JP2000193478A - Navigation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To guide following the driver's intention by setting a new route with a not-yet-passed point as a passed point based on the distance from the not-yet- passed point to a car position if a car is judged to leave apart from the not-yet- passed point. SOLUTION: When a requested specific transit point along with a destination are inputted from an input part 19, a route calculating part 22 calculates a route to the destination and displays it on a display part 28. A route guide control part 26 measures, while guiding car with a screen display, etc., a distance from a current position from a specific point, and if a current measured value is larger than the distance previously measured and stored, a current position is judged to be out of the set route for starting a timer measurement, with the route calculating part 22 setting a new route. When a timer value is 5 minute or more with timer measurement already started, a car is judged to be away from the next specific point in one direction, and a driver is judged to have intentionally canceled the next specific-point transit, a cancel is confirmed with a sound-value output part, etc., and a route to a destination is set while the specific point is assumed as has been passed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle navigation device, and more particularly to an on-vehicle navigation device for setting a desired transit point (hereinafter referred to as a specific location) and guiding a route to a destination.

[0002]

2. Description of the Related Art Various devices for reducing the burden on a driver of a vehicle have been studied and are now mounted on the vehicle. Among them, there is a navigation device for guiding a route to a destination. .

[0003] Such a navigation device has a function of searching for a route from the current position to the destination by inputting the destination, and displaying the searched route to inform the driver. Can be. It also has a function of detecting the current position of the vehicle. During traveling, both the route obtained by searching and the detected current position are displayed to perform route guidance.

On the other hand, in such a system that uniquely searches for a route to a destination, it is not possible to set a specific destination in the middle of the final destination where the driver wants to stop by, and the driver sets a course as desired by the driver. There was a problem that it was difficult.

Therefore, in a recent navigation device,
An input device is provided for inputting the departure place, destination and specific place information as a plurality of desired passage locations in the order of passage, and arithmetically processes the position data input by the input device and the data in the storage device storing road information according to the navigation program. And a configuration for outputting to a display device. As a result, the driver can sequentially specify desired specific points and set a desired course, and can perform route guidance that matches the driver's driving preferences.

In such a vehicle travel route guidance device, first, a departure place, a destination, and a plurality of specific locations that pass from the departure place to the destination are input to the travel route information storage memory from the outside. Is stored as travel route information, and the travel route calculation processing unit causes the vehicle to travel from the departure place to the destination according to the travel route information stored in the travel route information storage memory in the order of the departure place. Calculate the optimal travel route. Then, the map data for a predetermined area including the current position of the vehicle detected by the vehicle position detection unit is read from the storage medium storing the map data for displaying the road map on the display, and the display is read based on the map data. In addition to displaying the road map, the driving route calculated by the driving route calculation processing unit and the current position detected by the vehicle position detecting means are displayed on the displayed road map in an identifiable manner. The display contents are updated in accordance with the information to guide the vehicle driver about the traveling route.

During the guidance of the traveling route, the memory for storing the specific location stores the vehicle on the basis of the traveling route information stored in the traveling route information storage memory and the current location detected by the vehicle position detecting section. Memorize the specific place that passed. Also, when the vehicle deviates from the route during the guidance of the traveling route, the traveling route re-calculating unit performs the process of the specific location after the vehicle stored in the waypoint storage memory and the traveling route information stored in the traveling route information storage memory. It is determined whether or not a specific location to which the vehicle should travel next after the vehicle has not passed is set in the travel route information, and a specific location to which the vehicle travels next is set in the travel route information. If so, this specific location will be the calculated end point,
Conversely, if the waypoint to which the vehicle should travel next is not set in the travel route information, the final destination is calculated as the end point,
The optimum travel route for driving the vehicle from the current position of the vehicle to the end point is calculated.

That is, when it is detected that the vehicle has deviated from the taxiway, if there is a next specific place that has not yet passed, the route to the specific place is recalculated, and the vehicle is still passing from the current position. The route calculated this time to the next specific location,
From there, a navigation has been proposed in which a route is guided along a route that has already been set, and the vehicle can pass through all specific locations without fail.

