WO2014148104A1 - ナビゲーションシステム、方法およびプログラム - Google Patents

ナビゲーションシステム、方法およびプログラム Download PDF

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Publication number
WO2014148104A1
WO2014148104A1 PCT/JP2014/051462 JP2014051462W WO2014148104A1 WO 2014148104 A1 WO2014148104 A1 WO 2014148104A1 JP 2014051462 W JP2014051462 W JP 2014051462W WO 2014148104 A1 WO2014148104 A1 WO 2014148104A1
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WO
WIPO (PCT)
Prior art keywords
route
distance
planned route
outside
moving
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Application number
PCT/JP2014/051462
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English (en)
French (fr)
Japanese (ja)
Inventor
将志 竹内
Original Assignee
アイシン・エィ・ダブリュ株式会社
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Filing date
Publication date
Application filed by アイシン・エィ・ダブリュ株式会社 filed Critical アイシン・エィ・ダブリュ株式会社
Priority to JP2015506633A priority Critical patent/JP6020708B2/ja
Priority to CN201480006924.0A priority patent/CN104956181B/zh
Publication of WO2014148104A1 publication Critical patent/WO2014148104A1/ja

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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
    • 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
    • G01C21/3438—Rendez-vous, i.e. searching a destination where several users can meet, and the routes to this destination for these users; Ride sharing, i.e. searching a route such that at least two users can share a vehicle for at least part of the route

Definitions

  • the present invention relates to a navigation system, method, and program.
  • a preferred route is searched for by evaluating various costs such as travel distance, so if the current location is on the planned route, in many cases, the planned route moves on the planned route. Is preferred.
  • the cost of moving to an area that is not a planned route and reaching the start point of the planned route has not been evaluated. Sometimes it is better to head to the ground.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a technique capable of guiding a preferable moving direction when the current location is in a region that is not a planned route.
  • the first outside-path distance that obtains the first outside-path distance which is the distance that moves on the non-scheduled area in order to move on the planned path and reach the destination.
  • Outside the second route for acquiring the second route outside distance that is a distance to move in a region that is not the planned route in order to move in the direction of the destination without moving on the planned route and reach the destination A distance acquisition means, and a recommended movement direction guidance means for guiding a recommended movement direction based on a comparison result between the distance outside the first route and the distance outside the second route when the current location is in an area other than the planned route.
  • a navigation system is provided. According to this configuration, it is possible to guide a preferable moving direction when the current location is in an area that is not a planned route.
  • the recommended moving direction guiding means may be configured to guide the recommended moving direction so that the shorter one of the first route outside distance and the second route outside distance is the movement distance in the region that is not the planned route.
  • a region that is not a planned route in order to move on the planned route to reach the destination, and a region that is not a planned route when moving in a region that is not the planned route and reaches the destination The recommended moving direction is guided so that the shorter moving distance can be selected.
  • a user moves toward the said recommended moving direction, it can reach
  • the first route outside distance acquisition unit can acquire the first route outside distance that is a distance for moving in a region that is not the planned route in order to move on the planned route and reach the destination. That is, if a planned route has been set in the navigation system and the current location of the navigation system is in an area that is not the planned route, but the current location or destination does not exist near the planned route, It is necessary to move in an area that is not a route. Therefore, the distance traveled in the region that is not the planned route in order to move on the planned route and reach the destination is acquired as the first route outside distance.
  • the area that is not a planned route may be a region that excludes a preset planned route, and may be a road or a place other than a road (such as a plaza). Therefore, a road section that is not recorded as a road section (link) in the map information that the navigation system refers to for searching for a planned path or a road section that is not a planned path to the destination (for example, a road section that is not subject to guidance) Can be an area that is not a planned route.
