JPS6282319A - Path guide apparatus for vehicle - Google Patents

Abstract

PURPOSE:To select automatically starting and objective intersections and further, to set automatically the shortest path between these intersections by storing the positional coordinates and a classification for every intersection and storing the next attainable adjoining intersection or the like. CONSTITUTION:The titled apparatus is mainly constituted of a controller consisting of a CPU 1, a system ROM 2 and a RAM 3. Then, the positional coordinates and the classification for every intersection are stored and the correlation quantity between the next attainable adjoining intersection and the time required until then is stored in a basic information storage means. Further, a path end intersection retrieval means selects the neighboring intersection to the starting place as the starting intersection and further, the neighboring intersection to the destination as the objective intersection. Further, a path retrieval means retrieves the shortest path going from the starting intersection to the objective intersection under a prescribed condition. Then, a path correction means corrects the path to that not including a circular path part in case the road to return to the same interchange as the starting intersection after entering an express-way from the entrance intersection for the express-way which is the starting intersection is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device that is mounted on a vehicle and provides route guidance to an occupant.

(Background of the Invention) There is a desire to automate the task of setting the shortest route from a departure intersection to a destination intersection in a vehicle route guidance device.

Previously written by EDWARD, F, MOORE IThe 5ho
rtest Path Through a Haze
Several descriptions of shortest route searches can be found in ``Research Report on the Possibility of Introducing a Dual Mode Bus System'' by the Transportation Economics Research Center.

However, the Fujitan route search processing described in these documents is still conceptual and cannot be directly applied to concrete roads where there are traffic direction rules such as no entry or right/left turns. However, it has not yet been put to practical use.

(Objective of the Invention) The object of the present invention is to automatically select the starting intersection and destination intersection by simply specifying the starting point and destination, and furthermore, to automatically select the starting intersection and the destination intersection from the starting intersection in accordance with traffic direction rules such as no entry and no right/left turns. It is an object of the present invention to provide a route guidance device for a vehicle having a function of automatically setting the shortest route to a destination intersection without including a circuitous route along the way.

(Structure of the Invention) The present invention will be described in detail with reference to the claim correspondence diagram in FIG.

The basic information storage means a stores the position coordinates and type of each intersection, as well as the next reachable adjacent intersection and the next intersection, taking into account traffic direction rules such as no entry and no right or left turns. The amount of correlation required for the time required up to that point is stored.

The route end intersection search means refers to the position coordinates of each intersection and selects the intersection closest to the departure point as the departure intersection and the intersection closest to the destination as the destination intersection.

The route search means C searches for the shortest route from the departure intersection to the destination intersection under certain conditions by referring to the adjacent intersections of each intersection and the required time correlation amount.

The route correction means d refers to each intersection on the searched route and its type, and detects a route that returns to the same interchange as the departure intersection after boarding the expressway from the departure intersection, which is the highway entrance intersection. In this case, the route is modified to a route that does not include the circular route portion.

(Explanation of the embodiment) First, the hardware configuration of the device of this embodiment will be explained as follows.
This will be explained with reference to the figures.

As shown in the figure, this device mainly consists of a stored program type control device consisting of a CPtJl mainly composed of a microprocessor, a system ROM 2 in which various control system programs are stored, and a RAM 3 used as a working area. has been done.

By causing the CPU 1 to execute various control programs (details will be described later) stored in the system ROM 2, various functions are realized as shown in the general flowchart of FIG.

Detection of current position coordinates (X, Y) and traveling distance fΔD required while driving is performed by distance sensor 4 every time a certain distance is traveled.
In response to the interrupt pulse obtained from the CPU 1, the CPU 1 executes the current position calculation process (see FIG. 23), and the unit vector correction process using the vehicle direction θ obtained from the direction sensor 5.
and simple latitude processing of unit distance ΔD.

Guidance information is transmitted to the driver using Hiteo RAM6. C
VDT (VisualDispl) based on RT7
ay Terminal ) (see Figure 3).

Various commands to the device are issued through an input operation section 8 consisting of a numeric keypad, etc. Alternatively, as shown in FIG. 3, a known transparent operation panel 10 attached to the front surface of the VDT 9 may be used.

As shown in FIG. 3, when the transparent operation panel 10 is pressed with a fingertip or the like, the CPU 1 uses the operation panel interface 1.
1, the pressed area can be detected.

Various types of information such as road maps and intersections are stored in an external memory 12 such as a floppy disk, optical disk, or magnetic tape.