[0009]

However, in the above-mentioned conventional navigation device, it is preferable to surely pass through all the set specific places, but the driver changes the schedule and intentionally performs the next operation. When the specific location: P1 is stopped and the route goes to the next specific location: P2 or the final destination: G, the specific location: P1 has not passed, so any setting will be made thereafter. As the route, a route passing through the specific location: P1 is set, which is contrary to the driver's intention. Therefore, in such a case, the driver needs to stop the vehicle and set the final destination and the specific point again.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems of the prior art. Even when the driver intentionally stops the passage to a specific point, the object of the driver can be improved. An object of the present invention is to provide a navigation device capable of guiding a route according to an intention.

[0011]

In order to achieve the above object, the invention according to claim 1 provides map data including road data, position detecting means for detecting a current position of a vehicle, a final destination, and a route. Point input means for inputting the ground, route setting means for setting a route to the final destination through the vicinity of the waypoint set by the point input means, and that the vehicle position deviates from the set route. Out-of-route travel detection means to detect, via-vehicle travel detection means to detect that the vehicle has passed near the via-route, and passed by the via-route determination means when the out-of-route travel means is detected Re-route calculation excluding the transit point of the vehicle, reroute setting means for newly setting a route, distance means for measuring the distance between the untransited transit point and the vehicle position, and the vehicle based on the detection distance by the distance detection. Not in position Passage avoidance determination means for determining that the vehicle position is going away from an excessive transit point, and when the vehicle position is determined to leave the untransited transit point by the transit avoidance determination means, the vehicle has passed the transit point. And a route avoiding means to be considered, wherein when it is determined that the vehicle position moves away from a non-passing transit point, it is regarded as having passed the transit point and the route is set by the reroute setting means. And

[0012] According to a second aspect of the present invention, the route avoidance determining means repeatedly measures the distance when the out-of-route travel is detected, and when the distance measured this time is larger than the distance measured last time, It is characterized in that it is determined that the vehicle position moves away from a non-passing waypoint.

Further, according to a third aspect of the present invention, the route avoidance determining means repeatedly measures the distance when the out-of-route travel is detected, and determines that the distance measured this time is larger than the distance measured last time. When the vehicle continues for a predetermined time, it is characterized that it is determined that the vehicle position moves away from an unpassed waypoint.

[0014]

According to the first aspect of the present invention having the above configuration, the following operation can be obtained. In other words, at the time of route guidance based on the setting of the relay point, if the driver intentionally does not go through the relay point and deviates from the taxiway, the relay point that tends to be entirely separated from the vehicle is regarded as already passed. And re-establish the route.

According to the second aspect of the present invention, since the distance between the non-passing transit point and the vehicle position is repeatedly measured to determine the transit avoidance, it is reliably determined that the driver has stopped transit. It becomes possible.

Further, according to the second aspect of the invention, it is possible to more reliably determine that the driver has stopped the route.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a navigation device according to the present invention will be described below with reference to the drawings. Each function of the embodiment described below is realized by a predetermined mechanism or software controlling a computer and a peripheral device. In the specification of the present invention, each function or process corresponds to “...”. The invention and the embodiments have been described assuming a virtual circuit block such as a “unit”. Therefore, for each block, each hardware element or software element that realizes this does not correspond one-to-one.

[1. Configuration] FIG. 1 is a block diagram showing a configuration of a navigation device according to an embodiment of the present invention. Information such as roads, place names (intersection names), building names, river names, etc., and link data for route calculation are shown. Is provided, and the stored map information can be read out as needed.

Further, the traveling direction of the vehicle is detected based on an absolute position detector 14 including a GPS receiver 14a using a satellite navigation system (GPS) for measuring the current position of the vehicle, and a gyro sensor. There is provided a relative position detector 17 comprising an azimuth sensor 16a and a distance sensor 18a for detecting a travel distance by a travel pulse generated as the vehicle travels, and a detection result of these sensors and a map information storage unit. Based on the road data stored in 10, the current position measuring unit 12 determines the current position of the vehicle using map matching or the like that corrects the current position to a position on a road on a map.

When the route guidance to the destination is performed, the destination is directly instructed on the map display by the input unit 19 such as a remote controller, or is input by the place name or the like, and the current position calculated by the current position measuring unit 12 is obtained. Calculation unit 20 calculates the route from the position to the destination
The route is calculated by the route calculation unit 22 included in the path information, and the calculated route is stored in the route storage unit 24. In this route calculation, an appropriate route search method is adopted, and the map information storage unit 10
The optimal route is set by calculating the cost of the link data based on the route guidance link data stored in.

