WO2008072293A1 - ナビゲーション装置及びナビゲーション方法 - Google Patents
ナビゲーション装置及びナビゲーション方法 Download PDFInfo
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- WO2008072293A1 WO2008072293A1 PCT/JP2006/324582 JP2006324582W WO2008072293A1 WO 2008072293 A1 WO2008072293 A1 WO 2008072293A1 JP 2006324582 W JP2006324582 W JP 2006324582W WO 2008072293 A1 WO2008072293 A1 WO 2008072293A1
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- Prior art keywords
- route
- recommended
- vehicle
- branch point
- search
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 76
- 238000013459 approach Methods 0.000 claims description 55
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 14
- 239000008186 active pharmaceutical agent Substances 0.000 description 12
- 239000002243 precursor Substances 0.000 description 12
- 238000001514 detection method Methods 0.000 description 11
- 102100029860 Suppressor of tumorigenicity 20 protein Human genes 0.000 description 9
- 101000585359 Homo sapiens Suppressor of tumorigenicity 20 protein Proteins 0.000 description 3
- 101001139126 Homo sapiens Krueppel-like factor 6 Proteins 0.000 description 2
- 101000710013 Homo sapiens Reversion-inducing cysteine-rich protein with Kazal motifs Proteins 0.000 description 2
- 101100421903 Arabidopsis thaliana SOT10 gene Proteins 0.000 description 1
- 101100421909 Arabidopsis thaliana SOT16 gene Proteins 0.000 description 1
- 101100421916 Arabidopsis thaliana SOT5 gene Proteins 0.000 description 1
- -1 ST21 Proteins 0.000 description 1
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Classifications
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- 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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Definitions
- the present invention relates to a navigation device having a route re-search function and a navigation method.
- a conventional in-vehicle navigation device searches for a recommended route to an arbitrary destination specified by a user, and guides the changed route when the vehicle deviates from the recommended route and changes the route.
- a route re-search function (auto-reroute function) that automatically re-searches a new recommended route for guiding to the destination through the route is provided (see Patent Document 1 and Patent Document 2).
- Patent Document 1 Japanese Patent Laid-Open No. 9 152352
- Patent Document 2 Japanese Patent Application Laid-Open No. 2004-61356 Disclosure of the invention
- the navigation device of Patent Document 1 re-searches for a route after the vehicle deviates from the recommended route and the route is changed.
- the new recommended route is to be prepared within the period until the user is instructed to re-search for a route.
- the old recommended route will continue to be presented until the user gives an instruction for route re-search, and unless the user recognizes the old recommended route and instructs the route re-search, Since a new recommended route will not be presented, there will be a problem with reducing convenience.
- the navigation device of Patent Document 2 has a vehicle lane change or window before the vehicle route change from the recommended route becomes definite. Detecting the anchor signal and starting the route re-search, after confirming the change of the vehicle route from the recommended route, re-search the route! Presenting the new recommended route and guiding it seamlessly.
- the route re-search is started by detecting the blinker signal, but actually, the blinker signal is handled only in the traveling direction indicating device provided in the vehicle itself.
- the blinker signal is not output to other electronic devices such as navigation devices. Therefore, there is a problem that when the navigation device starts a route re-search based on the blinker signal, the technique cannot be implemented.
- the present invention has been made in view of these conventional problems, and has a new route re-searching function that predicts a sign of a vehicle route change from a recommended route and performs route re-searching at an early stage. It is an object of the present invention to provide a navigation device and a navigation method. Means for solving the problem
- the invention described in claim 1 is directed to the recommended entry route and the recommended entry route connected to the branch point.
- a new recommended route that passes another route is routed.
- a navigation device for re-searching detecting that the turning angle of the vehicle is a direction within an angle range excluding an angle range between a direction of the recommended approach route and a direction of the recommended advance route; Route change determination means for starting the route re-search.
- the vehicle when the vehicle is guided by the recommended entry route and the recommended entry route connected to the branch point, the vehicle is running from the recommended entry route toward the branch point.
- the navigation device searches for a new recommended route that passes through another route, and the turning angle of the vehicle is based on the recommended approach route direction.
- a direction that is within an angle range excluding a predetermined threshold angle range that exceeds the direction of the recommended entry route from the direction of the recommended entry route, or a direction opposite to the direction of the recommended entry route.
- a route change determining means for starting the route re-search.
- the vehicle when the vehicle is guided by the recommended approach route and the recommended advance route connected to the branch point, the vehicle is running from the recommended approach route toward the branch point.
- a navigation device that re-searches for a new recommended route that passes another route when the vehicle deviates from the recommended route for advancement, wherein the vehicle is traveling at the speed at which the recommended travel route is traveling.
- the required distance from the branch point to the vehicle position required to enter the branch point and proceed to the recommended route through the branch point, and the actual distance from the branch point to the vehicle position of the vehicle A route change determination means for starting the route re-search when the actual distance is shorter than the required distance in comparison with the distance.
- FIG. 1 is an explanatory diagram for explaining a route re-search function in a conventional navigation device.
- FIG. 2 (a) is a block diagram showing a configuration of a navigation device according to the embodiment
- FIG. 2 (b) is an explanatory diagram for explaining an entity of road data.
- FIG. 3 is a flowchart for explaining functions and operations of the navigation device shown in FIG. 2 (a).
- FIG. 4 is an explanatory diagram for explaining functions and operations of the navigation device shown in FIG. 2 (a).
- FIG. 5 is an explanatory diagram for further explaining functions of the navigation device according to the embodiment.
