JPH1151685A - Car navigation system and memory medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To guide the direction plainly even at an intricate guide branch by acquiring all roads leaving a guide branch and determining the direction of a leaving road thereby providing not only the left/right direction but also a variety of guidances depending on the actual road. SOLUTION: A decision is made whether a ramp attribute is present or not with reference to the ramp flag of a road attribute data and if a ramp attribute is not present, a decision is made whether it is a three-forked road or not with reference to an intersection data. In case of a three-forked road, voice guidance is performed. If it is not a three-forked road and a road requiring no guidance is present, slight left turn and right turns are guided as bare left and bare right by voice for the road requiring no guidance and straight advance is guided as bare left or bare right by voice depending on the angle relative to the road requiring no guidance. Outside region of bare left and bare right is guided as right/left turn and the further outside thereof is guided as abrupt right/left turn by voice. It a road requiring no guidance is not present, straight advance, slight right/left turn, right/left turn, and abrupt right/left turn are guided depending on the angle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular navigation apparatus and a storage medium for providing voice guidance at a road junction.

[0002]

2. Description of the Related Art Hitherto, various route guidance devices have been proposed for smoothly driving on unfamiliar roads. Among them, a destination is input to drive the vehicle to the destination. There is a route guidance device for guiding a road to be reached. In this route guidance device, when approaching a transit point,
For example, when turning right (left) at a branch point, "about 300 m
Right (left) direction "," right (left) direction ahead ",
"Soon to the right (left) direction", near the toll road entrance, "soon toll road", near the toll road exit, "soon to exit", and as you approach your destination, When approaching the drop-in point, voice guidance such as "Soon to be a drop-in point" is provided.

[0003]

However, in the conventional apparatus, at the branch point on the guide route, the direction (angle) of the guide road exiting the branch point with respect to the road entering the branch point is calculated, and "soon. Right (left) direction "and" soon right (left) "
At a complicated branch point, it may be difficult to understand, or the content of the voice guidance may not match the actual guidance road.

An object of the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a vehicle navigation device and a storage medium which can provide easy-to-understand direction guidance even at a complicated guidance junction.

[0005]

SUMMARY OF THE INVENTION The present invention provides a current position detecting means for calculating a current position of a vehicle, an input means for inputting information required for calculating a route, and an output of information for route guidance. An output unit for performing a route guidance, an information storage unit storing data necessary for performing route guidance, a route calculation unit for calculating a route based on information input by the input unit, and a route calculated by the route calculation unit Route information storage means for storing the information of the next, and based on the route calculated by the route calculation means and the current position detected by the current position detection means, guidance information of the next guidance branch point to the output means Guidance control means for outputting, and the guidance control means obtains all road information exiting from a guidance junction on the route stored in the route information storage means, determines the direction thereof, and determines the direction. And outputting the direction guidance information corresponding to fruit. Further, according to the present invention, the guidance control means calculates angles of a plurality of sampling points for all outgoing roads with respect to a road entering a guidance junction, and outputs direction guidance information based on the calculated angles. It is characterized by. Further, the invention is characterized in that the guidance control means sets the angle of the sampling point furthest from the guidance branch point as the angle of the road when the angles of the plurality of sampling points are monotonically increasing or decreasing. Further, the invention is characterized in that the guidance control means sets an average value of the angles of the plurality of sampling points as a road angle when the angles of the plurality of sampling points are not monotonically increasing or decreasing. Further, the present invention is characterized in that when a link within a branch point exists, the guidance control means corrects the coordinates of the sampling point. Also, the present invention
The guidance control means sets an angle area based on an entering road and outputs direction guidance information according to which angle area the calculated angle is. Also,
According to the present invention, the guidance control means sets an angle area based on the guidance-unnecessary road when there is a guidance-unnecessary road exiting from the guidance junction, and provides direction guidance according to which angle area the calculated angle is. It is characterized by outputting information. Further, the present invention is characterized in that the guidance control means changes the content of the direction guidance information depending on whether it is a highway, a general road, or a ramp.