After inputting the destination and determining the route, actual route guidance is performed. The route guidance control unit 26 included in the arithmetic unit 20 stores map information around the own vehicle in a map information storage unit.
The information is read out from the guidance information storage unit 10a in 10, and displayed on the display unit 28 in a superimposed manner together with the current position and traveling direction of the own vehicle and the route stored in the route storage unit 24.

In the present embodiment, when a specific destination desired to be routed is sequentially input from the input unit 19 together with the destination,
The route calculating unit 22 calculates a route to the destination via the set waypoints in the order of the input specific places, and stores the route in the route storage unit.
Store in 24. As a search method via a specific place,
A route search from the current location to the first specific location is performed using, for example, the Dijkstra method with the first specific location as a temporary destination, and then the second input is performed using this transit point as a departure point.
A route search to the specific point is performed, and this is repeated to search for a route to the final destination, and the above-described route search result is obtained.

On the other hand, the display unit 28 is provided in the instrument panel of the vehicle, and the driver can confirm the position of the vehicle by looking at the display and obtain information on a future route. As a display example, the selected route is displayed by a yellow line on the road display displayed in gray or the like, and the position of the vehicle can be indicated by an arrowhead triangle so that the traveling direction can be recognized.

When the vehicle position approaches a predetermined distance from the intersection where the course is to be changed, an enlarged map showing details of the intersection, the distance to the intersection, and the traveling direction are displayed on the display unit 28 by arrows. Further, the route guidance control unit 26 instructs the voice control unit 30 to generate a voice corresponding to the route guidance at the intersection together with this display.

The voice control unit 30 stores a CD-RO in the voice storage unit 32.
The voice stored in M or the like is read, and the speaker 34 is driven. Then, the driver performs route guidance such as "Right direction about 300 m ahead" from the speaker 34 to guide the driver.
This voice guidance is performed at predetermined intervals until the vehicle passes the intersection. For example, the first guidance 600m before the intersection, the second 300m before the intersection, and the final guidance 100m before the intersection. When traveling on a highway, the first guidance will be given 2 km before the branch road, the second one at 1 km, and the final guidance will be provided at 500 m.

These guidance voices are stored in the voice storage unit 32.
Is stored for each distance, right / left turn, and branching situation. Therefore, when a guidance voice is output, an address corresponding to the situation is read out, and a speaker 34 is output as a guidance signal.
Output from The output of the guidance voice is detected by the route guidance control unit 26, and the voice control unit 30 performs processing for voice output.

As described above, the vehicle is guided along the search route by the screen display or the voice instruction. In this embodiment, as described above, a plurality of specific locations are passed through the set specific location. Is possible in order, and if it is determined from the driving situation of the vehicle that the route to the next unspecified specific place has been canceled,
It is characterized in that re-route calculation is performed by regarding the specific point as having passed. For this reason, the route guidance control unit 26 detects that the vehicle has approached within a predetermined distance from the set specific place, and determines whether or not the vehicle has passed.
b, and when it is determined that the vehicle has passed (approached), the voice control unit 30 is instructed to output guidance of “near a transit point” from the speaker 34, and the specific point is set as having passed the specific point. The passage processing unit 26a for releasing is provided.

Further, the route guidance control unit 26 has a measuring unit 26c for measuring the linear distance between the specific place to be routed next and the current position of the vehicle, and for example, two pieces of distance data measured by the measuring unit 26c ( The distance determination unit 26d stores the history of the previous measurement value and the current measurement value) in the distance storage unit 25, and determines the magnitude relationship between them. The route that determines that the vehicle current position deviates from the set route The vehicle includes an outside traveling determination unit 26e and a time determination unit 26f that determines whether a time in which the linear distance between the next specific place to be routed next and the current vehicle position unilaterally increases continues for a predetermined period.

[2. Operation and Effect] The operation of the present embodiment configured as described above will be described based on the setting of specific points and the flowchart of the route guidance processing shown in FIGS.

First, regarding the setting of the specific point in FIG. 2, it is monitored whether or not the final destination is set (ST1), and when the final destination is set, 0 is set to N indicating the number of specific points desired to be passed in ST2. In ST3, it is monitored whether there is a setting input of a specific point desired to be passed. If a specific point is not set, it is monitored in step ST4 whether there is a route calculation execution operation, and if there is no execution operation, monitoring in step ST3 is performed again. If the calculation execution operation is performed in ST4, the set number N ′ of the specific point (in this case, N ′ = 0) is stored in ST8, and the optimal route from the current position to the destination is calculated in ST9, Route is set.

