WO2006109471A1 - Systeme, procede et programme de navigation et support d'enregistrement lisible par ordinateur - Google Patents

Systeme, procede et programme de navigation et support d'enregistrement lisible par ordinateur Download PDF

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Publication number
WO2006109471A1
WO2006109471A1 PCT/JP2006/305720 JP2006305720W WO2006109471A1 WO 2006109471 A1 WO2006109471 A1 WO 2006109471A1 JP 2006305720 W JP2006305720 W JP 2006305720W WO 2006109471 A1 WO2006109471 A1 WO 2006109471A1
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WO
WIPO (PCT)
Prior art keywords
road
exit
vehicle
navigation
round
Prior art date
Application number
PCT/JP2006/305720
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English (en)
Japanese (ja)
Inventor
Ippei Nambata
Original Assignee
Pioneer Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Corporation filed Critical Pioneer Corporation
Publication of WO2006109471A1 publication Critical patent/WO2006109471A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map

Definitions

  • the present invention relates to a navigation device, a navigation method, a navigation program, and a computer-readable recording medium for guiding a road on which a vehicle travels on a round road.
  • the use of the present invention is not limited to the above-described navigation apparatus, navigation method, navigation program, and computer-readable recording medium.
  • runabout As one of the shapes of roads, there is a round road called a runabout. The vehicle enters this runabout, travels within the runabout, and passes through the runabout by exiting the road along the runabout. Some of these runabouts, especially in the UK, have multiple lanes that allow multiple vehicles to run in parallel. In runabouts with multiple lanes, it may be the case that the inner lane force is also entered by the exit, and that it is better to enter the outer lane.
  • the navigation device includes a determination unit that determines whether there is a round road on which a plurality of vehicles can travel in parallel in front of a road on which the vehicle is traveling.
  • the specifying means for specifying the state of the exit of the circuit road by the vehicle, and the exit state specified by the specification means, Selecting means for selecting a rounding position on which the vehicle travels on a round road, and guidance means for guiding the running to the round position selected by the selection means when the vehicle enters the round road; It is characterized by providing.
  • a determination step of determining whether or not there is an orbital road in which a plurality of vehicles can run in parallel is ahead of the road on which the vehicle travels,
  • the lap circuit is determined according to a specifying step for specifying the exit state of the rotating road by the vehicle and an exit state specified by the specifying step.
  • a selection step for selecting a rounding position on the road where the vehicle travels, and a guidance step for guiding the driving to the rounding position selected by the selection step when the vehicle enters the rounding road is characterized by including.
  • a navigation program according to the invention of claim 9 causes a computer to execute the navigation method according to claim 8.
  • a computer-readable recording medium according to the invention of claim 10 records the navigation program according to claim 9.
  • FIG. 1 is a block diagram showing a functional configuration of a navigation apparatus that is useful in an embodiment of the present invention.
  • FIG. 2 is a flowchart showing the processing of the navigation method which is effective in the embodiment of the present invention.
  • FIG. 3 is a block diagram showing a functional configuration of a navigation apparatus that is effective in this embodiment.
  • FIG. 4 is an explanatory view for explaining an example of guidance when the vehicle exits with the initial exit force. ⁇ 1—
  • Fig. 5 is an explanation explaining an example of guidance when the vehicle exits both the entrance force and the exit force with distance.
  • FIG. 1 A first figure.
  • FIG. 6 is an explanatory diagram for explaining an example of guidance when the road is narrow before the exit.
  • FIG. 7 is an explanatory diagram for explaining an example of guidance when the exit is a narrow road.
  • FIG. 8 is a flowchart for explaining lane guidance processing before entering the runabout.
  • FIG. 9 is a flowchart for explaining a lane guidance process after entering the runabout. Explanation of symbols
  • FIG. 1 shows a functional configuration of a navigation device that is useful for an embodiment of the present invention. It is a block diagram.
  • the navigation apparatus according to this embodiment includes a determination unit 101, a specifying unit 102, a selection unit 103, and a guide unit 104.
  • the determination unit 101 determines whether or not there is a circumferential road where a plurality of vehicles can run in parallel in front of the road on which the vehicle is traveling.
  • the specifying unit 102 specifies the state of the exit of the circuit road by the vehicle. For example, it is specified whether the exit from which the vehicle escapes from the circuit road is close or not to the entrance at which the vehicle enters the circuit road. You can also specify whether the exit from which the vehicle escapes is a narrow road or a thick road! / ⁇ .