  • the second route outside distance acquisition means acquires a second route outside distance that is a distance to move in a region that is not a planned route in order to reach the destination without moving on the planned route. I can do it. That is, even if a planned route has been set in the navigation system, in many cases, a route that reaches the destination without moving on the planned route can also be adopted. Therefore, the distance outside the second route can be acquired by acquiring the distance to be moved when moving toward the destination without moving on the planned route and reaching the destination.
  • the first route outside distance and the second route outside distance there may or may not be a road, and various methods can be employed to obtain the first route outside distance and the second route outside distance. That is, when a road exists, the distance when moving on the road is acquired, and when the road does not exist, a straight line distance is acquired. Of course, when there is a place where a road exists and a place where no road exists, both may be combined.
  • the recommended moving direction guide means only needs to be able to guide the recommended moving direction so that the shorter one of the first route outside distance and the second route outside distance becomes the movement distance in the region that is not the planned route. That is, it is clear that the user should move along the planned route if it is on the planned route, but since there is no planned route in an area that is not the planned route, the moving direction along the planned route is not specified. Therefore, in a configuration where guidance is not started until the current location is on the planned route, the user of the navigation system often cannot easily specify the moving direction.
  • the planned route is not a route that immediately goes from the vicinity of the current location toward the destination, but is once a route that is directed in another direction (a detour route)
  • the planned route is displayed on the map of the display unit of the navigation system. A state where a part or all of the screen is not displayed may occur. In such a case, it is difficult for the user to determine whether the user should move on the planned route or go directly to the destination.
  • the recommended moving direction is guided so that the shorter one of the distance outside the first route and the distance outside the second route is the moving distance in the region that is not the planned route. It is possible to easily determine whether it should be directed to the destination.
  • Various configurations can be adopted as a configuration for guiding the recommended moving direction.
  • the recommended moving direction is guided so that the distance outside the first route becomes a moving distance in an area that is not the planned route.
  • the recommended moving direction may be guided by an arrow indicating the direction to move from the current location in order to move on the planned route (for example, an arrow indicating the direction of the starting point of the planned route).
  • an arrow indicating the direction to move from the current location in order to move toward the destination may be guided by an arrow indicating the direction of the destination.
  • the first route outside distance acquisition unit acquires the sum of the distance for moving from the current location to the start point of the planned route and the distance for moving from the end point of the planned route to the destination as the first route outside distance. It is also good. That is, when moving on the planned route to reach the destination, if the current location is not on the planned route, it is necessary to move an area that is not the planned route in order to move from the current location to the start point of the planned route. Further, when the destination does not exist in the vicinity of the planned route, it is necessary to move an area that is not the planned route in order to move from the end point of the planned route to the destination. Therefore, these sums are distances that move in areas that are not planned paths in order to move on the planned path and reach the destination, and can be the distance outside the first path.
  • the second route outside distance acquisition means sets the distance to move outside the planned route in order to reach the destination by moving from the current location to the destination without moving on the planned route. It is good also as a structure acquired as a distance. For example, a straight line distance from the current location to the destination is the second path outside distance.
  • a map is displayed when the recommended moving direction is guided so that the distance outside the first route is a moving distance in an area that is not the planned route, and the planned route is displayed on the map, and the outside of the second route is displayed.
  • a display control unit may be provided that displays a map when the recommended moving direction is guided so that the distance is a moving distance in an area other than the planned route, and does not display the planned route on the map. That is, in the configuration in which the planned route can be displayed on the map, when the recommended moving direction is guided so that the distance outside the second route becomes the moving distance in the region that is not the planned route, the planned route is not displayed. By doing so, it is recommended not to move on the planned route.
  • the recommended moving direction may not be guided. That is, when the first route outside distance is equal to or greater than the predetermined distance and the first route outside distance is excessively long, the destination cannot be reached unless the region that is not the planned route is moved over a long distance. In this state, there is a river between the current location and the destination, and it is not possible to move from the current location to the destination by moving the area that is not the planned route. It is a special condition that you can reach the destination by the planned route if you reach.