As shown in FIG. 4, a plurality of block areas are provided in the external memory 12, corresponding to blocks obtained by dividing the reference road map 13 vertically and horizontally.

Each block area is further divided into a plurality of intersection areas corresponding to each intersection included in the block.

Each intersection area includes interchange number information, intersection type information indicating whether it is a grade-separated intersection or an at-grade intersection, and whether it is an intersection on a ship road, an intersection on an expressway, an expressway entrance/exit intersection, an expressway exit intersection, or an expressway entrance intersection. In addition to storing intersection type information, X-coordinate information, Y-coordinate information, and intersection name information indicating the location on the map, a plurality of adjacent intersection areas (1) to (2) are provided.

Each adjacent intersection area includes intersection number information of the intersection adjacent to the intersection, road number information of the connecting road, and direction information of each connecting road as seen from the intersection.

Sectional route information from the intersection to the adjacent intersection is stored. - Each of the above-mentioned information is used in the departure intersection, destination intersection selection processing, shortest route search processing, and guidance display processing (I) to be described later.
(I[I) (see Figure 10).

In addition to the intersection information described above, various types of information are stored in the external memory 12, as shown in FIGS. 5 to 9.

That is, in the external memory 12, as shown in FIG.
In addition to storing each area name information storage area, a reduced map information storage area corresponding to each area name, an enlarged map information storage area corresponding to each zone of each reduced map, and point name information included in each enlarged map, A table that associates and stores the Sendai region name and the reduced map number (see Figure 6);
A table that associates and stores each z one of the reduced map and the number of the enlarged map (see Figure 7), each Z one of the enlarged map
A table (see Fig. 8) in which one and its center coordinates are stored in association with each other, and a table (see Fig. 9) in which the names of destinations such as recreational areas are stored in association with the point coordinates of the destinations are respectively stored. has been done.

The meaning of each of these pieces of information will be explained later in the process of specifying the departure point and destination.

This concludes the explanation focusing on the hardware, and next the software configuration of the apparatus of this embodiment will be explained with reference to the drawings from FIG. 10 onwards.

As shown in the general flowchart of FIG. 10, the software configuration of the device of this embodiment includes a process for specifying a departure point and a destination (step 1001), and a process for selecting a departure intersection and a destination intersection (step 1002>).

Shortest route search processing (step 1003), guidance display processing ■ (step 1004), guidance display processing ■ (step 1
005) and guide display processing (step 1006).

Among these processes, the one that is directly related to the present invention is the shortest route search process (step 1003) and the other five processes (steps 1001, 1002, 1004).
．． 1005 and 1006) are not directly related.

However, although applications have already been filed for these five processes, they have not yet been published (for example, Japanese Patent Application No. 59-2204
No. 81, Japanese Patent Application No. 59-220484, Japanese Patent Application No. 59-2
No. 42435, patent application 1986-57476@, patent application 1982
-57478, patent application No. 60770622, patent application No. 6
No. 0-70623, patent application filed August 30, 1985).

Therefore, in the following explanation, the shortest route search process will be explained in detail in text, and for the other five processes, instead of attaching flowcharts and various diagrams that specifically describe each process content in text, Explanations within the text shall be kept to the minimum necessary.

(A> Departure point and destination specification process In this process, the departure point and destination are finally specified while interacting with the operator using the screen of the VDT 9.

In other words, the 12th screen displays a list of area names on the screen.
(see figure), the designated area is detected by waiting for the transparent operation panel to be pressed.

Next, a reduced map of the specified area is displayed (see Fig. 13), the transparent operation panel is pressed, and the limited area is detected.

Next, an enlarged map of the limited area is displayed (see FIG. 14), the transparent operation panel is pressed, the final specified area is determined, and its center coordinates are specified as the departure point or destination.

For those who are unfamiliar with geography, please wait for the transparent operation panel to be pressed, detect the specified point name, and use its coordinates as the starting point.
Recognize it as a destination.

The above processing is performed by executing the departure point and destination specifying processing shown in the flowchart of FIG.

The relationship between the pressed area and the reduced map number and the relationship between the pressed area and the enlarged map number can be determined by referring to the tables in Figures 6 and 7, and each image information is shown in Figure 5. As shown in the figure, the one stored in the external memory is used.

Furthermore, the relationship between the pressed part and the center coordinates of each z one.