Further, the present invention searches for a guidance branch point on a route in a storage medium having a program for searching for a route from a departure or present location to a destination and providing guidance along the searched route, A program for acquiring all roads exiting from the searched guidance junction, determining the direction thereof, and outputting direction guidance information based on the determined direction is incorporated. In addition, the present invention is characterized in that a program for calculating the angles of a plurality of sampling points for all the roads exiting from a road entering a guidance junction and outputting direction guidance information based on the calculated angles is provided. And

[0007]

The present invention obtains all the roads exiting from the guidance junction, determines the direction of the exit road, and provides various guidance not only to the left and right directions but also to the actual road. In addition, it is easy for the driver to understand, and it is possible to match the contents of the actual guidance road with the contents of the voice guidance, and it is possible to provide more detailed guidance for the entrance and exit of the expressway.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an example of a navigation device according to the present invention. As shown in FIG. 1, a navigation device according to the present invention includes an input / output device 1 for inputting and outputting information relating to route guidance, a current position detection device 2 for detecting information relating to the current position of a vehicle, and navigation necessary for calculating a route. Information storage device 3 in which guidance data of display / voice necessary for route guidance and route guidance and programs (application and / or OS) are recorded.
The system includes a central processing unit 4 that performs a route search process and a display guidance process necessary for route guidance, and controls the entire system.

The input / output device 1 instructs the central processing unit 4 to perform a navigation process according to the driver's intention so that the driver can input a destination or output guidance information by voice and / or screen when necessary. And a function to print out the processed data and the like. As means for realizing the function, the input unit includes a touch switch 11 and an operation switch for inputting a destination as a telephone number or coordinates on a map, and for requesting route guidance. Of course, an input device such as a remote controller may be used. In the output unit, the input data is displayed on the screen, and the route guidance is automatically displayed on the screen in response to the driver's request. The display 12 stores the data processed by the central processing unit 4 and the information storage device 3. And a speaker 16 for outputting route guidance by voice.

Here, a voice recognition device for enabling voice input and a recording card reading device for reading data recorded on an IC card or a magnetic card can be added. An information center that stores data necessary for navigation and provides information via a communication line at the request of the driver, or a notebook-type electronic device that stores driver-specific data such as map data and destination data in advance. A data communication device for exchanging data with an information source such as a device can be added.

The display 12 comprises a color CRT or a color liquid crystal display, and is necessary for navigation such as a route setting screen, a section map screen, an intersection map screen based on map data and guidance data processed by the central processing unit 4. In addition to outputting all screens in color display, buttons for setting route guidance, performing guidance during route guidance, and switching screens are displayed on this screen. In particular, the passing intersection information such as the passing intersection name is displayed in color in a pop-up on the section map screen at any time.

The display 12 is provided in an instrument panel near the driver's seat, and the driver can check the current position of the vehicle by looking at the section map and obtain information on the route from now on. it can. The display 12 is provided with a touch switch 11 corresponding to the display of the function button, and is configured to execute the above-described operation based on a signal input by touching the button. The input signal generating means including the button and the touch switch constitutes an input unit, but a detailed description thereof is omitted here.

The current position detecting means 2 obtains information using a current position satellite navigation system (GPS) of the vehicle.
By using a PS receiver 21, a VICS information receiver 22 for obtaining information by using FM multiplex broadcasting, a radio beacon, an optical beacon, and the like, and an information center (for example, ATIS) by using a mobile phone, a personal computer, or the like. Transmitting and receiving device 23 for bidirectionally communicating information with other vehicles
And an absolute azimuth sensor 24 that detects the traveling azimuth of the vehicle in an absolute azimuth by using, for example, geomagnetism, and a relative azimuth that detects the traveling azimuth of the vehicle in a relative azimuth by using, for example, a steering sensor and a gyro sensor. The sensor 25 includes, for example, a distance sensor 26 that detects the traveling distance of the vehicle from the number of rotations of the wheels. The sensor 25 transmits and receives information on the traveling of the vehicle, such as road information and traffic information, and transmits information on the current position of the vehicle. It is a device that detects and further transmits and receives information about the current position.