- FIG. 6 is a flowchart for explaining functions and operations of the navigation device according to the first embodiment.
- FIG. 7 is an explanatory diagram for further explaining the function of the navigation device according to the first embodiment.
- FIG. 8 (a) is a block diagram showing the configuration of the navigation device according to the second embodiment
- FIG. 8 (b) and FIG. 8 (e) are explanatory diagrams for outlining the functions. is there.
- FIG. 9 is a flowchart for explaining functions and operations of the navigation device according to the second embodiment.
- FIG. 10 is an explanatory diagram for explaining functions of the navigation device according to the second embodiment.
- FIGS. 2 to 5 A preferred embodiment of the present invention will be described with reference to FIGS. 2 to 5.
- Road data mainly includes links connected at state change points and branch points (intersections, etc.) where the shape and direction of roads on the map change, and nodes indicating coordinate points at both ends of the link. It is configured as an entity (basic data element).
- At the state change point two links share the same node, and at a branch point (intersection, etc.), three or more links share the same node.
- the road is represented by a coordinate sequence that is the connected force of the connected links. Therefore, a node connecting two links represents a state change point, and a node connecting three or more links represents a branch point.
- the data is stored in the storage unit 3 of FIG. Searching for recommended routes to guide vehicles to their destinations using road data.
- the navigation device 1 of the present embodiment is configured to include a host vehicle position detection unit 2, a storage unit 3, a display unit 4, an operation unit 5, and a control unit 6. Further, the control unit 6 is provided with a map matching processing unit 7, a recommended route search unit 8, and a route change determination unit 9 configured by software.
- the own vehicle position detection unit 2 detects the position of the own vehicle by combining GPS navigation and independent navigation, and supplies the detection result to the control unit 6.
- the position of the vehicle is measured by GPS navigation using GPS (Global Positioning System), and based on the turning angle ⁇ X of the vehicle and the vehicle speed Vx measured by various sensors such as a gyro sensor and a vehicle speed sensor.
- GPS Global Positioning System
- the control unit 6 is supplied with data relating to the vehicle behavior such as the vehicle position Ps, the turning angle ⁇ X, and the vehicle speed Vx (hereinafter collectively referred to as “movement data”).
- the storage unit 3 includes a database that stores temporal and spatial data (SI: Spatial Information) such as the road data and map data described above, a control unit 6, a map matching processing unit 7, and a recommended route search unit 8
- SI Spatial Information
- the route change determination unit 9 and the like are also a work area when performing predetermined processing described later.
- the display unit 4 displays a map image based on the map data stored in the storage unit 3, and the recommended route searched or re-searched by the recommended route search unit 8 and a map matching process
- the vehicle is guided to the destination by displaying the vehicle position Px that has been map-matched in Part 7 according to the road on the map image.
- the operation unit 5 is provided for the user to instruct a route search from the current position to a desired (arbitrary) destination.
- the control unit 6 includes a microprocessor (MPU) and a digital signal processor (DSP) that centrally manage the operation of the navigation device 1.
- MPU microprocessor
- DSP digital signal processor
- the above-mentioned MPU or DSP executes a predetermined program, so that the map matching processing unit 7 and the recommended rule are A route search unit 8 and a route change determination unit 9 are realized. That is, the map matching processing unit 7, the recommended route searching unit 8, and the route change determining unit 9 are softwareized.
- the map matching processing unit 7 determines the vehicle position Ps detected by the vehicle position detection unit 2 and the turning angle.
- the behavior data such as ⁇ X and vehicle speed Vx is converted into a travel locus (current position of the vehicle and the direction of the vehicle's travel direction, etc.) and exists within a predetermined range (region) on the map including the travel locus.
- the road data of the road is searched as a candidate road data force stored in the storage unit 3, and the node of the candidate road data is compared with the travel trajectory for the link. Determine the dominant road data.
- the vehicle position Ps is adjusted to move to the link with the most prominent road data node so that it matches the road on the map, and the aligned vehicle position Px is displayed on the display unit 4.
- the map matching processing unit 7 converts the vehicle position Ps detected by the vehicle position detection unit 1 into the vehicle position Px that matches the road on the map image, so that the road on the map image Make sure that the vehicle is removed from the display.
- the recommended route search unit 8 starts from the current position of the vehicle (the vehicle position Px subjected to the above map matching process) to the destination.
- the recommended route is searched using the road data stored in the storage unit 3 and displayed on the display unit 4.
- the recommended route search unit 8 automatically starts a route re-search similar to the route search according to the result of the route change determination supplied from the route change determination unit 9, and makes a new recommended route to the destination where the route was re-searched.
- the route is displayed on display unit 4.
- the route change determination unit 9 determines whether or not the vehicle traveling along the recommended route is a precursor to changing to another route other than the recommended route at the branch point G, and the route change is performed. According to the determination result, the recommended route search unit 8 re-searches for a new recommended route. The detailed function of the route change determination unit 9 will be described with reference to the flowchart of FIG.
- FIG. 3 is a flowchart showing the processing of the route change determination unit 9.
- the route change determination unit 9 generates the recommended route data searched by the recommended route search unit 8, the turning angle ⁇ X data detected by the vehicle position detection unit 2 and the map matching processing unit 7 every moment. Yes Data on the vehicle position Px is input.
- step ST1 the route change determination unit 9 compares the vehicle position Px with the recommended route and determines whether or not the vehicle has approached the branch point G.