  • the recommended movement direction is not specified by a simple comparison between the first route outside distance and the second route outside distance, and guidance based on the recommended movement direction is performed. There may be no configuration.
  • the region that is not the planned route is moved at a predetermined off-path speed and the predetermined distance on the planned route is determined.
  • a configuration may be used in which an estimated arrival time is guided when the vehicle travels at a predetermined off-route speed to reach the destination. That is, many navigation systems guide the estimated arrival time at the destination when guiding to the destination. Then, when guiding the estimated arrival time, it is preferable to consider a period necessary for moving an area that is not a planned route.
  • the moving speed of the area that is not the planned path is defined in advance as a predetermined off-path speed.
  • the moving speed can be defined by a known technique from the attribute of the road section, traffic information, and the like, and the moving speed is set as a predetermined route speed. Then, by using the speed outside the route and the speed on the route, when moving so that the distance outside the first route becomes the moving distance in the region that is not the planned route (moving the region that is not the planned route and the planned route) (When reaching the destination) or when moving so that the distance outside the second route is the distance traveled in the region that is not the planned route (when moving from the region that is not the planned route to reach the destination from the current location)
  • the estimated arrival time can be specified. Therefore, if the estimated arrival time when the moving direction indicated by the recommended moving direction is adopted is shown, the user can more easily determine whether or not to move in the recommended moving direction.
  • the method of guiding the recommended moving direction so that the shorter one of a plurality of routes that reach a destination by moving through a region that is not a planned route can be applied as a program or method.
  • the system, program, and method as described above may be realized as a single device, or may be realized by using a plurality of devices, or may be realized by using parts shared with the vehicle. Can be assumed, and includes various aspects. For example, it is possible to provide a navigation system, method, and program including the above-described devices. Further, some changes may be made as appropriate, such as a part of software and a part of hardware.
  • the invention can be realized as a recording medium for a program for controlling the system.
  • the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.
  • (2A) is a flowchart of recommended travel direction guidance processing
  • (2B) is a diagram showing examples of the current location, destination and planned route
  • (2C) and (2D) are diagrams showing guidance examples of the recommended travel direction.
  • FIG. 1 is a block diagram showing a configuration of a navigation system mounted on a vehicle.
  • the navigation system 10 includes a control unit 20 including a CPU, a RAM, a ROM, and the like, and a program stored in the ROM can be executed by the control unit 20.
  • the navigation program 21 can be executed as one of the programs.
  • Map information 30 a is recorded on the recording medium 30.
  • the map information 30a includes node data indicating the position of the node corresponding to the end point of the road on which the vehicle travels, shape interpolation point data indicating the position of the shape interpolation point for specifying the shape of the road between the nodes, the nodes
  • the link data indicating the connection of the link is included.
  • the navigation program 21 performs a map matching process based on self-contained navigation information (described later) to identify the current location of the vehicle on the road (current location of the navigation system 10), and has a function of displaying the current location on the map. Can be executed. Furthermore, the navigation program 21 searches for a planned route from the current location to the destination designated by the user, and guides the vehicle along the planned route while displaying a map and a planned route around the current location on the display unit. A function of guiding the person to the destination can be executed by the control unit 20.
  • the vehicle includes a GPS receiver 41, a vehicle speed sensor 42, a gyro sensor 43, and a user I / F unit 44.
  • the GPS receiver 41 receives a radio wave from a GPS satellite and outputs a signal indicating a signal for calculating the current location of the vehicle via an interface (not shown).
  • the vehicle speed sensor 42 outputs a signal corresponding to the rotational speed of the wheels provided in the vehicle.
  • the control unit 20 acquires this signal via an interface (not shown) and acquires the vehicle speed.
  • the gyro sensor 43 detects angular acceleration about turning in the horizontal plane of the vehicle, and outputs a signal corresponding to the direction of the vehicle.