The information storage device 3 is an external storage device that stores navigation programs and data, and is, for example, a CD-ROM. The program is a program for performing a process such as a route search, a processing program shown in the flowchart described in the present embodiment, a program for performing a display output control necessary for route guidance, a program for performing a voice output control required for voice guidance, and Necessary data, and display information data necessary for route guidance and map display are stored. Data includes map data, search data,
It consists of files such as guidance data, voice guidance phrase data, map matching data, destination data, registered point data, road data, genre-specific data, landmark data, etc., and stores all data necessary for the navigation device. The present invention is also applicable to a type in which only data is stored in a CD-ROM and a program is stored in a central processing unit.

The central processing unit 4 includes a CPU 40 for executing various arithmetic processing, a flash memory 41 for reading and storing programs from the CD-ROM of the information storage device 3,
ROM 42 storing a program (program reading means) for performing program check and update processing of flash memory 41, set point coordinates of destination, road name code No. RAM 43 for temporarily storing searched route guidance information such as searched data and data during arithmetic processing, image memory 44 for storing image data used for screen display on a display, and display output control signals from CPU 40. An image processor 45 which retrieves image data from the image memory 44, performs image processing on the image data, and outputs the processed image to a display;
Information storage device 3 based on an audio output control signal from the PU
, A voice, a phrase, a set of sentences, sounds, and the like read from the loudspeaker 1
6, a communication interface 47 for exchanging input / output data by communication, a sensor input interface 48 for receiving a sensor signal of the current position detecting device 2, and a date and time for writing date and time in internal diagnostic information. A clock 49 and the like are provided. Here, route guidance is performed by screen display and voice output, and the presence or absence of voice output is configured to be selectable by the driver.

Note that a program for performing the above-described update processing may be stored in an external storage device. The program according to the present invention and other programs for executing navigation may all be stored in a CD-ROM as an external storage medium, or some or all of these programs may be stored in the ROM 42 of the main unit. Good.

The data and programs stored in the external storage medium are input as external signals to the central processing unit of the navigation apparatus main body and are subjected to arithmetic processing, thereby realizing various navigation functions.

The navigation device according to the present invention has a relatively large capacity flash memory 41 for reading a program from the CD-ROM of the external storage device, as described above.
A small-capacity ROM 42 storing a program (program reading means) for performing a CD boot process is built in.
The flash memory 41 is a non-volatile storage unit that retains stored information even when the power is turned off. Then, as a start-up process of the CD, the program in the ROM 42 which is a program reading means is started, the program stored in the flash memory 41 is checked, and disk management information of the CD-ROM of the information storage device 3 is read. The program loading process (update process)
The determination is performed based on this information and the state of the flash memory 41.

FIGS. 2 to 4 show examples of the configuration of main data files stored in the information storage device 3 according to the present invention shown in FIG. FIG. 2A shows a guide road data file in which data necessary for calculating a route and performing route guidance by the route calculating means is stored. For each of the number n of roads, a road number, a length, a road Address of attribute data, shape data, address of size and guidance data,
It consists of each data of size. The road number is set for each direction (outbound and return) for each road between the branch points. As shown in FIG. 3A, the road attribute data as the road guidance auxiliary information data includes, as shown in FIG. 3A, whether the road is an elevated road, an elevated road, an underpass, an underpass, the number of lanes, branching data ( A flag indicating whether there is a branch) and lamp data (a flag indicating whether the lamp is a lamp). As shown in FIG. 2B, when each road is divided into a plurality of nodes (nodes), the shape data has coordinate data including east longitude and north latitude for each of the number m of nodes.

As shown in FIG. 2C, the guide data includes an intersection (or branch point) name, caution data, road name data, an address and size of road name voice data, and an address and size of destination data. It consists of each data. As shown in FIG. 4A, the caution data is data indicating information such as a railroad crossing, a tunnel entrance, a tunnel exit, a width reduction point, no caution, and the like. And the like to call attention to the driver. As shown in FIG. 3B, the road name data includes information on road types such as expressways, urban expressways, toll roads, and general roads (national roads, prefectural roads, and others), and expressways, urban expressways, and toll roads. Data indicating information indicating whether a road is a main line or an attachment road, and is composed of road type data and a type number which is individual number data for each road type.

