JP3580458B2 - Vehicle navigation system - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicular navigation device in which a trajectory is sequentially stored in a storage device every time the vehicle travels, and the stored data is used for route search.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, various route guidance devices for smoothly driving on unfamiliar roads have been proposed, and a route guidance device that guides a road to be traveled to the destination by inputting a destination. There is. In this route guidance device, road data such as intersection data and node data, map data, and the like are stored in a CD-ROM, and a route to a destination that can be reached by the shortest distance is searched, and the searched route is displayed on a screen. Display and guide.
[0003]
[Problems to be solved by the invention]
In a conventional route guidance apparatus, a route search is performed based on road data stored in a CD-ROM in advance, and a user wants to obtain a search route using a road on which he or she normally travels, or wants to weave a desired route. In some cases, this is not necessarily reflected on the searched guidance route.
[0004]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicular navigation apparatus that can reflect a user's intention and provide detailed route guidance.
[0005]
[Means for Solving the Problems]
The vehicle navigation device according to the present invention includes a current position detecting unit for detecting a current position of the vehicle, an input unit for inputting information necessary for calculating a destination and a route, and data necessary for performing route guidance. Is stored, traveling locus data accumulating means for accumulating traveling locus data, and a route to a destination based on the data stored in the storing means and the traveling locus data accumulated in the traveling locus data accumulating means. A route calculating means for calculating, wherein the traveling locus data accumulating means registers the number of registrations of the traveling locus by the input means, and the route calculating means calculates a route to the destination based on the registered number of the traveling locus. Is calculated.
[0006]
[Action and effect of the invention]
According to the present invention, in addition to map data stored in advance in information storage means for performing route guidance, travel locus data is accumulated, and for a locus registered by a user operation, the number of registration operations is registered. In advance, the number of registration operations is reflected in the route search. For example, a locus having a large number of registration operations is a route that the user wants to utilize, and is preferentially handled in route search. This makes it possible to perform a detailed route search reflecting the user's intention.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an example of a navigation device according to the present invention. As shown in FIG. 1, a navigation device according to the present invention includes an input / output device 1 for inputting / outputting information relating to route guidance, a current position detection device 2 for detecting information relating to a current position of a vehicle, and navigation required for calculating a route. An information storage device 3 in which data for display and display guidance data necessary for guidance are recorded, and a central processing unit 4 which performs display guidance processing necessary for route search processing and route guidance and controls the entire system. Have been.
[0008]
The input / output device 1 instructs the central processing unit 4 to perform a navigation process according to the driver's will so that the driver can input a destination or output guidance information by voice and / or screen when necessary. It has a function to print out data after processing. As means for realizing the function, the input unit includes a touch switch 11 or an operation switch for inputting a destination as a telephone number or coordinates on a map, requesting route guidance, or setting a trajectory. The output unit includes a display 12 for displaying input data on a screen and automatically displaying route guidance and the like on a screen in response to a driver's request, a data processed by the central processing unit 4 and an information storage device 3. A printer 13 that prints out stored data and a speaker 16 that outputs route guidance and the like by voice are provided.
[0009]
Here, a voice recognition device for enabling voice input and a recording card reading device for reading data recorded on an IC card or a magnetic card can be added. In addition, an information center that stores data necessary for navigation and provides congestion information and the like via a communication line at the request of the driver, and driver-specific data such as map data and destination data are stored in advance. It is also possible to add a data communication device for exchanging data with an information source such as an electronic organizer.
[0010]
The display 12 is composed of a color CRT or a color liquid crystal display, and has a target name input screen based on map data and guidance data processed by the central processing unit 4, a route setting screen, a section map screen, an intersection map screen, an intersection. In addition to outputting all screens necessary for navigation such as color display, buttons for setting route guidance, performing guidance during route guidance, and switching screens are displayed on this screen. In particular, the passing intersection information such as the passing intersection name is displayed in color in a pop-up on the section map screen at any time.
[0011]
The display 12 is provided in the instrument panel near the driver's seat, and allows the driver to check the current position of the vehicle by looking at the section map and obtain information on the route from now on. The display 12 is provided with a touch panel 11 corresponding to the display of the function buttons, and is configured to execute the above-described operation based on a signal input by touching the button. The input signal generating means including the button and the touch switch constitutes an input section, but a detailed description thereof will be omitted here.