  • the control unit 20 acquires output information of the vehicle speed sensor 42, the gyro sensor 43, and the like as self-contained navigation information.
  • control unit 20 sets a plurality of comparison target roads where the current location of the vehicle can exist based on the self-contained navigation information which is output information of the vehicle speed sensor 42 and the gyro sensor 43 and the map information 30a by the processing of the navigation program 21. Then, after narrowing down the comparison target road based on the error circle of the GPS signal acquired by the GPS receiving unit 41, the vehicle travels on the road where the shape of the comparison target road and the self-contained navigation locus are the best match. A map matching process that considers the current road is performed, and the current location is specified on the road specified by the map matching process.
  • the control unit 20 specifies the current location based on the output signal of the GPS signal 41 when map matching cannot be performed by the map matching process. Since the planned route is set on the road indicated by the link data of the map information 30a, in the present embodiment, when the map matching cannot be performed, it is considered that the current location exists in an area that is not the planned route.
  • the area that is not a planned route may be a region that excludes a preset planned route, and may be a road or a place other than a road (such as a plaza).
  • a location that is not recorded as a road (link) in the map information 30a that is referenced by the navigation system 10 for searching for a planned route or the like is not identified as the current location by the map matching process, and may be a region that is not a planned route.
  • a road section that is not a planned route to the destination (for example, a road section that is not a guidance target) can also be an area that is not a planned route.
  • the user I / F unit 44 is an interface unit for inputting a driver's instruction and providing various information to the driver, such as a display unit or a speaker that also serves as an input unit including a touch panel display (not shown).
  • An output sound output unit is provided.
  • the user I / F unit 44 receives a control signal from the control unit 20, displays an image for performing various guidance on the touch panel display, and outputs an output sound for performing various guidance from a speaker.
  • the user I / F unit 44 transmits a signal indicating the input content via the touch panel to the control unit 20, and the control unit 20 specifies the operation content of the user based on the signal.
  • the control unit 20 performs a process of guiding the vehicle to the destination by executing the navigation program 21, and in the course of this process, among the plurality of routes that move in a region that is not a planned route and reach the destination Guide the recommended moving direction so that the shorter one can be selected.
  • the navigation program 21 includes a first route outside distance acquisition unit 21a, a second route outside distance acquisition unit 21b, and a recommended movement direction guide unit 21c.
  • the first route outside distance acquisition unit 21a realizes the control unit 20 with a function of acquiring a first route outside distance that is a distance to move in a region that is not a planned route in order to move on the planned route and reach the destination.
  • This is a program module to be executed. That is, in the state where the planned route has been set by the processing of the navigation program 21, if the current location or destination of the vehicle does not exist in the vicinity of the planned route, it is necessary to move an area that is not the planned route. Therefore, in the present embodiment, the control unit 20 acquires the sum of the distance for moving from the current location to the start point of the planned route and the distance for moving from the end point of the planned route to the destination as the first route outside distance. .
  • the control unit 20 acquires the sum as the first path outside distance.
  • the second route outside distance acquisition unit 21b calculates a second route outside distance, which is a distance to move in a region that is not a planned route in order to reach the destination without moving on the planned route. It is a program module that causes the control unit 20 to realize the function to be acquired. That is, even if the planned route has been set by the processing of the navigation program 21, in many cases, a route that reaches the destination without moving on the planned route can also be adopted. Therefore, the control unit 20 acquires, as the second route outside distance, the distance that moves in the region that is not the planned route in order to move from the current location toward the destination without moving on the planned route and reach the destination. .
  • the recommended movement direction guide unit 21c realizes a function of guiding the recommended movement direction in the control unit 20 so that the shorter one of the first route outside distance and the second route outside distance becomes the movement distance in the region that is not the planned route.