FIG. 8 shows the relationship between the pressed area and the point coordinates.

It is determined by referring to the table in FIG.

(B) Departure Difference point and destination intersection selection process This process is based on the taught departure point coordinates (XS, YS) and destination coordinates (Xd, Yd), and selects each intersection shown in Figure 4. The XY coordinate information is searched, and as shown in Fig. 17, the registered intersection that is located in the direction of the destination as seen from the starting point and is closest to the starting point is selected as the starting intersection, and as shown in Fig. 18. Then, the registered intersection closest to the destination is selected as the destination intersection. Therefore, there is a possibility that the express entrance intersection will be selected as the departure intersection.

This is done by executing the process of selecting the starting intersection and destination intersection shown in the flowchart of FIG.

(C) About the shortest route selection process In this process, the destination intersection is searched on the road map from near the starting intersection to far away, and the shortest distance to each intermediate intersection is memorized, and when the destination intersection is detected, , the shortest route from the starting intersection to the destination intersection is selected by returning to the starting intersection based on the route information to each intersection.

In particular, in this invention, the road map information incorporates traffic direction rules such as no entry and no right/left turns, so that the distance to each intermediate intersection can be determined along an actually drivable route.

First, the contents of the road map information, which is the premise of this process, will be explained with reference to FIGS. 19C to 19M.

Figure 19C is a diagram showing the relationship between plane intersection figures on general roads with no traffic direction restrictions such as no entry or right/left turns, and the intersection position on the passage map information, and Figure 19D is a diagram showing the corresponding road. This is a memory map showing the format of map information.

What is shown in Figure 19C is the Funakoshibashi 3-chome intersection (tentative name) where Road No. 3 and Road No. 10 intersect at right angles to each other. As shown by the middle arrow, it is possible to go straight and turn left and right in the other three directions.

In addition, the north, south, east, and west directions are No. 11, No. 11, and No. 11, respectively.
Adjacent intersections corresponding to 13, intersection No. 2, intersection No. 22, are arranged.

In the case of such an intersection, the intersection is counted as one on the road map information, and its location is the center of the intersection. In this example, the intersection No. 12 indicated by a circle in the figure corresponds to this.

The road map information corresponding to intersection No. 0.12 is expressed as shown in FIG. 19D. That is, in the intersection mode, X coordinate, Y coordinate, and intersection name area, "Plane intersection j,
fX+ 2j, rY+ 2J.

Information corresponding to "Funakoshi 4'! 3-chome" is stored respectively. In addition, in the intersection type information area, - "O" if the intersection is on a ship road, "1" if it is a highway entrance intersection, "2" if it is a highway exit intersection, and "" if it is a highway entrance/exit intersection.
Codes such as "3" and "4" for intersections on expressways are stored, and these can be identified by rOJ to "4". In addition, here, the intersection No. 12
Coordinate.

Each Y coordinate is abbreviated as X+21YI2.

Next, the contents of the adjacent intersection areas ■ to ■ will be explained. Adjacent intersection areas ■ to ■ are sequentially allocated clockwise from the north to the four passages extending from intersection No. 0.12.

That is, the adjacent intersection areas ■ to ■ are intersection numbers.

22, traffic no. 13, traffic no. 2, traffic no. 11 are allocated to the roads in this order.

Then, corresponding information is stored in the road number, area, road direction area, and section route area of each area (■ to ■).

In other words, each road No. of areas ■ to ■, the area has the corresponding passage No., rloJ, r3J, r10J, "3".
However, there is also an "O" in the road direction area.

r90j, r180j, r270j, rD+ 22 zz, FD+ 2 + 3J in the rough section route area
, rD1zo2J, and rD+2+1J are stored, respectively.

In addition, in this example, the path direction is divided into 360 clockwise starting from north, and the section distance between Intersection No. 12 and Intersection No. 22 is abbreviated as D+ 222. are doing.

In this way, by writing the road direction information in each adjacent intersection area ■~■, and conversely reading it, it is possible to know that four roads extend from the intersection No. 0.12 and which direction each road is facing. Now you can know if it's suitable for you. This road orientation information is then used in intersection figure drawing processing (described later) performed before each intersection.

On the other hand, the most important point in the present invention is whether to write the intersection number in the intersection number and area of each adjacent intersection area ■ to ■, or write nothing and write a state 2 of no data, for example, FFFF. It is.