  • the selection unit 103 selects a circulation position where the vehicle travels on the circuit road according to the state of the exit specified by the specification unit 102. For example, it is determined whether or not the exit is close to the entrance. When the exit is close to the entrance, the selection unit 103 selects a round position outside the circuit road, and when the exit is not close to the entrance, Select the road inside the circuit road.
  • the selection unit 103 can also select a circuit position outside the circuit road when the vehicle approaches the exit.
  • the selection unit 103 can also select a rounding position where the vehicle travels on the round road according to the width of the exit road.
  • the selection unit 103 can also select a rounding position where the vehicle travels on the round road according to the width of the road located before the exit.
  • the selection unit 103 selects the outer lane or the inner lane of the round road as the rounding position of the vehicle.
  • the guide unit 104 guides the traveling to the circuit position selected by the selection unit 103.
  • the guide unit 104 may guide the traveling position on the road before entering the circuit road according to the circuit position selected by the selection unit 103.
  • FIG. 2 is a flowchart showing the processing of the navigation method that is useful for the embodiment of the present invention.
  • the determination unit 101 determines whether or not there is a power road around which a plurality of vehicles can run side by side in front of the road on which the vehicle is traveling (step S201). If the determination unit 101 determines that there is a circuit road on which multiple vehicles can run side by side, Step S201: Yes), the state of the exit of the road by the vehicle is specified (step S202). If it is determined that there is no road around which multiple vehicles can run side by side (step S201: No), the series of processing ends.
  • Selection unit 103 selects a rounding position where the vehicle travels on the rounding road according to the state of the exit specified by specifying unit 102 (steps S203 to S205). For example, it is determined whether or not the exit is close to the entrance (step S203) .When the exit is close to the entrance (step S203: Yes), the selection unit 103 selects the round position outside the round road ( In step S204), if the exit is not close to the entrance (step S203: No), the inner position of the circuit road is selected (step S205).
  • the guide unit 104 guides the traveling to the circuit position selected by the selection unit 103 (step S206). For example, when the outer lane is selected, the driving of the outer lane is guided, and when the inner lane is guided, the driving of the inner lane is guided.
  • the power illustrated as a circuit road with a plurality of lanes as a circuit road on which a plurality of vehicles can run side by side is not limited to this. Even when the lane is not specifically divided, Needless to say, it is possible to do the same thing if it is a road that allows multiple vehicles to run in parallel.
  • FIG. 3 is a block diagram showing an example of a functional configuration of a navigation apparatus that is useful in the embodiment of the present invention.
  • the navigation device includes a navigation control unit 300, an operation unit 301, a display unit 302, a GPS receiver 303, a moving speed sensor 304, an angular velocity sensor 305, a tilt sensor 306, an acceleration sensor 307, a point search unit 308, a route search unit 309, It is comprised by the route guidance part 310.
  • the navigation control unit 300, the GPS receiver 303, the point search unit 308, the route search unit 309, and the route guidance unit 310 are, for example, a CPU (Central Processing Unit) that executes predetermined arithmetic processing, and various control programs It can be realized by a microcomputer composed of a ROM (Read Only Memory) that stores data and a RAM (Random Access Memory) that functions as a CPU work area.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the navigation control unit 300 controls the entire navigation device.
  • the operation unit 301 includes an operation button, a remote control, a touch panel, and the like.
  • the display unit 302 includes a liquid crystal display, an organic EL display, and the like.
  • the GPS receiver 303 receives the radio wave from the GPS satellite and acquires the vehicle position information.
  • the vehicle position information is obtained by receiving the radio wave of GPS satellite force and obtaining the geometric position with respect to the GPS satellite, and can be measured anywhere on the earth.
  • Radio waves are generated using a L1 radio wave with a CZA (Coarse and Access) code and navigation message on a carrier wave of 1.57542 MHz. This detects the current vehicle position (latitude and longitude).
  • information collected by various sensors such as a moving speed sensor 304 and an angular speed sensor 305 described later may be taken into consideration.
  • the navigation control unit 300 sends the display unit 302 on the map. Outputs which position is driving! /.
  • the movement speed sensor 304 detects the movement speed of the apparatus main body. When the main body is a vehicle, it is detected from the output shaft of the transmission.