As shown in FIG. 2D, the destination data includes a destination road number, a destination name, an address of destination name voice data, a size and a destination direction data, and travel guidance data. The destination name includes a direction name. As shown in FIG. 2E, the destination direction data is invalid (do not use the destination direction data), unnecessary (no guidance is required), straight ahead, rightward, diagonally rightward, rightward return, leftward, and leftward. This is data indicating information on the direction, the diagonally left direction, and the direction returning to the left. The travel guidance data is shown in FIG.
As shown in FIG. 5, when there are a plurality of lanes, data for guiding which lane to travel is stored, and is data indicating information from the right, from the left, from the center, or none.

In the data structure of FIG. 2, information on intersections is stored in the road data. However, as shown in FIG. 5, intersection data is provided separately from the road data, and the presence or absence of a traffic light, , Junction feature data, road data entering an intersection, road data exiting an intersection,
Information such as landmark data may be stored. However, having connection information in the road data makes it easier to have data such as the inability to enter a certain road from a certain road.
The amount of data is small.

FIG. 6 shows an example of guidance phrase data at the time of voice guidance. When a guidance sentence is divided into distance phrases, direction phrases, and characteristic phrases and guidance voice data is output, the phrases are combined. Then, for example, "turn right soon" is created and output at the set guidance junction. In the present invention, as will be described later, all road information that exits from the guidance junction is acquired, and in order to provide a relative positional relationship between the exiting roads and finer direction guidance than the direction, straight ahead (straight), slightly right (left) Direction (slight right (left) turn), right turn (right bear), left turn (left bear), road (keep), right road (keep right), left road (key left),
We have a wealth of phrase data such as forks, sharp right turns (sharp right turns), sharp left turns (sharp left turns), entrances and exits.

Next, the processing flow of the vehicular navigation device of the present invention will be described. FIG. 7 is a flowchart for explaining the flow of the entire system of the vehicle navigation device according to the present invention.

When the program of the route guidance system is started by the CPU 51 of the central processing unit 4, the current position is detected by the current position detecting device 2 and a map around the current position is displayed, and the name of the current position is displayed. Are displayed (step S1). Next, a destination is set using a target name such as a place name or a facility name, a telephone number, an address, a registered point, and the like (step S2), and a route search from the current position to the destination is performed (step S3). When the route is determined, the route guidance / display is repeated until the vehicle arrives at the destination while tracking the current position by the current position detecting device 2 (step S4). If a detour setting is input before arriving at the destination, a search area is set, a re-search is performed in the search area, and route guidance is repeated until the vehicle arrives at the destination. The present invention relates to a case in which voice guidance is provided for route guidance at a guidance branch point in the route guidance / display in step S4.

The present invention is characterized in that all roads exiting from a guidance junction are acquired and more detailed voice guidance is provided. First, acquisition of a road at a junction will be described. Up to now, when performing voice guidance at an intersection, an angle has been calculated from the relationship between a road on the route entering the intersection and a road exiting the route, and the content of the voice guidance has been determined based on the angle. However, in this method, as shown in FIG. 8, when there is no large difference between the angles of the exiting roads 1 and 2 with respect to the entering road, guidance such as "right direction" is given to both the roads 1 and 2. It is difficult to differentiate guidance for two roads. Therefore, in order to differentiate the roads 1 and 2 by voice at the intersection in such a case, all the roads exiting from the intersection are acquired.

First, referring to FIG. 9, a description will be given of a method of acquiring a road exiting from an intersection when there is no link in the intersection. ○ indicates a node (intersection), and a bold line indicates a route. In FIG. 9, roads a, b, c, and d are face-to-face roads, respectively, and the route is ad. At this time, the roads exiting from the road a entering at the intersection in FIG. 9 are b, c, and d.