  • This is a program module to be executed. That is, since the control unit 20 performs a function of guiding the user along the planned route by the navigation program, it is clear that the control unit 20 should move along the planned route. However, since there is no planned route in an area that is not a planned route, the moving direction along the planned route is not specified. Therefore, if the configuration is such that the guidance is not started until the current location is on the planned route, the user of the navigation system 10 often cannot easily specify the moving direction.
  • the planned route is not a route that immediately goes from the vicinity of the current location toward the destination, but is once a route that is directed in another direction (a detour route)
  • the planned route is displayed on the map of the display unit of the navigation system. A state where a part or all of the screen is not displayed may occur. In such a case, it is difficult for the user to determine whether the user should move on the planned route or go directly to the destination.
  • the control unit 20 determines the recommended moving direction so that the shorter of the first route outside distance and the second route outside distance becomes the moving distance in the region that is not the planned route by the processing of the recommended moving direction guide unit 21c. invite.
  • the user can easily determine whether the user should move on the planned route or go directly to the destination.
  • Various configurations can be adopted as the configuration for guiding the recommended moving direction.
  • the control unit 20 should move from the current location in order to move on the planned route when guiding the recommended moving direction so that the distance outside the first route is the moving distance in the region that is not the planned route.
  • a control signal for drawing an arrow indicating the direction (for example, an arrow indicating the direction of the starting point of the planned route) is output to the display unit of the user I / F unit 44.
  • the display unit of the user I / F unit 44 displays an arrow indicating a direction to move from the current location in order to move on the planned route on the display unit.
  • the controller 20 guides the recommended moving direction so that the distance outside the second route is the moving distance in the region that is not the planned route, the direction to move from the current location in order to move toward the destination
  • a control signal for drawing an arrow indicating the direction (for example, an arrow indicating the direction of the destination) is output to the display unit of the user I / F unit 44.
  • the display unit of the user I / F unit 44 displays an arrow indicating a direction to move from the current location on the display unit in order to move toward the destination.
  • 2C and 2D are diagrams illustrating the display unit 44a of the user I / F unit 44. The current position of the vehicle is indicated by an icon C on the display unit 44a.
  • the recommended movement direction is guided as shown in FIG. It is shown that the direction to move from the current location to move up is the left side of the figure.
  • the recommended moving direction is guided as shown in FIG. It is shown that the direction to move from is the upper right side of the figure.
  • FIG. 2A is a flowchart of recommended movement direction guidance processing.
  • the recommended moving direction guidance process is executed in a state where the planned route is set by the process of the navigation program 21.
  • the control unit 20 first determines whether or not map matching has been performed (step S100). That is, the control unit 20 determines whether or not the current location is specified on the road in the map matching process, and determines that map matching is not possible when the current location is not specified on the road.
  • step S100 If it is not determined in step S100 that map matching has failed, the control unit 20 ends the recommended movement direction guidance process. In other words, if it is not determined that map matching could not be performed, the current location is on the road, so it is expected that the current location is already on the planned route or that the route reaching the planned route is clear. The process ends without guiding the recommended moving direction.
  • the control unit 20 acquires the first route outside distance by the processing of the first route outside distance acquisition unit 21a (step S105). That is, the control unit 20 specifies the current location based on the output signal of the GPS signal 41, and acquires the start point, end point, and destination of the planned route. Then, the control unit 20 acquires the linear distance between the current location and the start point of the planned route and the linear distance between the end point of the planned route and the destination, and acquires the sum of both as the first route outside distance.
  • FIG. 2B shows an example in which planned routes indicated by thick straight lines are set on the roads R 1 to R 2 existing around the current location Ps and the destination Pg.
  • the control unit 20 acquires the second path outside distance by the processing of the second path outside distance acquisition unit 21b (step S110). That is, the control unit 20 acquires the current location and the destination specified based on the output signal of the GPS signal 41. And the control part 20 acquires the linear distance of a present location and the destination as 2nd path
  • the second off-path distance is L 2.