  • the angular velocity sensor 305 detects the angular velocity when the host vehicle is rotating, and outputs angular velocity data, relative azimuth data, and data indicating the azimuth change amount.
  • the inclination sensor 306 detects the inclination angle of the road surface and outputs inclination angle data.
  • the acceleration sensor 307 is a sensor that detects acceleration.
  • the output of the acceleration sensor 307 is 0-5V, and the output when not accelerating is 2.5V.
  • the output of the accelerometer 307 increases with 2.6V, 2.7V, etc. every time the vehicle accelerates, and conversely decreases with 2.4V, 2.3V, ..., every time the vehicle decelerates. And ask.
  • the point search unit 308 detects an arbitrary point based on the information input from the operation unit 301. This is searched and output to the display unit 302. Further, the route search unit 309 calculates an optimum route to the point based on the point information obtained by the point search unit 308.
  • the route guidance unit 310 generates real-time route guidance information based on the information obtained by the route search unit 309 and the own vehicle position information.
  • FIG. 4 is an explanatory diagram for explaining an example of guidance when the vehicle exits with the initial exit force.
  • the vehicle travels along route 40.
  • the navigation control unit 300 searches for the exit number of the road that is the exit when exiting the runabout, and guides it to the driver.
  • the exit number is 2, the number 2 is guided to the driver.
  • the road that becomes the exit can be a route determined by the navigation device, but this route may be changed during the travel.
  • the navigation control unit 300 instructs to enter the outer lane of the runabout. Then enter the runabout and follow Route 41.
  • the vehicle is supposed to leave the next road indicated by exit number 2. Therefore, when approaching the road indicated by exit number 2, navigation control unit 300 guides the left turn. Then, following the left turn guidance, the vehicle escapes from the runabout from the road indicated by exit number 2, and travels along route 42.
  • FIG. 5 is an explanatory diagram illustrating an example of guidance when the vehicle exits both the entrance force and the exit force with a distance.
  • the vehicle travels along the route 50.
  • the navigation control unit 300 searches for the exit number of the road that is the exit when exiting the runabout, and guides it to the driver.
  • the exit number is 6, the number 6 is guided to the driver.
  • the road that becomes the exit can be a route determined by the navigation device. This route may be changed during the travel.
  • the navigation control unit 300 guides the vehicle to enter the right lane.
  • the vehicle traveling along the route 50 moves to the right lane by passing the route 51, and enters the runabout along the route 52.
  • the navigation control unit 300 instructs to enter the inner lane. Then enter the runabout and follow Route 53.
  • the vehicle is supposed to leave the next road indicated by exit number 6.
  • Exit number The navigation control unit 300 guides the driver to change the lane to the outside when he / she reaches the road indicated by exit number 5 in front of the road indicated by No. 6. Then follow the outer lane along Route 54. Drive along route 55 along the outer lane. Then, when approaching the road indicated by exit number 6, the navigation control unit 300 guides the left turn. The vehicle then follows the left turn guidance and the road force indicated by exit number 6 also escapes from the runabout and travels along route 56.
  • FIG. 6 is an explanatory diagram illustrating an example of guidance when the road is narrow before the exit.
  • the vehicle travels along the route 60.
  • the navigation control unit 300 searches for the exit number of the road that is the exit when exiting the runabout, and guides the exit number 8 to the driver.
  • the vehicle traveling along the route 60 moves to the right lane through the route 61 and enters the runabout along the route 62. Then enter the runabout and drive on Route 63.
  • the vehicle is supposed to leave the next road indicated by exit number 8.
  • the lane is changed to the outside when the road indicated by exit number 7 is reached before the road indicated by exit number 8.
  • the navigation control unit 300 guides the vehicle to change the lane to the outside at the road indicated by the exit number 6 that is the preceding road.
  • the lane is changed to the outside and the vehicle travels on route 64.
  • the navigation control unit 300 guides a left turn. The vehicle then follows the left turn, and the road force indicated by exit number 8 also leaves the runabout.
  • FIG. 7 is an explanatory diagram for explaining an example of guidance when the exit is a narrow road.
  • the vehicle travels along the route 70 as in FIG.
  • the navigation control unit 300 searches for the exit number of the road that is the exit when exiting the runabout, and guides the exit number 3 to the driver.
  • the vehicle traveling along the route 70 moves to the right lane through the route 71 and enters the runabout along the route 72.
  • the vehicle is to leave the next road indicated by the exit number 3.
