method for searching for a guidance route of the vehicle-mounted navigation device according to the present embodiment, and FIGS. 5 to 8 are flowcharts showing the method for searching for a route. Here, for simplicity, it is assumed that the intersection netlist CRNL of any intersection also includes the first to fourth four adjacent intersections,
In FIG. 4, the lower neighbor is a first adjacent intersection, the right is a second adjacent intersection, the upper is a third adjacent intersection, and the left is a fourth adjacent intersection.

First, in step S21, the control unit 1
Step 5 checks whether the departure point (the current position of the vehicle) is an intersection. If not, the process proceeds to step S22, and the nearest intersection is set as the departure point intersection STP.
Proceed to 24. On the other hand, if the departure point is an intersection in step S21, the process proceeds to step S24 after setting the intersection to the departure point intersection STP in step S23.

Next, in step S24, the control unit 1
5 checks whether or not the destination is an intersection. If the destination is not an intersection, the process proceeds to step S25 to set an intersection near the destination as the destination intersection DSP, and then proceeds to step S27. On the other hand, if the destination is an intersection in step S24,
The process proceeds to step S26 and the intersection is set to the destination intersection D.
After SP, the process proceeds to step S27.

In step S27, the control unit 15 controls the intersections of all the intersections included in a circle having a radius slightly longer than the departure intersection STP and the destination intersection DSP with the departure intersection STP as the center. Netlist CRN
L is read from the map data on the CD-ROM 1 and stored in the map buffer 11. Then, the process proceeds to step S28, and after setting the search order i to 0, the process proceeds to step S29.

In step S29, the intersection netlist CR for the i-th intersection stored in the map buffer 11
With reference to the NL, it is checked whether or not an intersection adjacent to the i-th intersection remains. Initially, i = 0 and the 0th intersection is the departure intersection STP. Departure intersection ST
Since P has four adjacent intersections, first, for the first adjacent intersection A1, the accumulated cost from the departure point intersection STP to the first adjacent intersection A1 is calculated. in this case,
In step S30, it is checked whether or not the corner angle limit is set. If the limit is set and the vehicle turns right or left to proceed to the first adjacent intersection A1, the process proceeds to step S31. At first, from the departure point intersection STP to the primary intersection A1
Since there is no right or left turn when moving to, the process moves from step S30 to step S32.

In step S32, it is checked whether or not the road width or the weight is set in the search condition. If the road width and the weight are not set in the search condition, the process proceeds to step S35. On the other hand, if the road width or the weight is set as the search condition in step S32, the process proceeds to step S33, where the link between the departure point intersection STP and the primary intersection A1 is set to a road narrower than the road width set in the search condition. The presence or absence of a link having a weight limit smaller than the weight set in the search condition is checked, and if there is a corresponding link, the process proceeds to step S34, where the link between the departure point intersection STP and the primary intersection A1 is determined. Is set to an extremely large value. On the other hand, if NO in steps S32 and S33, the process moves to step S35.

In step S35, the control unit 15 calculates the total cost D from the departure point intersection STP to the primary intersection A1 using the road data read into the map buffer 11. Then, the process shifts to step S36 to check whether or not the degree of the adjacent intersection A1 is already i + 1. At first, since the degree of the intersection A1 is not set, the process proceeds to step S39, where the control unit 15 determines the sequential number of the intersection of interest (the departure point intersection STP) and the number of the intersection from the departure point intersection STP to the intersection A1. The accumulated cost D is stored in the intersection netlist CRNL, and the search order of the intersection A1 is set to (i + 1) = 1.

Then, the process returns to step S29, and it is determined whether or not an intersection adjacent to the 0th intersection of interest remains by referring to the intersection netlist CRNL for the departure intersection STP. If the same processing is repeated. As a result, the intersections A1 to A4 adjacent to the departure point intersection STP are set as the primary intersections. The intersection netlist of these intersections A1 to A4 includes the accumulated cost from the departure point intersection STP to each of the intersections A1 to A4. , 1
A sequential number specifying the preceding intersection is stored.

When the total cost D is calculated for all adjacent intersections included in the intersection netlist CRNL for the departure intersection STP, the process proceeds from step S29 to step S40, and the control unit 15 determines that another i-th intersection is present. Check if it exists. If another i-th intersection exists, the process proceeds to step S41, and the processing from step S29 is performed for another i-th intersection. Since the 0th-order intersection is only the STP, the process proceeds from step S40 to step S42 to determine whether or not the destination intersection DSP has been reached, that is, whether or not the destination intersection DSP exists in the primary intersection. Find out what. Since it is NO here, the process shifts to step S43 to increment i, and then returns to step S29.

Next, in step S29,
Focus on one intersection A1 among the primary intersections,
With reference to the intersection netlist CRNL related to the intersection A1 stored in the map buffer 11, the 0th intersection STP
Except for, it is determined whether the adjacent intersection remains. here,
Since intersections B11, B12, and B14 exist, step S30 is performed for each of these intersections B11, B12, and B14.
The following processing is executed, and the departure intersection STP to the adjacent intersection B
The accumulated cost D between 11, B12 and B14 is calculated.