In other words, in this invention, for each intersection, it is necessary to identify the next actually reachable adjacent intersection from among all the adjacent intersections, and this identification is performed by assigning the intersection number to the area.
This is done by either writing the data, or by writing no data.

In the case of the intersection shown in Figure 19C, the traffic number at the adjacent intersection is
22, Intersection No. 13, Intersection No. 2, Intersection No. 11 are all adjacent intersections that can actually be reached, so the intersection No. and area of each adjacent intersection area ■~■ have the corresponding intersection No. r22J , r13J.

r2J and rllJ are respectively stored.

Next, Fig. 19E is a diagram showing the relationship between plane intersection figures on general passages with traffic direction restrictions such as prohibition of right turns and intersection positions on road map information, and Figs. 19F to 19I show this relationship. This is a memory map showing the format of corresponding road map information.

The intersection shown in FIG. 19E is Road No. 0.9 and Road No. 0.9.
(Tentative name: Nakayama Kita 3-chome Intersection), where Nakayama-Kita 3-chome Intersection intersects at right angles with No. There is.

In addition, the adjacent intersections are No. 28, No. 5, and No. 5.
Four intersections, No. 4, No. 39, No. 43, are arranged.

In the case of such intersections, the number of intersections is counted as four, and each intersection is positioned at the road entrance to each intersection. In this example, the intersection number is indicated by a circle in the figure.

61, intersection NO. 62, intersection NO. 63, and intersection NO. 0.64 correspond to them.

Then, each individual cross fish receiver NO,61, cross NO,
62, No. 63, No. 64, Fig. 19F~
As shown in FIG. 19I, road map information is stored respectively.

In the road map information shown in Figures 19F to 19I, the contents of the intersection mode area, In addition, the contents of the passage number, area, road direction area, and section route area of each adjacent intersection area ■ to ■ are also the same as in the case of an intersection without traffic direction regulation explained in Figure 19D. .

On the other hand, among the adjacent intersection areas (1) to (2), only the intersection number and area are significantly different from the case of the intersection without traffic direction regulation shown in FIG. 19D.

That is, to explain the case of the intersection No. 61 shown in FIG. 19E, the intersection No. 61 is the intersection No. 0.61 as the adjacent intersection.
28. Cross No. 54, Cross No. 39, Cross No.

There are four intersections consisting of 43, but among them, the ones that can actually be reached are limited to intersection No. 28 and intersection No. 43.

To express this, as shown in Figure 19F,
The intersection numbers of the adjacent intersection areas ■ and ■ corresponding to traffic no. 54, traffic no. 39, and the intersection no.
is not written and a state with no data is stored.

Therefore, by referring to the road map information shown in FIG. 19F, there are four roads around intersection No. 61, but among them, the route that can actually be traveled is intersection No. 0.
28. I can confirm that I am only on the road heading towards intersection No. 43.

Similarly, from FIG. 19G, the intersections that can actually be reached from intersection No. 0.62 are intersection No. 28 and intersection No. 28.

54, and from Figure 19H, the intersection N0
．． From intersection No. 63, intersections No. 54 and No. 0.39 are the only reachable intersections. Furthermore, from FIG. 19I, from intersection No. 0.64, intersection No. 39 and intersection No.

It can be confirmed that only intersection No. 43 is reachable.

Next, Figure 19J shows the intersection shape where the ship road, the expressway, the downward road from the expressway to the general passage, and the upward road from the general road to the expressway intersect, and the intersection position on the road map information. The 19th figure is a memory map showing the format of road map information corresponding to this.

The intersection shown in Figure 19J is a grade-separated intersection between the general passage No. 16 and the expressway No. 45, with a one-way road for going up to the expressway and a one-way road for going down from the expressway. It is a multi-level intersection where a one-way passage intersects with a general road at right angles, and the adjacent intersections that can be reached at this multi-level intersection are - Intersection No. 102 on the ship road
．． Interchange No. 103 and Intersection No. 0.9 on expressway 1
It is 5.

In the case of such an intersection, on the road map information, one intersection (intersection number, 85>) is provided at the center of the intersection where the -ship road and the expressway intersect, as indicated by a circle in the figure.

19. As shown in the figure, on the road map information corresponding to intersection No. 85, intersection areas
O, 102, Cross No., 103. Road information heading toward intersection No. 95 is stored, and the fourth adjacent intersection area (2) is indicated as empty by writing O in the intersection No. 95.