  • Fig. 5 If you come to the road indicated by exit number 2 before the road indicated by exit number 3, change the lane to the outside. However, since the road indicated by exit number 3 is a narrow road, the lane must be changed after passing the road indicated by exit number 2 instead of changing the lane at the exit road in front.
  • the vehicle When the vehicle approaches the road indicated by exit number 3, the vehicle travels along an inner lane and an outer lane along route 73. The vehicle travels in the outer lane. Then, at the road indicated by the exit number 3, the navigation control unit 300 guides the left turn. The vehicle then follows the road turn runabout indicated by exit number 3 according to the left turn guidance.
  • FIG. 8 is a flowchart for explaining the lane guidance process before entering the runabout.
  • step S801 it is determined whether or not the runabout is sufficiently large (step S801). If it is determined that the size of the runabout is not sufficient (step S801: No), the lane guidance is not performed (step S802), and the series of processes is terminated. If it is determined that the size of the runabout is sufficient (step S801: Yes), it is determined whether the force from the entrance to the exit is sufficient (step S803).
  • step S803 If it is determined that the distance is sufficient (step S803: No), the outside (left side) lane is considered (step S804), and the series of processing ends. If the distance is determined to be sufficient (step S803: Yes), guide the inside (right side) lane (step S805) and end the series of processing.
  • FIG. 9 is a flowchart for explaining the lane guidance process after entering the runabout.
  • the escape exit determines whether or not the distance of the exit force in front is sufficient (step S901). That is, it is determined whether or not the exit from which the vehicle escapes is a force that is sufficiently away from the exit force in front of it.
  • step S901 When it is determined that the distance is sufficient (step S901: Yes), guidance is provided after passing the front exit (step S902). That is, after passing through the front exit, the lane is changed to the outside. Then, a series of processing ends. If it is determined that the distance is not sufficient (step S901: No), it is determined whether the exit before the exit is thick and whether or not the road is strong (step S903).
  • step S903: No guidance is provided in front of the front exit. (Step S904). Then, a series of processing ends. If it is determined that the road is thick (Step S903: Yes), the exit determines whether the road is thick (Step S905).
  • step S905 If it is determined that the exit is not a thick road (step S905: No), the process proceeds to step S904. If it is determined that the exit is thick and road (step S905: Yes), the process proceeds to step S902. In other words, if the exit exit and the exit before the exit are thick, the lane is changed after passing the exit before the exit, and the exit is a narrow road, while the exit before the exit is thick and the road before the exit Change lanes before exit.
  • the timing of guidance can be executed more intelligently by obtaining traffic information such as attributes of all connected roads and predicting the traffic volume between exits.
  • the vehicle can be guided so that the vehicle enters the outside lane force without entering the inside lane, and the vehicle exits as it is. Also, if the exit is far away, you can guide to the outside lane when you enter the inside lane and close to the exit.
  • the road in front of the exit is narrow, change lanes early, and if the exit is narrow, change lanes at the exit, making it possible to realize appropriate lane changes according to the shape of the road.
  • each of the examples has exemplified a round road having a plurality of lanes. Needless to say, even if the lanes are not specifically divided, it goes without saying that it can be done in the same way as long as it is a round road where multiple vehicles can run in parallel.
  • the explanation has been made using a clockwise runner note, the same applies to the case of a counterclockwise runabout.
  • the navigation method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation.
  • This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by reading the recording medium force by the computer.
  • the program may be a transmission medium that can be distributed through a network such as the Internet.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un système de navigation qui comporte: un dispositif d'évaluation (101) qui détermine s'il existe un itinéraire alternatif permettant à plusieurs véhicules de se déplacer en parallèle en amont de la route empruntée; un dispositif de spécification (102) pour spécifier l'état d'une sortie de l'itinéraire alternatif quand le dispositif d'évaluation (101) a déterminé qu'il existe un itinéraire alternatif permettant à plusieurs véhicules de se déplacer en parallèle; un dispositif de sélection (103) pour sélectionner la position vers laquelle se dirige le véhicule sur l'itinéraire alternatif selon l'état de la sortie spécifiée par le dispositif de spécification (102) et un dispositif de guidage (104) pour guider le véhicule vers la position sélectionnée par le dispositif de sélection (103) lorsque le véhicule s'engage dans l'itinéraire alternatif.
PCT/JP2006/305720 2005-03-31 2006-03-22 Systeme, procede et programme de navigation et support d'enregistrement lisible par ordinateur WO2006109471A1 (fr)