  • the control unit 20 determines whether or not the first route outside distance is smaller than the second route outside distance by the processing of the recommended movement direction guide unit 21c (step S115), and the first route outside distance is the first distance.
  • the control unit 20 guides the destination direction as the recommended movement direction by the processing of the recommended movement direction guide unit 21c (Ste S120). That is, the control unit 20 specifies a straight line connecting both points from the current location and the destination in the map displayed on the display unit of the user I / F unit 44, and is separated from the current location on the straight line by a predetermined distance.
  • a control signal for drawing an arrow indicating the destination direction at the position on the map is output to the display unit of the user I / F unit 44.
  • an arrow indicating the direction of the destination is displayed on the display unit of the user I / F unit 44.
  • FIG. 2B when the second path outside distance is smaller than the first path outside distance, an arrow as shown in FIG. 2D is displayed.
  • the control unit 20 guides the start point direction of the planned route as the recommended movement direction by the processing of the recommended movement direction guide unit 21c (Ste S125). That is, the control unit 20 specifies a straight line connecting both the current location and the starting point of the planned route in the map displayed on the display unit of the user I / F unit 44, and a predetermined distance from the current location on the straight line. A control signal for drawing an arrow indicating the destination direction on the map at a remote position is output to the display unit of the user I / F unit 44.
  • an arrow indicating the direction of the starting point of the planned route is displayed on the display unit of the user I / F unit 44.
  • an arrow as shown in FIG. 2C is displayed.
  • the above embodiment is an example for carrying out the present invention, as long as the recommended moving direction is guided so that the shorter one can be selected from a plurality of routes that reach a destination by moving in a region that is not a planned route.
  • the navigation system 10 may be fixedly mounted on the vehicle, or may be a mode in which the portable navigation system 10 is brought into the vehicle and used.
  • the present invention may be applied to a navigation system that guides routes other than the vehicle, for example, a pedestrian route.
  • the control unit 20 acquires a distance when moving on the road and specifies the first route outside distance or the second route outside distance.
  • the distance outside the first route is calculated by combining the travel distance on the road and the linear distance between two points outside the road.
  • the distance outside the second route may be specified.
  • the case where the planned route is displayed and the case where the planned route is not displayed may be switched according to the recommended moving direction.
  • the control unit 20 displays the planned route on the map of the display unit, and the second route
  • the controller 20 may be configured not to display the planned route on the map of the display unit when the recommended moving direction is guided so that the external distance is the moving distance in the region that is not the planned route.
  • the planned route in a configuration in which the planned route can be displayed on the map, it is recommended that the planned route is not displayed when the distance outside the second route is smaller than the distance outside the first route, so that the planned route is not displayed.
  • This configuration can be realized by not displaying the planned route in step S120 and displaying the planned route in step S125 in the recommended movement direction guidance process shown in FIG. 2A.
  • the control unit 20 may be configured not to guide the recommended moving direction. That is, when the first route outside distance is equal to or greater than the predetermined distance and the first route outside distance is excessively long, the destination cannot be reached unless the region that is not the planned route is moved over a long distance. In this state, there is a river between the current location and the destination, and it is not possible to move from the current location to the destination by moving the area that is not the planned route. It is a special condition that you can reach the destination by the planned route if you reach.
  • the control unit 20 determines the recommended movement direction. It is good also as a structure which does not perform guidance by.
  • the control part 20 may guide a recommended moving direction so that it may become the movement distance of an area
  • the control unit 20 may be configured to guide the estimated arrival time at the destination. Specifically, when the recommended moving direction is guided so that the distance outside the first route is the moving distance in the region that is not the planned route, the control unit 20 moves the region that is not the planned route at a predetermined off-path speed. In addition, it guides the estimated arrival time when moving on the planned route at a predetermined speed and arriving at the destination, and recommended movement so that the distance outside the second route becomes the moving distance in the region that is not the planned route In the case of guiding the direction, the control unit 20 may be configured to guide the estimated arrival time when moving from a current location to an area that is not a planned route at a predetermined off-route speed to reach the destination.