Next, a description will be given of road acquisition when there is an intra-intersection link. Here, the link in the intersection is a place that is originally the site of the intersection in the creation of data,
This is an imaginary road that occurs because it is represented by lines and nodes.
The conditions for obtaining a road at such an intersection are as follows. Among the roads exiting from the intersection, all links within the intersection are not treated as exiting roads but are postponed, and roads that are no longer links within the intersection are treated as roads exiting from the intersection. A road that is not on a route and does not have the attribute of a link within an intersection is treated as a road that exits the intersection.

FIG. 10 shows an example of an intersection where an intra-intersection link is present. In the figure, ノ ー ド indicates nodes (1 to 5), j to n indicate roads having the link attribute within the intersection, and roads a to i indicate vertical line separation. , And the route is ajlg. Node 1
Roads exiting are b and j. The road b is treated as an outgoing road because it does not have the link attribute within the intersection. Also, j
Is a road having an intra-intersection link attribute on the route, the road is postponed, and roads k and l exiting from node 2 are targeted.
Road k is postponed because it has an intra-intersection link attribute, and roads d and e exiting from node 3 are targeted. d and e
Does not have the link attribute within the intersection, so it is treated as an outgoing road. On the other hand, since the road 1 is a road having a link attribute within an intersection on the route, it is postponed and the node 5
Roads m and g coming out of the road are targeted. Road g is treated as an outgoing road because it is on the route and has no link attribute within the intersection. Also, since the road m is a road having the link attribute within the first intersection exiting from the route, it is postponed, and roads i and n exiting from the node 4 are targeted. Road i is treated as an outgoing road because it does not have the link attribute within the intersection. However, since n is a road having an intra-intersection link, it is postponed, and roads b and j are not treated as outgoing roads since they have already been processed. Therefore, the roads at which this intersection exits are b, d, e, g, and i.

After all the roads exiting from the intersection are obtained in this way, the direction of each road is determined. The method of calculating the angle of the road for that purpose will be described below.
FIG. 11 is a diagram illustrating a road angle calculation method for an intersection that does not have an intra-intersection link. In FIG. 11, when calculating the angles of the roads 1 and 2 exiting with respect to the road entering the intersection a, the point (point b in FIG. 11) where the road entering the intersection a is returned 20 m is set as the reference point for angle calculation. . next,
Sampling three points on the road to exit. Here, 20m, 40m, and 60m points on the road exiting from the intersection (road 1
Then, sampling is performed at points c, d, and e). However, when the length of the road is 60 m or less, the remaining distance is calculated by using the guide-free road exiting from the road. That is, outgoing road 2 is another intersection at 30m (end of road 2)
Because there is a road 20m point f of road 2 and road 2
40m, 60m point g, h on guidance-free road on extension of
And sample points. If there is no guidance-free road, the end point of the sampled road is sampled as that point. Finally, the angles of the sampling points (the angles formed by the line connecting the reference point and the sampling point with respect to the line connecting the reference point and the intersection) are calculated, and these angles increase as the distance increases from 20 m, 40 m, and 60 m, Alternatively, if there is a decreasing tendency, the angle of the farthest point 60 m is acquired as the angle of the road. In the case of the outgoing road 1, since the angle tends to decrease, the angle of the point e is acquired. In cases other than the increasing tendency or the decreasing tendency, the average value of the sampled three-point angles is obtained as the road angle.

Next, a method of calculating the angle of an intersection having a road having the attribute of the link within the intersection will be described with reference to FIG. As described above, when there is a road having the attribute of the intra-intersection link on the other side of the guidance intersection, the road exiting from the intersection is a road that can be acquired as a result of being postponed until it does not have the intra-intersection link attribute. In a), a is a road to enter, b (broken line) is a link in an intersection,
c is an exit road, d is a guidance intersection, e is a guidance unnecessary point, and f is another exit road. Here, as shown in FIG. 12B, the starting point of the exiting road c is translated to the guidance intersection d. In FIG. 12 (b), c1 is a translation of the outgoing road c, and g is an angle of the road c. Next, the points at 20 m, 40 m, and 60 m from the starting point are sampled, and the angle of each sampling point is calculated and increased based on 20 m before the intersection d of the last road as in the case of FIG. If there is a tendency or a decreasing tendency, the angle of the point at 60 m is acquired as the angle of the road, otherwise, the average value of the sampled angles of the three points is taken as the angle of the road.