- the own vehicle position Px is compared with the nodes and links that are the components of the recommended route, the node at the state change point is excluded from the determination target, the node at the branch point is determined as the determination target, and the own vehicle position is determined. It is determined whether or not the vehicle has entered a predetermined distance range (hereinafter referred to as “branch area”) from the node of the branch point G located in front of the position Px.
- branch area a predetermined distance range
- the state change point node is connected by two links, and three or more links are connected, so that a route change can be performed.
- the node at the branch point where three or more links are connected is determined as a node that may be subject to route change.
- Fig. 4 (a) when recommended routes A and B indicated by dotted lines are displayed on the map image of display unit 4, or in Fig. 4 (b).
- the vehicle force traveling along the recommended route A is within the branch area of the branch point G.
- step ST1: "Yes” it is determined that the vehicle has approached branch point G.
- the branch area is calculated for each branch point G, and the running link of the vehicle connected to the node of the branch point G (for example, in the case of FIGS. 4 (a) and 4 (b), the branch point).
- the branch point Set within a range of distance shorter than the distance of the recommended route A link to the node of G) and larger than the area of the branch point G (the area of the intersection where the map data force is acquired), that is, at least Min.
- FIG. 4 (a) shows a recommended route (hereinafter referred to as "recommended approach route” t, U) A when the vehicle enters branch point G, recommended route ahead of branch point G ( The following “Recommended Route for Advancement” t, b) When B is pointing to the right, Figure 4 (b) illustrates the case where the recommended route B is directed to the left with respect to the recommended route A. Is.
- step ST2 the process proceeds to step ST2, where the direction ⁇ a of the recommended approach route A and the recommended advance route
- the direction ⁇ b is detected based on each link.
- the direction ⁇ b of the recommended advance route B in the right direction is detected with respect to the direction ⁇ a of the recommended approach route A
- the direction ⁇ b of the recommended advance route B in the left direction is detected with respect to the direction ⁇ a of the recommended route A.
- step ST3 the route change determination unit 9 uses the direction ⁇ b of the recommended advance route B as a reference, and the angle range is a narrow angle from 0 b to 180 ° (an angle within 180 °). Is set to the first angle range W1, and the angle range from 0 a to 180 ° (angle range of 180 °) is set to the second angle range W2 without including the direction ⁇ b of the recommended advance route B.
- the direction 0 of the recommended advance route B that is directed to the right with respect to the direction ⁇ a of the recommended approach route A is 0 (clockwise) from the direction 0b.
- the angle range up to r (180 °) is set to the first angle range W1
- the angle range from the recommended approach A direction ⁇ a counterclockwise (counterclockwise) to the direction ⁇ r is the second angle. Set to range W2.
- the direction 0 of the recommended route B that is directed to the left with respect to the direction ⁇ a of the recommended approach route A 0 is the direction 0 counterclockwise (counterclockwise) from the direction 0b.
- the angle range up to r is set as the first angle range W1
- the angle range from the recommended approach route A direction ⁇ a clockwise (clockwise) to the direction ⁇ r is set as the second angle range W2.
- step ST4 the route change determination unit 9 determines whether the turning angle ⁇ X of the vehicle exceeds the direction angle ( ⁇ b + THD) within the first angle range W1.
- the angle T HD is determined to be the minimum angle (threshold value) capable of determining the turning angle of the vehicle.
- the turning angle ⁇ X becomes the direction ⁇ xb, and the direction ⁇ xb exceeds the direction ( ⁇ b + THD) counterclockwise from the direction ⁇ a. In case, it is judged that it has been exceeded.
- step ST4 the vehicle turns to the recommended advance route B side, and it is checked whether or not the force ⁇ X becomes the direction ⁇ xb exceeding the direction ( ⁇ b + THD). If it is determined that the turning angle ⁇ X exceeds the direction ( ⁇ b + THD) within the first angle range W1 (determined as “Yes”), the process proceeds to step ST10, where the vehicle deviates from the recommended route. If it is determined that this is a precursor to a route change, and if it is not exceeded (determined "No"), the process proceeds to step ST5.
- step ST5 the route change determination unit 9 determines whether the turning angle ⁇ X of the vehicle exceeds the direction ( ⁇ a + THD) within the second angle range W2. Then, as shown in Fig. 4 (a), when the turning angle ⁇ X becomes the direction ⁇ xa and the direction ⁇ xa exceeds the direction ( ⁇ a + THD) counterclockwise from the direction ⁇ a, Judge that it exceeded.
- step ST5 it is checked whether the vehicle has turned in the opposite direction instead of the recommended advance route B side. If it is determined that the turning angle ⁇ X exceeds the direction ( ⁇ a + THD) within the second angle range W2 (determined as “Yes”), the process proceeds to step ST20, and the vehicle deviates from the recommended route. If it is determined that it is a sign of route change, and if it is not exceeded (determined as “No”), the process proceeds to step ST6.
- step ST6 the route change determination unit 9 compares the coordinates of the node of the vehicle position Px and the branch point G, and determines whether the vehicle has passed the branch point G. If it is determined that it has passed (determined “Yes”), the process proceeds to step ST30. If it is determined that it has passed (determined “No”), the process returns to step ST4 and the process is repeated.
- step ST10 the route change determination unit 9 performs the recommended route search unit 8 To route change judgment result, and then in step ST11
- the angle range from the current turning angle ⁇ ⁇ to the direction 0 r within the first angle range Wl is set as the target angle range WD1, and another route that exists within the target angle range WD1 Memorize and search for road data power.
- the other route R1 is searched, and if there are more than one, a plurality of other routes are searched. If another route does not exist even after the search, the search ends and the process moves to the next step ST12.