[0012]
The current position detecting device 2 stores a GPS receiving device 21, a VICS receiving device 22, and data necessary for navigation using a satellite navigation system (GPS), and is provided via a communication line at the request of the driver. A data transmission / reception device 23 for exchanging data with the vehicle, an absolute azimuth sensor 24 including a geomagnetic sensor, a relative azimuth sensor 25 including a steering sensor, a gyro, and the like, and detecting a traveling distance from the number of rotations of wheels. A distance sensor 26 and the like are provided.
[0013]
The information storage device 3 includes map data, intersection data, node data, road data, photograph data, registered point data, guide point data, destination data, telephone number data, and a search program required for route guidance, for example, as shown in FIG. A CD-ROM 3a in which all data files and control programs necessary for the navigation device, such as a program for performing a search based on a running locus including processing and a program for executing a search in accordance with the number of registrations, It comprises a memory card 3b that stores road trajectories and stores trajectory data that can be used for route search. In the present embodiment, the various control programs are stored in the CD-ROM 3a, but may be stored in the first ROM provided in the central processing unit 4 described later.
[0014]
The central processing unit 4 includes a CPU 40 for executing various arithmetic processing, and a flash memory for reading and storing programs from a CD of an information storage device. This flash memory erases an existing program to enable rewriting even if the program of the CD is changed. Further, the first ROM 41 storing a program (program reading means) for performing a program check and update process of the flash memory, the searched route guidance information such as the set point coordinates of the destination and the road number, and data during the arithmetic processing are stored. RAM 42 for temporarily storing, second ROM 43 for storing display information data necessary for route guidance and map display, image memory 44 for storing image data used for screen display on a display, display output control signal from CPU 40 , An image processor 45 that extracts image data from the image memory 44, performs image processing and outputs the image data to the display, a voice read from the RAM 42 based on a voice output control signal from the CPU, a phrase, Sound is synthesized, converted to an analog signal, and output to the speaker 16. Processor 46, a communication interface 47 for exchanging input / output data by communication, a sensor input interface 48 for receiving a sensor signal of the current position detection device 2, a clock 49 for writing date and time in internal diagnostic information, and the like. It has. Here, route guidance is performed by screen display and voice output, and the presence or absence of voice output is configured so that the driver can select.
[0015]
FIG. 2 shows a configuration example of main data files stored on the CD-ROM 3a shown in FIG. FIG. 2A shows a guide road data file in which data necessary for calculating a route and performing route guidance by a route calculating means is stored. For each of the number n of roads, a road number, a length, a road It consists of address and size data of attribute data and shape data, and address and size of guidance data. The road number is set for each direction (outbound and return) for each road between the branch points. As shown in FIG. 2B, when each road is divided into a plurality of nodes (nodes), the shape data has coordinate data including east longitude and north latitude for each of the number m of nodes.
[0016]
As shown in FIG. 2 (C), the guide data includes intersection (or branch point) name, caution data, road name data, address of road name data, size, address of destination data, and size data. .
[0017]
The destination data includes a destination road number, a destination name, an address of destination name voice data, a size and a destination direction data, and travel guidance data as shown in FIG. The destination name includes a direction name. The destination direction data is invalid (do not use destination direction data), unnecessary (no guidance), straight ahead, rightward, diagonally rightward, rightward return, leftward, diagonally leftward, leftward return. This is data indicating information.
[0018]
Next, a processing flow of the vehicle navigation device based on the data stored in the information processing device 3 will be described with reference to FIG.
[0019]
When the program of the route guidance system is started by the CPU 51 of the central processing unit 4, the current position is detected by the current position detecting device 2, the data stored in the information storage device 3 is read out, and the current position is centered on the current position. A surrounding map is displayed, and the name of the current position is displayed (step S1). Next, a destination is set using a target name such as a place name or a facility name, a telephone number, an address, a registered point, and the like (step S2), and a route search from the current position to the destination is performed (step S3). When the route is determined, the route guidance / display is repeated until the vehicle arrives at the destination while tracking the current position by the current position detection device 2 (step S4).
Next, the locus data of the present invention stored in the memory card 3b of FIG. 1 will be described.
In the system of the present invention, a memory card for storing data relating to the road on which the vehicle has traveled is stored as trajectory data, and at the time of searching, trajectory data can be used in addition to the data stored in the CD-ROM 3a. .