The description returns to ST3. If the specific place is designated, 1 is added to the specific place number in ST5, and the N number and the designated position coordinates are stored in ST6.
At 7, it is determined whether the specific place number is 4. If the specific place number is less than 4, the process returns to ST3. If the specific place number has reached 4, the specific place designation is completed, so the set number N 'of the specific points is set in ST8 (in this case, N' = 4) is stored, and ST9 is stored.
A route from the current position to the first specific location, a route from the first specific location to the second specific location, a route from the second specific location to the third specific location, The route from the third specific place to the fourth specific place and the route from the fourth specific place to the final destination are sequentially calculated, and by combining them, the route passes near all the specific places and becomes the destination. The calculation of the optimum route to the route is performed and the route is set.

Next, when the route is set and the route guidance is started in this way, it is determined in ST10 of FIG. 3 whether or not the specific point set number N 'is set to 1 or more, and if one or more specific points are set. In this case, 1 is set as the next specific point number: N. If N 'is 0, that is, if no specific point is set, N = 5 is set in ST11.

Subsequently, ST1 based on the passage determination unit 26b
3, the current position is 30 from the specific point or the final destination
It is monitored whether the vehicle is within 0 m. If the vehicle is within 300 m, it is determined that the vehicle has passed through a specific place. That is, it is determined that all of the set specific points are at the final destination via the route, and the voice control unit 30 notifies "arrival of the destination".
Output from If the N value is not 5 in the confirmation of ST14, it is determined that the vehicle is at the specific point, the voice control unit 30 outputs "Near the specific point" in ST16, and 1 is added to the N value in ST17. N value is ST8 in FIG.
It is checked whether the number exceeds the value of N 'stored in the step (i.e., exceeds the number of set specific points). If it exceeds the number, the next step is to guide the vehicle to the final destination.
Conversely, if N does not exceed the specific point set number: N ', the process returns to ST10. In addition, ST16, ST17, and ST
18 corresponds to the passage processing unit 26a in FIG.

Returning to the description of step ST13, if the current position is not within a specific point or within 300m from the final destination, it is checked whether the current position is off the route in step ST19 corresponding to the out-of-route traveling determination unit 26e. If the current position is out of the range, it is confirmed whether or not the current position is a highway in ST20 based on the current position by the current position measurement unit 12 and the road type data in the map information storage unit 10.

The reason for determining whether or not the current position is on the highway is that the driver intends to go through the next specific point.
This is to prevent a route that does not pass through the specific point from being newly set in a situation where the vehicle has passed the vicinity of the specific place and can only go to the specific point from the next interchange.

If the current position is not on the road to which the highway data is added, it is determined that the vehicle is not traveling on the highway, and it is determined that there is a possibility that the passage of the specific point has been intentionally stopped. In ST21, the distance L between the coordinates of the next specific point N to be routed and the current position is calculated and stored in the distance storage unit 25. Subsequently, ST22 corresponding to the distance determination unit 26d
In step ST23, a comparison is made between the distance stored last time and the distance measured this time. If the current distance is large, it is distant from the specific point. Since it is detected for the first time that the vehicle is moving away from the relay point from the current off-route traveling, the timer is started. (ST24)

If the current distance is small in ST22, the specific point is approaching the specific point. Therefore, in ST25, the specific point corresponding to the current N value from the current position, that is, the specific point having a number equal to or larger than the next specific point that has not passed through Route calculation section 2
The process is performed in 2 and the process returns to ST10.

Returning to ST24, after the timer measurement is started in ST24, the same re-route calculation is performed in ST27 as in ST25, a new route is set, and the process returns to ST10. Conversely, if the timer is already counting in ST18, it is determined in ST28 corresponding to the time determination unit 26f whether the timer value is 5 minutes or more, that is, whether the timer value is unilaterally separated from the next specific point over 5 minutes or more. If it is not 5 minutes or more, the rerouting calculation by ST27 is executed, and if it is 5 minutes or more, it is determined that the driver has intentionally canceled the passage to the next specific point, and FIG.
The process proceeds to ST29.