FIG. 13 is a diagram showing a processing flow of angle calculation. First, the coordinates of a point (reference point) 20 m before the intersection of the entering road and the coordinates of the intersection are obtained (steps 11 and 12).
The coordinates of the 40 m and 60 m points and the coordinates of the starting point of the exiting road are acquired (steps 13 and 14). Next, it is determined whether or not the intersection has an intra-intersection link (step 15). If the intersection has an intra-intersection link, the starting point of the exiting road is moved in parallel to the intersection, and the coordinates of the sample point of the exiting road are corrected. (Step 16). Next, the angle from the road to which each sampling point enters is calculated (step 17), and it is determined whether the calculated angle is increasing or decreasing for each sample point (step 18). If the angle of the sample point is increasing or decreasing, adopt the angle of the road exiting the 60m angle. If the angle of the sample point is not increasing or decreasing, take the average of the angles at each sample point. Adopt it as the angle of the road that exits.

After all the angles of the roads exiting from the intersection are calculated, the directions of those roads are determined. The following voice guidance is performed by calculating the angle of the road as described above, discriminating the direction, and reading guidance phrase data corresponding to this from the table of FIG.
The present invention is not limited to this, and the direction may be determined using the destination direction data shown in FIG. 3E. Alternatively, the above-described angle calculation and the destination shown in FIG. The direction may be determined in combination with the direction data. The correspondence between the direction of the road and the guidance phrase is such that a table in which the guidance phrase is associated with each angle range is stored in the information storage device, and voice guidance is performed with reference to this table.

FIG. 14 is a diagram for explaining the processing flow of the direction determination. First, it is determined whether the running road is a highway or a general road by searching for road name data (see FIG. 3B) (step 21). If it is a general road, it is determined whether or not there is a branch attribute (step 22). This processing is performed by referring to the branch flag of the road attribute data,
If there is a branch attribute, branch guidance as shown in FIG. 15 is performed (step 23). Since there is actually a branch without a branch flag in the data, a method is also used in which all entering roads and exiting roads are searched to determine whether the branch is a branch.

The guidance when the branch attribute is present will be described with reference to FIG. FIG. 15A shows a case where the road data has a branch flag and the road branches equally on the left and right.
In this example, voice guidance is given to the left (keep left) when traveling to the left, and to the right (keep right) when traveling to the right. FIG. 15B shows that the road data has a branch flag,
When the road is straight ahead and branches left and right equally, it is voice guidance that it will be left (Keep Left) when going to the left, right (Keep Right) when going to the right, and straight (Straight) when going straight. Here is an example. FIG. 15C shows a case where the road data has a branch flag, and there are a road where the road branches equally on the left and right, and two roads that turn slightly in the left and right direction between them. (Key left), turn slightly left (slight
An example is shown in which voice guidance is given such as a left turn), a slight right turn (slight right turn) when turning slightly to the right, and a right road (keep right) when proceeding to the right. The relationship between left and right roads (key left / right), left turn (left turn) and right turn (right turn) is shown in Fig. 1.
As shown in FIG. 5 (d), for a road in a range of θ (= about 120 °) for each of the left and right sides (shaded area in the figure), the road is not guided as a road (keep), Guide left turn (right / left turn) or sharp right / left turn (sharp right / left turn).

If there is no branch attribute in step 22 of FIG. 14, it is determined whether or not there is a ramp attribute by referring to the ramp flag of the road attribute data (step 24). Voice guidance is performed as in the example. FIG. 16A shows an example in which there is a ramp that branches off from the main line, and when the vehicle continues on the main line as it is, a road is kept (keeping), and when it is off the ramp, a voice guidance is given as a turn (bear). . The bear has a ramp attribute, and is mainly used when the vehicle turns over an oncoming lane.