- step ST12 as a result of the above-described search, the route change determination unit 9 checks whether there is only one other route, and determines that there is only one (determines "Yes”). Move to step ST13, and if there are multiple routes or if there is no existing route, determine “No” and move to step ST30.
- the recommended route search unit 8 guides to the destination through only one other route described above according to the route change determination result from the route change determination unit 9.
- a route re-search is started. That is, in the case of Fig. 4 (a), in order to search for a new recommended route that passes through another route R1, a route re-search is started, and in the case of Fig. 4 (b), a new route that passes through another route L1 is started. Initiate a route re-search to find the recommended route.
- step ST14 the control unit 6 compares the vehicle position Px of the vehicle with the node at the branch point G, and determines whether or not the route change to another route is confirmed after passing through the branch point G. To do. If it is determined that the route change is confirmed, the process proceeds to step ST15, where the recommended route search unit 8 The display section 4 displays the new recommended route that has been re-searched in step 3. Then, the process returns to step ST1 and the process is repeated.
- step ST20 the route change determination unit 9 performs the recommended route search unit. 8 instruct the route change determination result, and then, in step ST21, set the angle range within the second angle range W2 from the current turning angle ⁇ X to the direction ⁇ r to the target angle range WD2. Then, another road existing within the target angle range WD2 is searched for the road data force stored in the storage unit 3.
- the vehicle turns left with respect to the direction ⁇ a of the recommended approach route A, and within the target angle range WD2 from the turning angle 0xa to the direction 0r. If other routes L2 and L1 exist, the other routes L2 and L1 are searched. If another route does not exist even after the search, the search ends and the process proceeds to the next step ST12. To do.
- the vehicle turns clockwise with respect to direction ⁇ a of recommended approach route A, and within the target angle range WD2 from the turning angle 0 xa to direction 0 r. If there are other routes R2 and R1 that exist, the other routes R2 and R1 are searched. If there is no other route even after the search, the search is terminated, and the process proceeds to the next step ST12. Transition.
- step ST12 it is checked whether or not there is only one other route. If it is determined that there is only one route (determined as "Yes"), the process proceeds to step ST13. If V does not exist, “No” is determined and the process proceeds to step ST30.
- step ST30 when there are a plurality of different routes L2 and L1 within the target angle range WD2, or there are a plurality of different routes R2 and R1. If so, the process proceeds to step ST30. If there is no other route, the process proceeds to step ST30. If there is only one other route L1 or R1 in the target angle range WD2, Move on to step ST13.
- step ST13 the recommended route search unit 8 guides to the destination through only one other route described above according to the result of the route change determination from the route change determination unit 9.
- a route re-search is started, and in step ST14, the control unit 6 determines whether or not the vehicle has passed the branch point G and the route change to another route has been confirmed. Do. If it is determined that the route change has been confirmed, the process proceeds to step ST15, and the new recommended route re-searched by the recommended route search unit 8 is updated and displayed on the display unit 4. And it returns to step ST1 again and a process is repeated.
- the route change determination unit 9 determines in step ST6 that the vehicle has passed the branch point G and proceeds to step ST30.
- step ST12 another route is determined. If it is determined that there is not only one, and the process proceeds to step ST30, in step ST30, the control unit 6 determines whether or not the vehicle has passed the branch point G and the route change to another route is determined, and the route change is performed. When is determined, the recommended route search unit 8 is made to search again. In other words, in step ST30, the route re-search is performed for a new recommended route that passes through another route when the route change is confirmed instead of performing the route re-search by predicting the precursor of the vehicle route change. Then, the process proceeds to step ST15, and the new recommended route is updated and displayed on the display unit 4. And it returns to step ST1 again and a process is repeated.
- the direction of the recommended approach route A is 180 ° opposite to the direction ⁇ a.
- Set the direction of ⁇ r, and the direction of the recommended approach route A from the direction ⁇ b of the recommended advance route B to the direction ⁇ r is the first angle range Wl, and the direction of the recommended approach route A that does not include the direction ⁇ b of the recommended advance route B
- the angle range from ⁇ a to the direction ⁇ r is set to the second angle range W2, and the turning angle ⁇ X of the vehicle exceeds the direction ⁇ b within the first angle range W1, or the turning angle ⁇ X of the vehicle
- the route re-search can be started immediately before the start.
- the angle range excluding the angle range between the turning angle ⁇ X of the vehicle and the direction ⁇ a of the recommended approach route A and the direction ⁇ b of the recommended approach route B Since the route re-search is started by detecting that the vehicle is in the direction, the route re-search can be started immediately before the vehicle passes through the branch point G.
- the route change When the route change is confirmed, the route can be updated to a new recommended route that has been searched again. Therefore, it is possible to provide excellent convenience to the user, and seamless guidance can be performed even if the route is changed.
- the navigation device 1 of the present embodiment detects the behavior of the vehicle and predicts a deviation from the recommended route of the vehicle (a precursor to a route change). Therefore, it is not necessary to determine whether or not the vehicle is traveling on a special road having a traveling path for the vehicle. For this reason, route re-search can be performed at an early stage without depending on the form of the road, and seamless guidance can be performed.
- the navigation device 1 of the present embodiment starts route re-search after narrowing down another route to only one in step ST12 shown in the flowchart of FIG.
- the navigation device 1 of the present embodiment starts route re-search after narrowing down another route to only one in step ST12 shown in the flowchart of FIG.
- step ST10 or ST20 when a plurality of different routes are searched in step ST10 or ST20, a route re-search is performed for the plurality of different routes in step ST13 in which only one other route is not narrowed down.