  • the control unit 20 when performing the guidance to the destination, performs processing on the route based on the attribute of the road section, traffic information, and the like for each road section constituting the planned route after the current location by the processing of the navigation program 21.
  • the speed on the predetermined route that is the speed at is acquired.
  • the control unit 20 obtains the estimated arrival time at the destination by specifying the travel time from a predetermined route speed in each road section after the current location and adding the accumulated travel time of each road section to the current time. To do.
  • the control unit 20 outputs a control signal for guiding the estimated arrival time to the user I / F unit 44 when moving on the planned route.
  • the user I / F unit 44 guides the estimated arrival time at the destination to the user.
  • the estimated arrival time is acquired in consideration of the period required for the movement of the region that is not the planned route. It is preferable. Therefore, a predetermined off-route speed is defined in advance, and the control unit 20 acquires the estimated arrival time using the predetermined off-route speed as a moving speed of an area that is not a planned route. Specifically, when the control unit 20 moves so that the distance outside the first route becomes the moving distance in the region that is not the planned route, the control unit 20 moves the region that is not the planned route and the planned route to reach the destination.
  • the travel time of the area that is not the planned route is acquired from the first route outside distance and the predetermined off-path speed, and the travel time on the planned route is acquired from the planned route distance and the predetermined on-route speed. To do. Then, the estimated arrival time is obtained by adding the sum of the travel times to the current time.
  • the control unit 20 determines whether the planned path is based on the second path outside distance and the predetermined off-path speed. Travel time when moving from no location to reaching destination from current location. Then, the estimated arrival time is obtained by adding the travel time to the current time. In any case, the control unit 20 outputs a control signal for guiding the acquired estimated arrival time to the user I / F unit 44. As a result, the user I / F unit 44 guides the estimated arrival time when the moving direction indicated by the recommended moving direction is adopted. For example, as shown in FIG.
  • the control unit 20 calculates the first route outside distance and the second route outside distance, and the first route outside distance and the second route.
  • the order of the condition determination may be changed.
  • the control unit 20 calculates the first route outside distance and the second route outside distance at an arbitrary timing, and the first route outside distance and the second route outside distance when the current location exists in an area that is not the planned route. It is also possible to have a configuration that performs guidance of the recommended movement direction based on the comparison with the comparison result.
  • a distance other than the distance between points may be considered.
  • the distance other than the point-to-point distance include a travel distance generated in accordance with a driving operation such as turning.
  • the control unit 20 acquires an angle difference (an absolute value of 180 ° or less) between the direction from the current location to another point (the start point or destination of the planned route) and the vehicle direction, and the angle difference is calculated as the angle difference. It is good also as a structure which guides a recommended moving direction based on the sum of the corresponding distance and the distance between points.
  • a distance corresponding to the angle difference is defined in advance so that the angle difference is smaller as it is closer to 0 ° and is larger as it is closer to 180 °.
  • the control unit 20 determines that “the distance according to the angle difference between the direction from the current location toward the start point of the planned route and the direction of the vehicle + the distance between the current location and the start point of the planned route + the end point of the planned route and the destination "Distance between” and "distance between the current location and the destination” according to the angle difference between the direction from the current location to the destination and the vehicle direction as the second route. Get as an outside distance.
  • route outer distance is employable. According to this configuration, when the distance between the points to be compared is approximated, a configuration in which the smaller change in the direction of the vehicle is guided can be provided.

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  • Traffic Control Systems (AREA)
PCT/JP2014/051462 2013-03-22 2014-01-24 ナビゲーションシステム、方法およびプログラム WO2014148104A1 (ja)

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CN107750375B (zh) * 2015-06-22 2021-07-13 伟摩有限责任公司 确定自主交通工具的拾取和目的地位置
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