FIG. 16 (b) shows a case where the vehicle goes out to a ramp or a ramp which branches right and left from the main line. In each case, any one of bear, keep, and fork is guided according to the angle. In this case, the bear has a larger bend than the keep, and the fork is used for an intermediate angle between the bear and the turn. In addition, left and right road (key left / right), left turn (left turn), right turn (right
The relationship of (turn) is the same as in the case of FIG.
For roads in the range of θ (= about 120 °) in each of the left and right directions (hatched portions in the figure) in FIG.
Do not use a fork and guide you to turn right or left (right / left turn) or sharp right or left (sharp right / left turn).

If there is no ramp attribute in step 24 of FIG. 14, it is determined whether or not the vehicle is a three-way intersection by referring to the intersection data (step 26). In the case of a three-way intersection, voice guidance as shown in FIG. 17 is performed. FIG. 17A shows a one-way road.
This is a case of left and right roads that exit within a range of about θ = 120 ° shown in the straight traveling direction, and is an example in which voice guidance is provided for a left road (key left) and a right road (keep right). . FIG. 17 (b) shows a case of a left and right road that exits from a bidirectional road within a range of about θ = 120 ° shown in the straight traveling direction.
This is an example in which voice guidance is provided for Bear Left, and voice guidance is provided for a left road (key left) and a right road (keep right) depending on the area. FIG. 17 (c) shows the contents of voice guidance in each direction, where θ = 120 ° shown in the straight traveling direction
In the range, a straight or bear left or bear right is guided. Outside the range, a right or left turn or a sharp right or left turn is guided.

If it is not a three-way junction in step 26 of FIG. 14, ordinary voice guidance as shown in FIG. 18 is performed. FIG. 18A shows a case where there is a guide-unnecessary road. A slight left turn and a slight right turn on the guide-unnecessary road are defined as bear left and bear right, respectively. Voice guidance is provided, and the outside area of the bear left and bear right turns right and left, and further outside it turns sharply right and left. FIG. 18 (b) shows a case where there is no guide-free road, and provides guidance for straight ahead, slight right / left turn, right / left turn, and sharp right / left turn according to the angle.

In the case of a highway in step 21 of FIG. 14, it is determined whether or not there is a branch attribute.
Guidance on a highway is provided as in the example shown in FIG. In FIG. 19, number 1 indicates a highway, number 2 indicates a junction (JC), number 3 indicates a ramp, and number 4 indicates a service area / parking area (SA / PA). FIG.
9 (a) is from Expressway 1 to Expressway 1 and JC2 or SA /
Branch to PA4, keep highway 1, JC2,
This is an example in which a bear is guided on the road to SA / PA4.
FIG. 19B shows an example in which the highway 1 or JC 2 branches to the highway 1 and the ramp 3, where the highway 1 is kept and the ramp 3 is guided to the exit. FIG. 19C shows the lamp 3.
This is an example in which a fork, a keep, and a bear are guided by discrimination based on an angle. FIG.
9 (d) is a branch from SA / PA4 to JC2 and SA / PA4, and is an example of guiding a keep and a bear, respectively. Thus, the guidance control means determines the road attribute and the mounting angle, determines the phrase to be guided, and outputs guidance information.

[Brief description of the drawings]

FIG. 1 is a diagram showing an example of a navigation device according to the present invention.

FIG. 2 is a diagram showing a configuration example of a main data file according to the present invention.

FIG. 3 is a diagram showing a configuration example of a main data file according to the present invention.

FIG. 4 is a diagram showing a configuration example of a main data file according to the present invention.

FIG. 5 is a diagram showing an example of intersection data.

FIG. 6 is a diagram showing an example of guidance phrase data.

FIG. 7 is a flowchart for explaining the flow of the entire system.

FIG. 8 is an explanatory diagram of road acquisition at an intersection.

FIG. 9 is an explanatory diagram of road acquisition at an intersection that does not have an intra-intersection link.

FIG. 10 is an explanatory diagram of road acquisition at an intersection having an intra-intersection link.

FIG. 11 is a diagram illustrating a road angle calculation method for an intersection having no intra-intersection link.