- a route change is confirmed in step ST14, a new recommended route that passes through the confirmed another route may be updated and displayed in step ST15 as a potential candidate.
- step ST12 As described above, if the process of step ST12 is omitted and the route re-search is started for a plurality of different routes, the target angle range is obtained during the search process of step ST10 or ST20. Since it is narrowed down to another route within the range of WD1 or WD2, even if the processing load of the recommended route search unit 8 increases compared to the case of narrowing down another route to only one route, There will be no significant increase in burden. For this reason, it is not always necessary to limit the number of other routes to one.
- Another route is searched without narrowing down to only one, and the prohibited route such as a one-way street is excluded from the searched another route, and a new route is created based on the remaining another route. You may re-search for recommended routes.
- steps STll, ST21, ST12 if another route cannot be inevitably narrowed down to one, the route re-search in step ST13 is not started, and the route is re-established by the processing in step ST30. You can make a search!
- Step ST30 may be used to perform route search again!
- the direction ⁇ a of the recommended approach route while the vehicle is traveling and the advance Compare the deflection angle ⁇ 1 formed with the recommended route B1 and the deflection angle ⁇ 2 formed between the recommended advance routes B1 and B2, and if the deflection angle ⁇ is a large deflection angle ⁇ 2, it should be judged as a sharp curve. Can do.
- FIGS. 6 and 7 the same or corresponding processes as those in FIG. 3 are denoted by the same reference numerals.
- FIGS. 7 (a) and 7 (b) correspond to FIGS. 4 (a) and 4 (b), and the same or corresponding parts are denoted by the same reference numerals.
- the navigation device of the present embodiment is basically the same as the configuration shown in FIG. 2 (a), and therefore the description of the configuration is omitted, based on the flowchart of FIG. 6 and the explanatory diagram of FIG. The function and operation of the navigation device of this embodiment and the route re-search function will be described.
- the navigation device of the present embodiment basically performs the same processing as that shown in the flowchart of FIG. However, as shown in the flowchart of FIG. 6, the processes of steps ST3A, ST4A, and ST5A are different.
- the route change determination unit 9 includes the recommended route data searched by the recommended route search unit 8 and the turning angle 0 x detected by the own vehicle position detection unit 2 every moment. Data and data The data of the vehicle position Px generated by the top matching processing unit 7 is input. In step ST1, the route change determination unit 9 compares the vehicle position Px with the recommended route, and determines whether or not the vehicle has approached the branch point G (see FIGS. 7 (a) and 7 (b)). ).
- step ST2 the process proceeds to step ST2, where the direction ⁇ a of the recommended entry route A and the direction ⁇ b of the recommended advance route And are detected based on the respective links.
- step ST3A the route change determination unit 9 sets the angle range from the direction (0a + 0th) to 180 ° by adding a predetermined angle threshold ⁇ th with respect to the direction ⁇ a as the first angle. Set to range W1 and second angle range W2.
- the direction ⁇ a of the recommended approach route A includes the direction ⁇ b of the recommended advance route B that is directed rightward, and the direction of the right direction ( Set the angle range from 0 a + 0 th) to clockwise 0 r (18O °) in the clockwise direction to the first angle range W1 and counterclockwise from the left direction (0 a + 0 th) Set the angle range from (counterclockwise) to the direction ⁇ r to the second angle range W2.
- Fig. 7 (a) the direction ⁇ a of the recommended approach route A includes the direction ⁇ b of the recommended advance route B that is directed rightward, and the direction of the right direction ( Set the angle range from 0 a + 0 th) to clockwise 0 r (18O °) in the clockwise direction to the first angle range W1 and counterclockwise from the left direction (0 a + 0 th) Set the angle range from (counterclockwise) to the direction ⁇ r to the second angle range W2.
- step ST4A the route change determination unit 9 determines whether the turning angle ⁇ x of the vehicle is within the first angle range W1. That is, in step ST4A, the vehicle turns to the recommended advance route B side, and as shown in FIGS. 7 (a) and 7 (b), the turning angle ⁇ X is the direction ⁇ in the first angle range W1. Investigate the power that became xb.
- step ST10 it is determined that it is a precursor to a route change, while the turning angle 0 x is If it is determined that it is not within the first angle range W1 ("No" is determined), the process proceeds to step ST5A.
- step ST5A the route change determination unit 9 determines whether the turning angle ⁇ X of the vehicle is within the second angle range W2. Then, as illustrated in FIGS. 7 (a) and 7 (b), when it is determined that the turning angle ⁇ X is the direction ⁇ xa and the direction ⁇ xa is within the second angle range W2, Move to step ST20 and determine that this is a sign of route change. On the other hand, if it is determined that the turning angle ⁇ X is not within the second angle range W2 (determined “No”), the process proceeds to step ST6.
- step ST6 the route change determination unit 9 compares the coordinates of the node of the vehicle position Px and the branch point G, and determines whether the vehicle has passed the branch point G. If it is determined that it has passed (determined “Yes”), the process proceeds to step ST30. If it is determined that it has passed (determined “No”), the process returns to step ST4A to repeat the process.