Therefore, by storing the road direction information in each area of ■ to ■, it is possible to confirm that intersection No. 85 has three intersections as adjacent intersections and that it is possible to reach each of them. It is.

In addition, intersection No. 0.93 on the expressway shown in Figure 19J
Nineteenthly, there is no risk of being detected in the information shown in the figure, and therefore a route that would involve driving in the wrong direction on a one-way road will not be selected.

Next, Fig. 19L is a diagram explaining the intersection No. 25> on the expressway on an interchange where a general passage and an expressway intersect, and Fig. 19M is a format of passage map information corresponding to this. This is a memory map showing the

Intersection No. on the expressway shown in Figure 19L,
25> has an intersection on the -ship road (No. 29, No. 20) in addition to the intersection on the expressway (No. 6, No. 19) as an adjacent intersection.

Among these four intersections, the actual reachable adjacent intersections are Intersection No. 19, Intersection No. 29, and Intersection No.

20, and it is impossible to reach intersection No. 0.6.

Therefore, as shown in FIG. 19M, the intersection number of the adjacent intersection area (■) corresponding to intersection number 6.

No data is stored in the area.

Therefore, from the stored information in FIG. 19M, the intersection No.

25 has four intersections as adjacent intersections, among which the reachable intersections are Intersection No. 29, Intersection No. 20, Intersection No.
It can be confirmed that the value is only 0.19.

As explained above with reference to Figures 19C to 19M, the in-vehicle storage device stores information about the next reachable adjacent intersection and up to that point, taking into consideration traffic direction rules such as no entry and no right/left turns. The required time correlation amount (in this example, the distance to the adjacent intersection) is stored for each intersection, and based on this information, the shortest route search processing, intersection graphic display processing, and intersection crossing processing, which will be described later, are performed. Confirmation processing and the like are performed.

Next, details of the @short route search process from the departure intersection to the destination intersection will be described with reference to FIG. 19A.

Once the starting intersection and destination intersection are specified, first, all reachable intersections next to the starting intersection (i.e. -
(step 1901).

Here, to check which intersections are reachable among all adjacent intersections, as mentioned above, each adjacent intersection area
It is sufficient to refer to the intersection number and area in (2) and determine whether an intersection number is stored here or whether there is no data, and only intersections whose intersection numbers are stored can be determined as adjacent intersections that can be reached.

Next, as shown in FIG. 20, the distance from the departure intersection to the primary intersection is stored in the distance storage area corresponding to each intersection, and at the same time, the departure intersection is stored as the previous intersection (step 1902).

Thereafter, the value of the intersection counter N is set to the initial value (step 190
3) to step 1911), all intersections next to each N-th intersection, that is, (N+1
) Next intersection is searched (Step 1904), and the distance from the starting intersection to each (N+1) next intersection is determined each time (
Step 1905), if the route is already stored in the route storage area of the (N+1) next intersection, (Step 190
6), as shown in FIG. 20, the route information and the previous intersection are rewritten only if the route area is shorter than the already stored route area (step 1907);
If no route has been stored yet (No at step 1906), the route storage area corresponding to each intersection is stored.
As shown in FIG. 20, the distance from the starting intersection is stored, and at the same time, the previous intersection is stored (step 1908).

While repeating the above operations, if the target intersection is detected among the (N+1) next intersections (step 190
9 (affirmative), based on the information of the intersection before each intersection,
As shown in FIG. 1, the intersections passed through on the shortest route from the destination intersection to the starting intersection are stored in order (step 1910).As a result, as shown in FIG. 21, when the above processing is completed, the starting intersection The shortest route from the point to the destination intersection is set and stored in the form of the intersections to be passed and the order in which they should be passed.

What is particularly important in this invention is that, as mentioned above, the storage device takes into consideration traffic direction rules such as no entry and no right/left turns, and stores the next reachable adjacent intersection and the correlation amount of the time required up to that point. is stored for each intersection, and as a result of performing the shortest route search process using this, the shortest route obtained will actually be one that vehicles can pass, so there is no need to worry about turning left or right or entering prohibited. , it is possible to prevent the possibility of the road becoming impassable.

In this way, when the processing from step 1901 to step 1910 is completed, the shortest route from the departure intersection to the destination intersection is determined according to the traffic direction rules such as no entry and no right/left turns. There's a problem.