[0020]
FIG. 4 is a diagram showing a configuration example of node data stored as trajectory data. In order to represent a traveled trajectory, points where the azimuth changes by a predetermined angle or more are sequentially numbered as their east longitude and north latitude coordinates. Is stored as a node. The intersection number is an identification number for identifying a node having a branch as an intersection. For example, a node having no branch is “0”, and a node having a branch is “1”.
[0021]
FIG. 5 is a diagram showing a configuration example of link data stored as trajectory data, in which lines connecting the nodes are registered as links. The link has a start node number and an end node number, and therefore has a direction. The number of runs is the number of times the vehicle has actually run, and the number of runs in the direction from the start point to the end point and the number of runs from the end point to the start point are updated each time the vehicle runs. The number of registrations by the user operation is not only the number of times the vehicle has actually been run but also the number of times the user has given a particular instruction, and is used for calculating the search cost and the like. The link length is the distance between the nodes, and the average vehicle speed is a value obtained from the accumulation of each speed since the number of times of running is known. The run date and time data is the date and time of the last run or the data of the run history. The road identification is an identification code for associating with the road data stored in the CD-ROM 3a. The roads registered in the CD-ROM 3a include a road as a guidance target and guidance for a thin road or the like. There are some roads that are not targeted, and this identification code is used to identify whether the road is a guide target or a road that is not registered in the CD-ROM 3a. If the data can be guided by CD-ROM data in the road identification, the road number in the map data of the CD-ROM is registered, and this is linked with the search result by the CD-ROM data. Since the link is sufficiently shorter than the road registered in the CD-ROM, the start position and the end position of the road in the map data indicate where the link exists in one road by a distance.
[0022]
FIG. 6 is a diagram showing a configuration example of intersection data stored as trajectory data, in which a node having a branch is registered as an intersection node. The number of entrance links indicates how many links are included in one intersection, and the traveling links are links that can proceed with respect to the entrance links. Referring to FIG. 7A showing the relationship between nodes and links, and FIG. 7B showing the relationship between links and intersection nodes, for example, at an intersection node on a four-way road, the number of approach links is 4, and one approach link Is three. Each traveling link number is assigned to each approach link number, the number of travels in the direction of approach → travel, the average time required for passing such as signal waiting and right / left turn times, and the date and time of travel (the date and time of the last pass or History data) is registered.
[0023]
Next, the route search processing of the present invention using CD-ROM data and locus data will be described.
FIG. 8 shows a search method selection process. At the start of a search, a menu screen can be used to select a route search using CD-ROM data or a route search using trajectory data.
[0024]
Next, a route search process using the locus data will be described with reference to FIG.
In FIG. 9, when a destination is set (step 103) directly from the menu screen of the route search or after a locus setting process is performed (step 101, step 102), the CPU 51 of the central processing unit 4 uses the route guidance system. Is started. Next, the trajectory data is read, a peripheral link search is performed using the departure point node as a search start point, and this search processing is performed until the search reaches the destination node (steps 104 to 106). When the route search is completed in this way, the current position is recognized, the traveling locus (node, link, intersection) is registered (steps 107 and 108), and route guidance is performed until arrival at the destination (steps 109 and 109). 110).
[0025]
Next, referring to FIGS. 10 and 11, a description will be given of the trajectory setting registration processing by a user operation according to the present invention.
The locus setting registration process by the user operation is a process called from the menu process (step 102) in FIG. That is, as shown in FIG. 10, when the setting of the trajectory is selected on the route search menu screen, the screen pops up to display the memory, display, and registration items, and when the registration item is selected, the trajectory is registered. .
[0026]
In FIG. 11, when the user performs a registration operation on the trajectory registration screen display (step 201, step 202), the trajectory to be registered is compared with the already registered trajectory (step 203), and whether or not the trajectory is a registered link is determined. Is determined (step 204). If it is a registered link, the link data is added to the number of registrations by the user operation (see FIG. 5). If not, a new link number is generated and registered (step 206).
[0027]
Next, a peripheral search process using the required time as a search cost will be described with reference to FIG.