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JP2005102060 2005-03-31
JP2005-102060 2005-03-31

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1731875A1 (fr) * 2004-04-02 2006-12-13 Matsushita Electric Industrial Co., Ltd. Système de navigation
JP2013096744A (ja) * 2011-10-28 2013-05-20 Alpine Electronics Inc ナビゲーション装置
JP2019121260A (ja) * 2018-01-10 2019-07-22 株式会社ゼンリン 運転支援装置及びデータ構造
JP2020038090A (ja) * 2018-09-03 2020-03-12 日立オートモティブシステムズ株式会社 推奨レーン判定装置
CN112400096A (zh) * 2018-07-11 2021-02-23 日产自动车株式会社 行驶辅助方法和行驶辅助装置
RU2783421C2 (ru) * 2018-07-11 2022-11-14 Ниссан Мотор Ко., Лтд. Способ помощи при вождении и устройство помощи при вождении

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JPH06150190A (ja) * 1992-11-10 1994-05-31 Fujitsu Ten Ltd 自動車経路誘導装置
JPH1151684A (ja) * 1997-08-08 1999-02-26 Aisin Aw Co Ltd 車両用ナビゲーション装置及び記憶媒体
JP2001336944A (ja) * 2000-05-26 2001-12-07 Alpine Electronics Inc ナビゲーション装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06150190A (ja) * 1992-11-10 1994-05-31 Fujitsu Ten Ltd 自動車経路誘導装置
JPH1151684A (ja) * 1997-08-08 1999-02-26 Aisin Aw Co Ltd 車両用ナビゲーション装置及び記憶媒体
JP2001336944A (ja) * 2000-05-26 2001-12-07 Alpine Electronics Inc ナビゲーション装置

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1731875A1 (fr) * 2004-04-02 2006-12-13 Matsushita Electric Industrial Co., Ltd. Système de navigation
EP1731875A4 (fr) * 2004-04-02 2008-01-02 Matsushita Electric Ind Co Ltd Système de navigation
JP2013096744A (ja) * 2011-10-28 2013-05-20 Alpine Electronics Inc ナビゲーション装置
JP2019121260A (ja) * 2018-01-10 2019-07-22 株式会社ゼンリン 運転支援装置及びデータ構造
JP7053275B2 (ja) 2018-01-10 2022-04-12 株式会社ゼンリン 運転支援装置及びデータ構造
EP3822584A4 (fr) * 2018-07-11 2021-07-07 Nissan Motor Co., Ltd. Procédé et dispositif d'assistance au déplacement
CN112400096A (zh) * 2018-07-11 2021-02-23 日产自动车株式会社 行驶辅助方法和行驶辅助装置
JPWO2020012210A1 (ja) * 2018-07-11 2021-08-05 日産自動車株式会社 走行支援方法及び走行支援装置
JP7026228B2 (ja) 2018-07-11 2022-02-25 日産自動車株式会社 走行支援方法及び走行支援装置
RU2783421C2 (ru) * 2018-07-11 2022-11-14 Ниссан Мотор Ко., Лтд. Способ помощи при вождении и устройство помощи при вождении
US11565701B2 (en) 2018-07-11 2023-01-31 Nissan Motor Co., Ltd. Driving assist method and driving assist device
CN112400096B (zh) * 2018-07-11 2024-05-03 日产自动车株式会社 行驶辅助方法和行驶辅助装置
JP7030034B2 (ja) 2018-09-03 2022-03-04 日立Astemo株式会社 推奨レーン判定装置
JP2020038090A (ja) * 2018-09-03 2020-03-12 日立オートモティブシステムズ株式会社 推奨レーン判定装置

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