In other words, as is clear from the process of selecting the departure intersection and destination intersection described above, the departure intersection and destination intersection are automatically selected as intersections that are closer to R and satisfy certain conditions from the departure point and destination. Therefore, as shown in Figures 19N to 19P, expressway entrance intersection A is used as the departure intersection.
is selected, and if the entrance intersection connects to a high-speed lane heading in the opposite direction to the destination intersection, proceed through the expressway in the opposite direction to the destination intersection, make a large detour, and return to the same interchange as the departure intersection. There is a risk that an extremely large circulation route will be formed that returns to the

Accordingly, in the present invention, the existence of this circulation route is detected by the process shown in FIG. 19B, and the route is corrected to a route that does not include the circulation route.

That is, in FIG. 19B, when it is determined that the starting intersection is a high-speed entrance, that is, the intersection type information is "1" (indicating a high-speed entrance intersection) or "3" (indicating a high-speed entrance/exit intersection) (step 1912 portrait). After confirming that the same interchange number continues from the departure intersection (steps 1913 to 1915), it is checked whether the same interchange number appears again after intervening an interchange number different from the departure intersection. Determine (step 1916~
1919).

Thereafter, if the same interchange number as the intersection number of the departure intersection does not appear (as determined by Stella 11919M), it is assumed that the circular route does not exist, and the route search process is terminated.

On the other hand, if a plurality of identical interchange numbers continue from the departure intersection and then the same interchange number as the departure intersection appears again with a different interchange number in between (step 1917 affirmative), It is assumed that a circulation route is included in the set route, and one of three types of route modification processing is executed depending on which pattern in Figs. 19N to 19P corresponds to the set route.

That is, as shown in Figure 19N, the departure intersection (
When it is confirmed that the intersection associated with the same interchange number as A) is the entrance intersection (D) of the expressway (step 1)
920 (Yes), the departure intersection is replaced with the entrance intersection of the expressway as shown in Figure 19N (Step 19
21) Then, the route selection process is terminated by setting the previously selected route to the subsequent destination intersection as the new selected route.

In this case, as shown in FIG. 19N, the old selected route indicated by the thin solid line will be replaced with the new selected route indicated by the double solid line.

Furthermore, if the intersection (C) associated with the same interchange number as the departure intersection (A) is not an expressway entrance (No in step 1920), the intersection (C) that has the same interchange number as the departure intersection (A), and the departure intersection Expressway entrance intersections other than (D
), and if there is such an intersection (Yes at step 1923), it has the intersection number of the starting intersection;
Then, the expressway entrance intersection (D) other than the departure intersection is replaced with a new departure intersection (step 1924), and thereafter, the shortest route re-search process is performed from this departure intersection to the destination intersection (step 1926).

This shortest route re-search process is the same as steps 1901 to 10, and will therefore be omitted.

Then, as shown in FIG. 190, the circulation route indicated by the thin solid line in the figure is replaced with the newly selected route indicated by the double solid line in the figure.

Furthermore, as shown in Figure 19P, if the departure intersection has an intersection number of A> and there is no expressway entrance intersection other than the departure intersection (step 1 23, negative), the departure intersection selection process is redone. .

However, in this redo, the old departure intersection (A) is excluded so that it does not become the departure intersection again (step 1925).

Then, as shown in FIG. 19P, the old selected route shown by the thin solid line in the figure is replaced with the new selected route shown by the double solid line, and thereby the circulation route disappears.

In this way, according to the shortest route search process described above, it is possible to search for the shortest route from the departure intersection to the destination intersection without including a large circulation route along the way, in accordance with the traffic direction rules such as no entry and no right or left turns. That's why you can do it.

In the above embodiments, the intersection section route information is stored in advance on the vehicle side, but instead of this, the required time correlation quantity information calculated based on the speed limit of each passage, that is, expressways are short and urban areas are Of course, it is also possible to store information such as the length of the road, or information on the correlation amount of required time calculated on the assumption that all roads are traveled at the same speed.

(D> Guidance display process (D)) This process provides driving route guidance from the starting point to the starting intersection.As shown in Fig. The direction of the departure intersection is displayed using arrow-like segments, and after approaching within 300 meters, the departure road is painted over using an intersection shape with the vehicle traveling direction directly above, as shown in Figure 27. By displaying the information, the starting route direction, that is, the course at the intersection is displayed, and at the same time, the travel trajectory is drawn on the screen.

This is done by executing the processes shown in FIGS. 22, 24, and 26, respectively.