- step ST10 the route change determination unit 9 performs the recommended route search unit 8
- step ST11 set the angle range within the first angle range W1 from the current turning angle ⁇ ⁇ to the direction 0 r as the target angle range WD 1
- step ST11 set the angle range within the first angle range W1 from the current turning angle ⁇ ⁇ to the direction 0 r as the target angle range WD 1
- step ST12 set the angle range within the first angle range W1 from the current turning angle ⁇ ⁇ to the direction 0 r as the target angle range WD 1
- step ST12 set the angle range within the first angle range W1 from the current turning angle ⁇ ⁇ to the direction 0 r as the target angle range WD 1
- step ST12 set the angle range within the first angle range W1 from the current turning angle ⁇ ⁇ to the direction 0 r as the target angle range WD 1
- step ST12 set the angle range within the first angle range W1 from the current turning angle ⁇ ⁇ to the direction 0 r as the target angle range
- step ST12 the route change determination unit 9 checks whether there is only one other route searched as described above. If it is determined that there is only one route (determined "Yes"), the process proceeds to step ST13, where another route is determined. If there is more than one or if there is a strong force, it is determined as “No” and the process proceeds to step ST30.
- the recommended route search unit 8 starts a route re-search in order to search for a new recommended route for guiding to the destination through the single other route described above.
- a route re-search is started in order to search for a new recommended route that passes through another route R1, which is only one route.
- a route re-search is started in order to search for a new recommended route that passes through another route L1, which is only one.
- step ST14 the control unit 6 compares the vehicle position Px of the vehicle with the node at the branch point G, and determines whether or not the route change to another route is confirmed after passing through the branch point G. To do. If it is determined that the route change is confirmed, the process proceeds to step ST15, where the recommended route search unit 8 The display section 4 displays the new recommended route that has been re-searched in step 3. Then, the process returns to step ST1 and the process is repeated.
- step ST20 the route change determination unit 9 performs the recommended route search unit. 8 instruct the route change determination result, and then, in step ST21, set the angle range within the second angle range W2 from the current turning angle ⁇ X to the direction ⁇ r to the target angle range WD2. Then, another road existing within the target angle range WD2 is searched for the road data force stored in the storage unit 3.
- step ST12 it is checked whether or not there is only one other route. If it is determined that there is only one route (determined as "Yes"), the process proceeds to step ST13. If V does not exist, “No” is determined and the process proceeds to step ST30.
- step ST13 the recommended route search unit 8 guides to the destination through only one other route described above according to the result of the route change determination from the route change determination unit 9.
- a route re-search is started, and in step ST14, the control unit 6 determines whether or not the vehicle has passed the branch point G and the route change to another route has been confirmed. Do. If it is determined that the route change has been confirmed, the process proceeds to step ST15, and the new recommended route re-searched by the recommended route search unit 8 is updated and displayed on the display unit 4. And it returns to step ST1 again and a process is repeated.
- the route change determination unit 9 determines in step ST6 that the vehicle has passed the branch point G and proceeds to step ST30.
- step ST12 another route is determined. If it is determined that there is not only one, and the process proceeds to step ST30, in step ST30, the control unit 6 determines whether or not the vehicle has passed the branch point G and the route change to another route is determined, and the route change is performed.
- the recommended route search unit 8 is made to search again.
- the route re-search is performed for a new recommended route that passes through another route when the route change is confirmed instead of performing the route re-search by predicting the precursor of the vehicle route change.
- the process proceeds to step ST15, and the new recommended route is updated and displayed on the display unit 4. And it returns to step ST1 again and a process is repeated.
- the branching point G is branched.
- the direction ⁇ r is set 180 ° opposite to the direction ⁇ a of the recommended approach route A, and the direction ⁇ b of the recommended route B from the direction ( ⁇ a + 0 th) is set.
- the angle range up to and including direction ⁇ r is the first angle range Wl
- the direction of direction ( ⁇ a + 0 th) to the recommended direction of advance route B is the direction not including ⁇ b
- the angle range up to ⁇ r is the second angle range W2.
- the route re-search is started, so the route re-search can be started immediately before the vehicle passes through the branch point G.
- the turning angle ⁇ X of the vehicle is a predetermined threshold value based on the direction ⁇ a of the recommended approach route A
- the route re-search can be started quickly.
- the route change When the route change is confirmed, the route can be updated to a new recommended route that has been searched again. Therefore, it is possible to provide excellent convenience to the user, and seamless guidance can be performed even if the route is changed.
- the navigation device 1 of the present embodiment detects the behavior of the vehicle and predicts deviation from the recommended route of the vehicle (a precursor of route change). Therefore, it is not necessary to determine whether or not the vehicle is traveling on a special road having the following traveling path. For this reason, it is possible to conduct a route re-search as soon as possible without depending on the road form, etc., and to perform seamless guidance.
- the navigation device of the present embodiment starts the route re-search after narrowing down another route to only one in step ST12 shown in the flowchart of FIG.
- the navigation apparatus of the present embodiment searches for another route without narrowing down to only one route, excludes prohibited roads such as one-way roads from the searched other route, and creates a new recommended route based on the remaining another route. Route re Explore.
- FIG. 8 (a) is a block diagram showing the configuration of the navigation device 1 of the present embodiment
- FIGS. 8 (b) to 8 (e) are explanatory diagrams for outlining the functions of the navigation device 1
- FIG. FIG. 10 is a flowchart for explaining the function and operation of the navigation device 1
- FIG. 10 is an explanatory diagram for explaining the function of the navigation device 1.
- FIGS. 8 to 9 the same or corresponding parts as those in FIGS. 2 to 7 are denoted by the same reference numerals.
- the navigation device 1 of the present example has the same configuration as that of the above-described embodiment or the first example (see Fig. 2 (a)), and the vehicle position It comprises a detection unit 2, a storage unit 3, a display unit 4, an operation unit 5, a control unit 6, a map matching unit 7, a recommended route search unit 8, and a route change determination unit 9A.