FIG. 12 is a diagram illustrating an example of a method of calculating an angle of a road exiting from an intersection having a road having an attribute of a link within an intersection.

FIG. 13 is a diagram showing a processing flow of angle calculation.

FIG. 14 is a diagram illustrating a processing flow of direction determination.

FIG. 15 is a diagram illustrating guidance when there is a branch attribute.

FIG. 16 is a diagram illustrating guidance when there is a lamp attribute.

FIG. 17 is a diagram illustrating guidance in the case of a three-way intersection.

FIG. 18 is a diagram for explaining normal guidance.

FIG. 19 is a diagram for explaining guidance on a highway.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 input / output device, 2 current position detecting device, 3 information storage device, 4 central processing device, 11 touch switch, 12
... Display, 13 ... Printer, 16 ... Speaker, 2
1 ... GPS receiver, 22 ... beacon receiver, 23 ...
Data transmission / reception device, 40 CPU, 41 flash memory, 42 ROM, 43 RAM, 44 image memory, 45 image processor, 46 audio processor, 4
7: Communication interface, 48: Sensor input interface, 49: Clock

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Koji Kishi, Toyota Motor Co., Ltd. 1 Toyota Town, Toyota City, Aichi Prefecture (72) Peter Kunen, Belgium Bren-Laureux Avenue de Lindustry 19-1420 Ar de Bourbe-Orope S Inside

Claims (10)

[Claims] 1. A current position detecting means for calculating a current position of a vehicle; an input means for inputting information necessary for calculating a route; an output means for outputting information for route guidance; Information storage means for storing data necessary for performing the operation, a path calculation means for calculating a path based on the information input by the input means, and a path information storage for storing information on the path calculated by the path calculation means Means, based on the path calculated by the path calculation means and the current position detected by the current position detection means,
Guidance control means for outputting guidance information of the next guidance junction to the output means, wherein the guidance control means outputs all road information from the guidance junction on the route stored in the route information storage means. A navigation device for a vehicle, which acquires and determines the direction, and outputs direction guidance information according to the determination result. 2. The apparatus according to claim 1, wherein the guidance control means calculates angles of a plurality of sampling points for all outgoing roads with respect to the road entering the guidance junction, and based on the calculated angles. A vehicle navigation device for outputting direction guidance information. 3. The apparatus according to claim 2, wherein the guidance control means sets the angle of the sampling point furthest from the guidance junction to the angle of the road when the angles of the plurality of sampling points are monotonically increasing or decreasing. A navigation device for a vehicle, comprising: 4. The apparatus according to claim 2, wherein the guidance control means sets an average value of the angles of the plurality of sampling points as a road angle when the angles of the plurality of sampling points are not monotonically increasing or decreasing. A navigation device for a vehicle, comprising: 5. The vehicle navigation device according to claim 2, wherein when there is a link within a branch point, the guidance control means corrects the coordinates of the sampling point. 6. The apparatus according to claim 2, wherein the guidance control means sets an angle area based on an entering road and outputs direction guidance information according to which angle area is the calculated angle. A navigation device for a vehicle, comprising: 7. The apparatus according to claim 2, wherein the guide control means sets an angle area based on the guide unnecessary road when there is a guide unnecessary road exiting from the guide junction.
A navigation apparatus for a vehicle, which outputs direction guidance information according to which angle area the calculated angle is. 8. The vehicle according to claim 1, wherein the guidance control means changes the content of the direction guidance information according to whether the vehicle is a highway, a general road, a branch, or a ramp. Navigation device. 9. A storage medium having a program for searching for a route from a departure point or a current location to a destination and providing guidance along the searched route, searching for a guide branch point on the route, A storage medium comprising a program for acquiring all roads exiting from a point, determining the direction of the road, and outputting direction guidance information based on the determined direction. 10. The storage medium according to claim 9, wherein angles of a plurality of sampling points are calculated for all outgoing roads with respect to a road entering the guidance junction, and direction guidance information is output based on the calculated angles. A storage medium having a built-in program.