(E) Guidance display process (II) In this process, while confirming that the current position does not deviate from the planned route, the approach to the next intersection is monitored, and each time the arrival at the intersection is confirmed, the current position is After correcting this, the above operation is repeated with the next intersection to be passed as the new goal.

In addition, before each intersection, the
As shown in FIG. 8, the route at the intersection is displayed using intersection figures and route arrows.

In addition, if the intersection where the turn is to be made is an overpass, the 41st
As shown in the figure, the center of the intersection figure is treated as white,
This will be accompanied by a route arrow to guide you to the intersection.

Furthermore, while driving, the driving trajectory is always displayed overlaid on the road map.

This is done by executing each process shown in the flowcharts of FIGS. 28, 29, 34, 36, 39, and 40.

(F) About the guide display process (III) In this process,
As shown in FIG. 43, the direction of the destination is displayed using car figures and arrow-like segments, and
When the destination is near, the driver is notified of this with an arrival notice as shown in FIG.

This is done by executing the processes shown in flowchart 1 to 1 in FIG.

(Structure and Effects of the Invention) As is clear from the description of the embodiments above, according to the vehicle route guidance device according to the present invention, the vehicle automatically selects the starting intersection just by providing the starting point and destination.

It is possible to select a destination intersection and automatically set the shortest route from the departure intersection to the destination intersection without including a large circulation route in the middle, according to traffic direction rules such as no left or right turns or no entry. The practicality and usability of the system can be greatly improved.

[Brief explanation of drawings]