In step ST29 of FIG. 4, the voice output unit 32 displays a message "Do you want to cancel the route to the next specific point?" And a similar message on the display unit 28.
Input unit 19 within 10 seconds after message output at T30
It is determined whether or not a cancel acknowledge operation has been performed. 10
If the cancel operation is not performed within seconds, it is considered that there is still intention to go to the next specific point, and the timer is cleared once in ST31, and the process returns to ST24 in FIG. If there is a cancel operation within 10 seconds in ST30, it is determined that there is no intention to go to the next specific point, and 1 is added to the specific place number: N in ST32, and the specific point set immediately before is regarded as having passed. .

Then, in ST33, the specific place number: N newly set in ST32 is set to the specific place number: N '.
Is checked, and if yes, N is returned in ST34.
= 5 is set, and it is determined that all specified locations have passed
To set the route to the final destination. If it does not exceed in ST33, the route setting unit 22 instructs the route calculation unit 22 to sequentially set a route from the current position to a specific point corresponding to the current N value, that is, a specific point with a number equal to or greater than the next unspecified specific point. And returns to ST10.

[3. Other Embodiments] The present invention is not limited to the above-described embodiments, but also includes the following other embodiments. That is, the distance between the current position and the specific point is measured by the distance determination unit 26d without using the timer, and if the distance is the previous distance, the number of times that the current distance is determined to be large is counted.
9 may be entered. In addition, means for avoiding a route is not based on a distance determination but can be regarded as substantially moving away from a route point, for example, that a specific point does not enter a predetermined range in a vehicle traveling direction for a predetermined time during traveling, in other words, a traveling direction. The case where there is a specific point that has not passed through behind and that continues for a predetermined time may be used for the determination of the route avoidance means.

[0042]

As described above, according to the present invention,
Even when the driver intentionally cancels the route to a specific point, route guidance according to the driver's intention can be performed. According to the third aspect of the present invention, it is determined that the passage to the specific point has been stopped only after detecting that the vehicle has gone away from the specific point for a predetermined time, so that the route guidance according to the driver's intention is more reliably performed. I can do it.

[Brief description of the drawings]

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

FIG. 2 is a flowchart showing a specific point setting process according to the embodiment;

FIG. 3 is an exemplary flowchart showing the operation of a route guidance process according to the embodiment;

FIG. 4 is a flowchart showing a continuation of FIG. 3 according to the embodiment;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Map information storage part 12 ... Current position measurement part 14 ... Absolute position detection part 17 ... Relative position detection part 19 ... Input part 20 ... Calculation part 22 ... Route calculation part 24 ... Route storage part 25 ... Distance storage part 26 ... Route Guidance control unit 28 Display unit 30 Voice control unit

Claims (3)

[Claims] 1. Map data including road data, position detecting means for detecting a current position of a vehicle, point input means for inputting a final destination and a waypoint, and a transit point set by the point input means. Route setting means for setting a route to the final destination through the vicinity, out-of-route travel detection means for detecting that the vehicle position has deviated from the set route, and information that the vehicle has passed near the waypoint. Via route travel detecting means for detecting, and when the out-of-route travel means is detected by the out-of-route travel means, re-route calculation excluding the route point that has been passed by the via-route determining means, and setting a new route. Means, a distance means for measuring a distance between a non-passing transit point and the vehicle position, and a transit avoidance judging means for judging that the vehicle position moves away from the non-passing transit point based on the distance detected by the distance detection. When When the vehicle avoidance determining means determines that the vehicle position moves away from a non-passing transit point, a transit avoidance means that considers the transit point as having passed has been provided. A navigation apparatus characterized in that when it is determined that the vehicle has left, it is determined that the vehicle has passed through a transit point, and the route is set by the reroute setting means. 2. The route avoidance determination means repeatedly measures the distance when the out-of-route travel is detected. When the distance measured this time is larger than the distance measured last time, the vehicle position is determined to be untransited. The navigation device according to claim 1, wherein it is determined that the vehicle is away from the ground. 3. The route avoidance determination means repeatedly measures the distance when the out-of-route travel is detected, and a state where the distance measured this time is larger than the distance measured last time has continued for a predetermined time. 2. The navigation device according to claim 1, wherein it is determined that the vehicle position moves away from an unpassed waypoint.