First, the search cost of the search start node nd is set to v (step 601). The search cost v is a variable for weighting each link connected to one intersection and calculating the cost. It is determined whether or not the node nd is an intersection node (step 602). If the node is an intersection node, the number of traveling links for the search entry link of the node nd is set to nout (step 603), and if the processing for nout is not completed (step 603) 604), the number of travels in the direction of entry → traveling link is extracted from the intersection data (step 605). If the number of travels at the intersection is not 0 (step 606), the time required to pass through the intersection is determined by the variable v The average time) is added (step 607), and the required time between nodes (link) (the value obtained by dividing the link distance by the average vehicle speed) is added (step 608), and the result is set as the search cost of the traveling link. At this time, the number of registrations by the user operation is taken into consideration, and in the case of a link having a large number of registrations, the search cost is reduced by multiplying by a coefficient smaller than 1, so that the search is preferentially performed. Further, the search cost may be reduced according to the stage of the number of registrations. For example, the search cost may be reduced stepwise depending on the case of 1 to 5, 6 to 10, 11 to 15, 16 or more times. . The above processing is performed until the processing for nout is completed. If the number of times of travel is zero in step 606, no search is performed because there is a possibility that entry is prohibited. In step 602, if the node nd is not an intersection node, a link starting from the node nd is searched from the link data and the number of travels is extracted (steps 610 and 611). (Step 612), the required time between nodes is added to the variable v, and this is searched for (Steps 613 and 614). In Step 612, if the number of times the link travels is zero, the possibility of one-way traffic is high. Do not search because there is. When the search is completed, the search start node is updated. At this time, the node with the lowest cost is selected from the nodes under search, and such processing is performed until the destination node is reached. By this processing, a route search with the shortest required time is performed.
[Brief description of the drawings]
FIG. 1 is a diagram showing an example of a navigation device according to the present invention.
FIG. 2 is a diagram showing a configuration example of a main data file stored in a CD-ROM.
FIG. 3 is a flowchart for explaining the flow of the entire system.
FIG. 4 is a diagram showing a configuration example of node data.
FIG. 5 is a diagram illustrating a configuration example of link data.
FIG. 6 is a diagram illustrating a configuration example of intersection data.
FIG. 7 is a diagram illustrating the relationship between nodes and links and the relationship between links and intersection nodes.
FIG. 8 is a diagram illustrating selection of a search processing method.
FIG. 9 is a diagram showing a flow of a route search process of the present invention.
FIG. 10 is a diagram showing a screen for setting a trajectory.
FIG. 11 is a diagram illustrating a user operation registration process.
FIG. 12 is a diagram illustrating a peripheral link search processing flow.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Input-output device, 2 ... Current position detection device, 3 ... Information storage device, 3a ... CD-ROM, 3b ... Memory card, 4 ... Central processing unit, 11 ... Touch switch, 12 ... Display, 13 ... Printer, 16 ... speaker, 21 ... GPS receiver, 22 ... beacon receiver, 23 ... data transceiver, 40 ... CPU, 41 ... first ROM, 42 ... RAM, 43 ... second ROM, 44 ... image memory, 45 ... image processor, 46 ... voice processor, 47 ... communication interface, 48 ... sensor input interface, 49 ... clock.

Claims (6)

Current position detecting means for detecting the current position of the vehicle,
An input unit for inputting information necessary for calculating a destination and a route;
Storage means for storing data necessary for performing route guidance ,
Travel path data storage means for storing travel path data;
Route calculation means for calculating a route to a destination based on the data stored in the storage means and the travel path data stored in the travel path data storage means,
The vehicle, wherein the traveling locus data storage unit registers the number of registrations of the traveling locus by the input unit, and the route calculating unit calculates a route to the destination based on the registered number of the traveling locus. Navigation device. The registration number of the traveling locus, the vehicle navigation apparatus according to claim 1, characterized in that it is registered for each link connecting the nodes. 3. The vehicle navigation device according to claim 2, wherein the route calculation unit calculates the route while reducing a search cost of a link having a large number of registrations of the travel locus. The travel locus data storage means registers the number of travels for each link connecting nodes, and the route calculation means calculates a route to a destination based on the number of travels. 4. The vehicle navigation device according to claim 3, wherein: The travel route data storage unit registers an average vehicle speed for each link connecting nodes, and the route calculation unit calculates a route to a destination based on the average vehicle speed. 4. The vehicle navigation device according to claim 3, wherein: The traveling locus data includes node data registered when the angle of the azimuth change is greater than a predetermined value, link data generated and registered when the node data is registered , and an intersection which is node data having a branch. The vehicle navigation device according to any one of claims 1 to 5 , further comprising data .

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