- the own vehicle position detection unit 2, the storage unit 3, the display unit 4, the operation unit 5, the control unit 6, the map matching unit 7, and the recommended route search unit 8 have the same functions as those in the embodiment or the first example. have.
- the route change determination unit 9A of this embodiment has a different function from the route change determination unit 9 shown in FIG.
- the route change determination unit 9A which is a characteristic part of the present embodiment, will be mainly described.
- the route change determination unit 9 deviates from the recommended route of the vehicle (the route of the vehicle) based on the turning angle of the vehicle that has entered the branch area at the branch point. As a predictor of change).
- the route change determination unit 9A of the present embodiment uses the recommended entry route and recommended entry route connected to the branch point, the speed of the vehicle entering the branch point, and the branch point from the own vehicle position. Deviation from the recommended route of the vehicle (a sign of route change) is determined based on the relationship with the distance to the vehicle.
- Fig. 8 (b) the direction of recommended approach route A connected to branch point G and the recommended direction of advance route B are almost the same, or Fig. 8 As illustrated in (c)
- the recommended approach route Bl, B2, B3 is curved with respect to the recommended approach route A connected to the branch point G, as illustrated in Fig. 8 (d) and (e)
- the vehicle entering the branch point G tries to change the route to another route. Is determined based on the relationship between the recommended approach route, the recommended advance route, the speed of the vehicle entering the branch point, and the distance to the vehicle position force branch point.
- the route change determination unit 9 includes the recommended route data searched by the recommended route search unit 8 and the turning angle 0 x detected by the own vehicle position detection unit 2 every moment.
- the data and the data of the vehicle position Px generated by the map matching processing unit 7 are input.
- the route change determination unit 9 compares the vehicle position Px with the recommended route, and determines whether or not the vehicle approaches the branch point G.
- the vehicle position Px reaches a predetermined distance from the branch point G, it is determined that the vehicle has approached the branch point G.
- step ST200 the direction ⁇ a of the recommended approach route A connected to the branch point G and the recommended travel route B Is detected based on the respective links.
- step ST300 the route change determination unit 9 uses the direction ⁇ b as a reference (0 °), and the direction angle ⁇ b with respect to the direction ⁇ b ( ⁇ a-0 b) and a predetermined threshold value The angle ⁇ is compared, and a force / force judgment is made that the angle of deviation ( ⁇ a ⁇ 0b) exceeds the threshold angle ⁇ .
- the threshold angle ⁇ ⁇ is set to exclude the case where the direction ⁇ b of the recommended entry route is smaller than the direction ⁇ a of the recommended approach route, and as illustrated in Fig.
- the threshold angle ⁇ is determined in advance so that the declination (0a ⁇ b) can be determined as an angle smaller than the threshold angle ⁇ . More specifically, for example, by determining the threshold angle ⁇ to be about 45 °, when the declination angle ( ⁇ a ⁇ b) is smaller than the threshold angle ⁇ ⁇ , FIG. 8 (b) As illustrated in (c), it is possible to determine that the recommended entry route B is almost the same as the recommended entry route A, or that it is V with a gentle curve.
- step ST300 When it is determined in step ST300 that the declination (0 a— 0 b) is an angle exceeding the threshold angle ⁇ (determined as “Yes”), the process proceeds to step ST400, and the declination (0 a— If it is determined that b) is a small angle that does not exceed the threshold angle ⁇ (determined as “No”), the process is terminated, and the process is restarted from step ST100.
- step ST400 the route change determination unit 9 is required to move through the branch point G to the recommended advance route based on the vehicle speed Vx supplied from the vehicle position detection unit 2.
- Distance hereinafter referred to as “required distance” t ⁇ ⁇ ) DS is searched from the distance conversion data stored in advance in the storage unit 3.
- the recommended advance route B connected to the branch point G is a route for making a right turn or a left turn with respect to the recommended approach route A.
- the distance conversion data showing the relationship between the vehicle speed and the distance required when turning right or left as illustrated in Fig. 10 is retrieved from the storage unit 5 based on the vehicle speed Vx, and the vehicle speed Vx is necessary. Get the distance DS.
- Fig. 10 illustrates the case where the recommended entry route B is a right turn or left turn at approximately 90 ° with respect to the recommended approach route A.
- Distance conversion data indicating the distance required for a right or left turn with respect to the vehicle speed is also stored in the storage unit 3 in advance. If the angle force of the recommended entry route B with respect to the recommended entry route A is not S90 °, the distance conversion data other than 90 ° is retrieved to obtain the necessary distance DS for the vehicle speed Vx.
- step ST500 the route change determination unit 9 is based on the vehicle position Px supplied from the map matching processing unit 7 and the node information (coordinate information) at the branch point G! / Vehicle position Px force Actual distance to branch point G Calculated DSR and required distance obtained above Compared with DS, it is judged whether the distance DSR is shorter than the required distance DS. If the actual distance DSR is shorter than the required distance DS, the process proceeds to step ST700, and if the actual distance DSR is longer than the necessary distance DS, the process proceeds to step ST600, and the vehicle moves to the branch point G. The process returns to step ST400 and repeats until it passes.
- the route change determination unit 9 cannot determine whether the actual distance DSR is shorter than the required distance DS in step ST500, so that the vehicle cannot turn right or left at the branch point G! / Performs the equivalent process of determining whether the vehicle is traveling at speed.
- step ST700 the route change determination unit 9 is connected to the branch point G except for the route, which cannot be turned right or left if traveling at the recommended speed Bx and the vehicle speed Vx.