Here, for example, it is assumed that a corner angle is set as a search condition when calculating the total cost up to the intersection B12. In this case, in step S31, the corner angle of the intersection of the intersection B21 is calculated as follows. The coordinates of the intersection B12 are stored in the node table NDTB, and the width of each intersecting road is set in the road list RDLT.
Therefore, the map shown in FIG. 9 can be drawn from these data, and the intersection angle θ of the road can be obtained. An inner-wheel-side radius r and an outer-wheel-side radius r + Δr are set in advance in the control unit 15 according to the type of the vehicle. In the case of a left turn, when an arc with a radius of r + Δr is drawn around a point r away from the point p on the left side of the intersection in the direction of (１ ／) θ, this arc is the right edge of the road. By examining whether or not the vehicle contacts the vehicle, it can be determined whether or not the vehicle can turn at the intersection. That is, if the radius is r
If the arc of + Δr touches the right edge of the road, it is determined that the vehicle cannot turn left. If the arc of radius r + Δr does not touch the right edge of the road, the vehicle is determined to be able to turn left. Can be.

An arc N having the right edge of the road as a tangent line
If at least one of the radii of N 1 and N2 is smaller than r + Δr, the vehicle cannot turn left at the intersection, and if both are larger than r + Δr, the vehicle can turn left at the intersection. As described above, the smaller radius of the two arcs tangent to the right edge of each road (in the case of a left turn) at the intersection is defined as the corner angle of the intersection. Control unit 1
5 calculates a corner angle for each intersection, and compares the calculated corner angle with r + Δr (corner angle of the search condition) to determine whether the vehicle can turn at the intersection.

When moving from the intersection STP to the intersection B12 via the intersection A1, if the corner angle of the intersection A1 is larger than the set value (r + Δr), step S3 is executed.
The process proceeds from step 1 to step S34, where intersection A1 and intersection B
Replace costs between 12 with extremely large values. After calculating the accumulated cost D from the departure intersection STP for the intersections B11, B12, and B14 adjacent to the intersection A1, the control unit 15 checks whether or not another primary intersection exists in step S29. Here, still A2, A3
, A4 are present, so that the processing after step S30 is performed with A2 as a new primary intersection. And
After calculating the accumulated cost D of the adjacent intersection B21 of the intersection A2 in step S35, it is checked in step S36 whether the degree of the adjacent intersection is 2 or not. At this time, B21
= B12, and the order of the adjacent intersection B12 is already 2, so the process proceeds to step S37. Then, the accumulated cost D (hereinafter referred to as * D) of the intersection B12 recorded in the intersection netlist CRNL and the current step S35
Is compared with the accumulated cost D calculated in (1). And D <*
If it is D, the process proceeds to step S38, where the sequential number immediately before the adjacent intersection B12 (= B21) is replaced with the sequential number of the intersection A2 currently focused on, and the total cost * D is obtained by the current calculation. After rewriting with the accumulated cost D, the process returns to step S29. On the other hand, if D ≧ * D, the process directly returns from step S37 to step S29.

Hereinafter, the same processing is sequentially repeated, and the destination intersection DSP is included in all of the (i + 1) -th intersections in the check in step S42.
When the determination is YES, the process proceeds to step S44. Then, the intersection sequence numbers from the i-th intersection just before the destination intersection DPS to the departure intersection STP are connected in reverse order, and a route with the lowest total cost is determined as a guidance route.

In this embodiment, when the user attaches the navigation device to the vehicle, the vehicle type is entered into the navigation device only once, so that the navigation device cannot pass according to the size and weight of the vehicle. Search for a guidance route avoiding the road. This allows the user to travel along the guidance route displayed on the display device 7 without being guided to a narrow road or a road that cannot be traveled due to weight limitation or height limitation.
You can definitely reach your destination.

(Second Embodiment) FIG. 10 is a block diagram showing a vehicle-mounted navigation device according to a second embodiment of the present invention. In FIG. 10, the same components as those in FIG. 1 are denoted by the same reference numerals, and detailed description thereof will be omitted. In the present embodiment, the operation unit 2a has keys for the user to input the width, length, height, and weight of the vehicle,
The control unit 15 stores these values input from the operation unit 2a in the vehicle size storage memory 16a.

FIGS. 11 and 12 are flow charts showing the operation of the navigation apparatus for vehicle installation according to the present embodiment when setting the guidance route search condition. First, when the user operates the operation unit 2a of the navigation device to set the navigation device to the vehicle size input mode, the process proceeds to step S51, and the navigation device provides the user with the vehicle width, height,
Prompt for length and vehicle weight. The user inputs these values from the operation unit 2a. Then, the control unit 15 stores the input width, height, length, and vehicle weight of the vehicle in the vehicle size storage memory 16a.