Fig. 1 is a complaint correspondence diagram of the present invention, Fig. 2 is a block diagram showing the hardware configuration of the device of this embodiment, and Fig. 3 is a VD
Perspective view showing the state in which the transparent operation panel is attached to the T, No. 4
The figure shows a memory map showing the contents of the intersection information area provided in the external memory, and FIG. 5 shows the area name information storage area, reduced map information storage area, and enlarged map information storage area provided in the external memory in connection with the present invention. A memory map showing area and point name information storage areas, Fig. 6 shows a memory map showing the contents of a table in which each area name and reduced map number are stored in association with each other, and Fig. 7 shows each z one of the reduced map. A memory map showing the contents of a table stored in association with the number of the corresponding enlarged map, Figure 8 shows each Z of the enlarged map.
A memory map showing the contents of a table to be stored by associating one with the center coordinates of the corresponding Z one. Figure 9 shows the contents of a table in which each point name is associated with the relationship between the corresponding point coordinates and stored. Memory map, Fig. 10 is a general flowchart of the route guidance device, Fig. 11 is a flowchart showing details of the process of specifying the departure point and destination, and Fig. 12 is an explanatory diagram showing the state in which area names are collectively displayed on the VDT screen. , Fig. 13 is an explanatory diagram showing a state where a reduced map is displayed on the VDT screen, Fig. 14 is an explanatory diagram showing a state where an enlarged map is displayed on the VDT screen, and Fig. 15 is an explanatory diagram showing a state where a reduced map is displayed on the VDT screen.
An explanatory diagram showing a state where a list of point names is displayed on the T screen, Fig. 16 is a flowchart 1 showing the process of selecting a departure intersection and a destination intersection, and Fig. 17 is an explanatory diagram showing an algorithm for selecting a departure intersection. FIG. 18 is an explanatory diagram showing an algorithm for selecting a target intersection, FIGS. 19A and 19B are a flowchart showing details of the shortest route search process, and FIG. 19C is a flowchart showing details of the shortest route search process.
The figure is an explanatory diagram showing the relationship between intersection shapes that do not have traffic direction restrictions such as no entry or right/left turns, and the intersection position on road map information. Figure 19D is the format of passage map information corresponding to Figure 19B. Memory map showing 1st
Figure 9E shows an intersection shape with traffic direction restrictions that prohibit right turns,
Figures 19F to 19I, which are diagrams showing relationships with intersections on road map information, are memory maps showing the format of passage map information corresponding to each intersection shown in Figure 19F;
Figure 19J shows a general road. Figure 19 is a memory map showing the format of road map information corresponding to Figure 19J. Figure 191 is a diagram showing the relationship between the shape of the intersection on the expressway and the intersection position on the road map information at an interchange where the expressway intersects with a general road, and Figure 19M is the road information corresponding to Figure 19L. Memory map showing format, Figure 190~
Figure 19Q is a diagram showing an example of a set route including a circular route in the middle, Figure 20 is a memory map showing details of the route storage area provided in RAM, and Figure 21 is a diagram showing intersection numbers provided in RAM. Memory map showing area details,
FIG. 22 is a flowchart showing the details of the guidance display process (1), FIG. 23 is a flowchart showing the details of the current location calculation process executed by interruption, and FIG. 24 is a flowchart showing the details of the departure intersection direction display process. Fig. 25 is an explanatory diagram showing an example of the display on the VDT screen on the way from the departure point to the departure intersection, Fig. 26 is a flowchart showing details of the departure road direction display processing, and Fig. 27 is an explanatory diagram showing an example of the display on the VDT screen on the way from the departure point to the departure intersection. An explanatory diagram showing a display example on the VDT screen, FIG. 28 is a flowchart showing details of the guidance display process (n), FIG. 29 is a flowchart showing details of the route guidance preparation process to the next intersection to pass, and FIG. 30 Figure 31 is an example of a road map showing the relationship between test date A, test circle B, error test oval, etc. when heading straight to an intersection, and Figure 31 is the relationship between test date B and error test oval when heading to a turning intersection. Fig. 32 is an explanatory diagram showing the test areas when entering a bending multi-level intersection, Fig. 33 is an explanatory diagram showing the state of each test area opened when exiting a bending multi-level intersection, Fig. 34 35 is a flowchart showing details of the route guidance display process and current position correction process when passing an intersection straight through, FIG. 35 is an explanatory diagram showing a display example of the VDT screen when approaching an intersection going straight, and FIG. 36 is when passing through a normal intersection with a turn. Flowchart showing details of route guidance display processing and current position correction processing, FIG. 37 is an explanatory diagram showing a display example of the VDT screen when approaching a bending plane intersection, and FIG. 38 is a VDT screen when approaching a bending plane intersection. 39 and 40 are flowcharts showing details of route guidance display processing and current position correction processing when passing through a turning intersection at a normal intersection, and FIG. An explanatory diagram showing an example of screen display,
Figure 42 is a flowchart showing the details of the guidance display process (III), and Figure 43 is the VDT that opens when approaching the destination intersection.
FIG. 44 is an explanatory diagram showing a display example of the screen. FIG. 44 is an explanatory diagram showing a display example of the VDT screen when approaching the destination. Total...Basic information storage means b...Route end intersection search means C...Route search means d...Route correction means Patent applicant Nissan Motor Co., Ltd. Figure 1 Figure 3 (VDT) 7th r In the case of Kishu no 157 No. A1, Fig. 8 c sparrow ρ=F; Tech: Fukuro @ No. jAII/+ Saai No. 17, Fig. 18, Fig. 196, No., 28 No. r) Giant evening iNo. , 39 No. 19C No. 22 No. 190 No. 19F No. 19G No. 19H No. 191 No. 19 TAN Eka LWHTI) Figure 43 Figure 1/l'A' 101 Ω Mata no Procedure Neho (Method) % Formula % 1. Indication of the incident Patent Application No. 1983-223245 2. Name of the invention For vehicles Route guidance device 3, relationship with the case of the person making the amendment Notes from the patent applicant Address: 2 Takaracho, Kanayō-ku, Yokohama-shi, Kanagawa Prefecture Name
(399) Nissan Motor Co., Ltd. Representative Kume
Toyo 4, Agent @101 Address 1-15-16-5 Uchikanda, Chiyoda-ku, Tokyo
, Date of amendment order January 28, 1985 6, Subject of amendment Column for brief explanation of drawings in the description, r
・. 7. Contents of amendment (1) In page 35, lines 4 to 5 of the specification, “Fig.
"Figure 19Q" has been corrected to "Figures 19N to 19P."

Claims (1)

[Claims] (1) For each intersection, store its position coordinates and type, and calculate the next reachable adjacent intersection and the amount of time required to reach it, taking into account traffic direction rules such as no entry and no right or left turns. basic information storage means for storing basic information; and route end intersection selection means for selecting an intersection nearest to a departure point as a departure intersection and an intersection nearest to a destination as a destination intersection by referring to the position coordinates of each intersection. , a route search means that searches for the shortest route from a starting intersection to a destination intersection under certain conditions by referring to the adjacent intersections of each intersection and the required time correlation amount; Referring to the type, if a route returning to the same interchange as the departure intersection after boarding the expressway from the departure intersection, which is the expressway entrance intersection, is detected, the route is corrected to a route that does not include the route. A route guidance device for a vehicle, comprising: means.