- the road data power stored in the storage unit 3 is also searched for another route that is stored, and the process proceeds to the next step ST800.
- step ST800 route change determination section 9 checks whether there is only one other route found. If it is determined that there is only one route (determined "Yes"), the process proceeds to step ST900, where another route is determined. If there is more than one or if there is any effort, “No” is determined and the process proceeds to step ST1000.
- step ST900 the recommended route search unit 8 forces start a route re-search to search for a new recommended route for guiding to the destination through only one other route described above.
- the control unit 6 compares the vehicle position Px of the vehicle with the node at the branch point G, and determines whether or not the route change to another route is confirmed after passing through the branch point G.
- the display unit 4 displays a new recommended route that has been re-searched by the recommended route search unit 8. Then, the process returns to step ST100 again and the process is repeated.
- step ST1000 the control unit 6 determines whether or not the vehicle has passed the branch point G and the route change to another route has been confirmed.
- the recommended route search unit 8 is made to search the route again.
- the route is re-searched for a new recommended route that passes through another route when the route change is confirmed, instead of re-searching the route by predicting deviation from the recommended route of the vehicle (a precursor of route change).
- the new recommended route is displayed on display section 4. To display updated. And it returns to step ST100 again and a process is repeated.
- the recommended entry route B in which the vehicle enters the branch point G at the speed Vx from the approach recommended route A side and makes a right turn or left turn.
- the required distance DS to the branch point G required for passing is compared with the actual distance DSR from the vehicle position Px to the branch point G, and the actual distance DSR is shorter than the required distance DS, It is possible to start a route re-search as soon as the vehicle does not pass the recommended route B for turning right or left.
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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)
- Navigation (AREA)
- Instructional Devices (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2006/324582 WO2008072293A1 (ja) | 2006-12-08 | 2006-12-08 | ナビゲーション装置及びナビゲーション方法 |
JP2008549128A JP4683576B2 (ja) | 2006-12-08 | 2006-12-08 | ナビゲーション装置及びナビゲーション方法 |
US12/518,224 US8145425B2 (en) | 2006-12-08 | 2006-12-08 | Navigation device and navigation method |
Applications Claiming Priority (1)
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PCT/JP2006/324582 WO2008072293A1 (ja) | 2006-12-08 | 2006-12-08 | ナビゲーション装置及びナビゲーション方法 |
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WO2008072293A1 true WO2008072293A1 (ja) | 2008-06-19 |
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PCT/JP2006/324582 WO2008072293A1 (ja) | 2006-12-08 | 2006-12-08 | ナビゲーション装置及びナビゲーション方法 |
Country Status (3)
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US (1) | US8145425B2 (ja) |
JP (1) | JP4683576B2 (ja) |
WO (1) | WO2008072293A1 (ja) |
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WO2011027224A1 (en) * | 2009-09-07 | 2011-03-10 | Tom Tom International B.V. | Systems and methods for detecting bifurcations |
CN110037621A (zh) * | 2014-05-28 | 2019-07-23 | 三星电子株式会社 | 移动装置、清洁机器人及其控制方法 |
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JP4011368B2 (ja) * | 2002-02-27 | 2007-11-21 | 京セラ株式会社 | 無線通信システム及び無線通信方法 |
KR101552718B1 (ko) * | 2008-07-18 | 2015-09-18 | 엘지전자 주식회사 | 경로 안내 장치 및 이의 실행명령 입력방법 |
US9267806B2 (en) | 2011-08-29 | 2016-02-23 | Bayerische Motoren Werke Aktiengesellschaft | System and method for automatically receiving geo-relevant information in a vehicle |
DE102012013376A1 (de) * | 2012-07-05 | 2014-01-09 | GM Global Technology Operations, LLC (n.d. Ges. d. Staates Delaware) | Fahrerassistenzsystem |
US9070022B2 (en) * | 2012-08-16 | 2015-06-30 | Plk Technologies Co., Ltd. | Route change determination system and method using image recognition information |
JP6351235B2 (ja) * | 2013-11-06 | 2018-07-04 | アルパイン株式会社 | ナビゲーションシステム、コンピュータプログラム及び現在位置算出方法 |
US9970775B2 (en) * | 2013-11-21 | 2018-05-15 | Red Hat Israel, Ltd. | Determining alternative route by navigation system |
US10337876B2 (en) | 2016-05-10 | 2019-07-02 | Microsoft Technology Licensing, Llc | Constrained-transportation directions |
US10386197B2 (en) | 2016-05-17 | 2019-08-20 | Microsoft Technology Licensing, Llc | Calculating an optimal route based on specified intermediate stops |
US10060752B2 (en) * | 2016-06-23 | 2018-08-28 | Microsoft Technology Licensing, Llc | Detecting deviation from planned public transit route |
CN106885581A (zh) * | 2017-03-31 | 2017-06-23 | 合肥民众亿兴软件开发有限公司 | 一种用于车辆的路径导航方法 |
JP2020085518A (ja) * | 2018-11-19 | 2020-06-04 | トヨタ自動車株式会社 | 自動運転装置 |
JP7309594B2 (ja) * | 2019-12-18 | 2023-07-18 | Kddi株式会社 | 合流支援情報配信装置、合流支援システム、合流支援情報配信方法及びコンピュータプログラム |
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Also Published As
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JP4683576B2 (ja) | 2011-05-18 |
JPWO2008072293A1 (ja) | 2010-03-25 |
US20100094537A1 (en) | 2010-04-15 |
US8145425B2 (en) | 2012-03-27 |
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