Thereafter, when the user designates a destination and instructs to start a guidance route search in step S52, step S52 is executed.
The process proceeds to 53, and it is checked whether the vehicle width is 250 cm or more. If it is 250 cm or more, the process proceeds to step S57, and if it is less than 250cm, the process proceeds to step S54. In step S54, it is determined whether the vehicle width is 170 cm or less. If the vehicle width is 170 cm or less, it is determined that the vehicle is a small vehicle, and the process proceeds to step S54, and the navigation device does not provide an exclusion item as a condition for searching for a guidance route.
On the other hand, when the vehicle width exceeds 170 cm, it is determined that the vehicle is a normal vehicle, and the process proceeds to step S56, where the navigation device
The search condition is set so as to search for a guidance route excluding a road having a road width of less than 3 m.

In step S57, it is checked whether the length of the vehicle is less than 8 m. If the length of the vehicle is less than 8 m, the process proceeds to step S58, and if it is 8m or more, the process proceeds to step S61. In step S58, the vehicle height is 250
Check whether it is less than cm. If the vehicle height is less than 250 cm, the process proceeds to step S59, and if the vehicle height is 250 cm or more, the process proceeds to step S60. In step S59,
Check whether the vehicle weight is less than 8t. When the vehicle weight is less than 8t, the process proceeds to step S60, and when the vehicle weight is 8t or more, the process proceeds to step S61.

In step S60, the navigation device determines that the vehicle is a large vehicle, and as a condition for searching for a guidance route, a road having a road width of less than 5.5 m and a corner angle of 6 m.
A search condition is set to search for a guidance route excluding an intersection less than R, a road with a weight limit of less than 8t, and a road with a vehicle height limit of less than 250 cm. In step S61, the navigation device determines that the vehicle is a special vehicle, and as conditions for searching for a guidance route, a road with a road width of less than 8m, an intersection with a corner angle of less than 8mR, a road with a weight limit of less than 10t, a vehicle height limit. The search condition is set so that a road having a length of less than 300 cm is excluded.

After the search conditions are set in this way, the processes shown in FIGS. 5 to 8 are executed to search for a guidance route, as in the first embodiment. In this embodiment, in addition to the same effects as in the first embodiment, the user can arbitrarily input the width, height, length and weight of the vehicle. In this case, an optimal guidance route can be searched for when the vehicle is not towed and when the vehicle is being towed.

According to the present invention, in addition to this, for example, when luggage is mounted on the roof of a vehicle, the height of the vehicle may be changed to search for a guidance route avoiding a road with a limited vehicle height. Good. Further, even when the route guidance is not performed, a warning may be generated by a screen or a sound when the vehicle is traveling on a road that cannot travel due to the height limitation or the weight limitation.

[0045]

As described above, according to the present invention,
The search condition at the time of the guide route search is set based on the type of the vehicle, the vehicle size, or the vehicle weight input by the input unit, and the guide route search unit searches the guide route under the set search condition. There is no need to guide the user to a road that is difficult to drive due to a narrow width while driving, or a road that cannot be actually driven due to height restrictions or weight restrictions, and the reliability of the guidance route is high. To play.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a vehicle-mounted navigation device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a configuration of a road layer in map data.

FIG. 3 is a flowchart illustrating an operation of the vehicle-mounted navigation device according to the first embodiment when a search condition is set.

FIG. 4 is a schematic diagram illustrating a guidance route searching method of the vehicle-mounted navigation device according to the first embodiment.

FIG. 5 is a flowchart (part 1) illustrating a route search method of the vehicle-mounted navigation device according to the first embodiment;

FIG. 6 is a flowchart (part 2) illustrating a route search method of the vehicle-mounted navigation device according to the first embodiment;

FIG. 7 is a flowchart (part 3) illustrating a route search method of the vehicle-mounted navigation device according to the first embodiment;

FIG. 8 is a flowchart (part 4) illustrating a route search method of the vehicle-mounted navigation device according to the first embodiment.

FIG. 9 is a diagram illustrating a method of calculating a corner angle of an intersection.

FIG. 10 is a block diagram showing a vehicle-mounted navigation device according to a second embodiment of the present invention.

FIG. 11 is a flowchart (part 1) illustrating a route search method of the vehicle-mounted navigation device according to the second embodiment.

FIG. 12 is a flowchart (part 2) illustrating a route search method of the vehicle-mounted navigation device according to the second embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 CD-ROM 2, 2a Operation part 3 GPS receiver 4 Self-contained navigation sensor 7 Liquid crystal display device 10 Navigation apparatus main body 11 Map buffer 12-14 Interface 15 Control part 16, 16a Vehicle type storage memory 17 Map drawing part 18 VRAM 19 Image Readout unit 20 Guide route memory 21 Guide route drawing unit 22 Operation screen generation unit 23 Mark generation unit 24 Image synthesis unit

Claims (2)

[Claims] 1. An in-vehicle navigation device that detects a position of a vehicle, searches for a guidance route to a destination, and guides a vehicle along the guidance route, a map data storage unit storing map data, Input means for inputting the type of vehicle, vehicle size or vehicle weight; search condition setting means for setting a route search condition based on the vehicle size or vehicle weight input by the input means; stored in the map data storage means A navigation device for searching a guidance route based on the route search condition set by the search condition setting device using map data. 2. The in-vehicle navigation device according to claim 1, wherein said map data storage means includes height restriction information and weight restriction information.