JPH0642280B2 - Vehicle guidance device outside guidance route of route guidance device for vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention provides an apparatus for guiding a vehicle route by instructing a driver of an intersection passage direction before each midway intersection of a guidance route and guiding the vehicle from a vehicle starting position. The present invention relates to a device for guiding a vehicle outside a guidance route by instructing a driver in a direction toward a first registered intersection of a route or a direction from a last intersection of a guidance route toward a vehicle destination position.

<< Prior Art >> In this type of device disclosed in Japanese Patent Laid-Open No. 57-2111510, a registered intersection located near a preset vehicle start position or destination position is selected as an end intersection of a vehicle guidance route. Is set.

Then, the vehicle driver is instructed in the direction from one of the set positions and the corresponding one of the end intersections of the vehicle guidance route toward the other, whereby the vehicle moves from its starting position to the first end intersection of the vehicle guidance route, or at its end. You will be guided to the destination from the intersection at the end.

<< Problems to be Solved by the Invention >> However, in the past, the sea or lake was set between the set position (vehicle departure position or destination position) and the end intersection (first registered intersection or final registered intersection of the vehicle guidance route). ，
There are unsuitable ranges for vehicles such as rivers and ponds that make it impossible for the vehicle to travel, or mountains such as mountains that have a short straight distance but a very long road on which the vehicle travels. If it exists, the vehicle is guided toward the unsuitable range, and there is a problem that the vehicle cannot reach the first intersection of the vehicle guidance route or the vehicle departure position, or that it takes a long time to reach it. It was

<< Means and Actions for Solving Problems >> To achieve the above object, the apparatus according to the present invention is configured as shown in FIG.

In the figure, the intersection position of each registered intersection is stored in the intersection position storage means 50.

Then, the registered intersection located near the preset vehicle start position or destination position is selected by the end intersection selection means 52 as the end intersection of the vehicle guidance route.

In addition, an end intersection selection range restriction line indicating the intersections of mountains, rivers, seas, etc. is set in the restriction line setting means 54, and the selection range of the end intersection selected by the end intersection selection means 52 is The straight line connecting the end intersection and the set position is limited by the end intersection selection range limiting means 56 within a range where the straight line intersects the set line.

The direction from one of the set position and the end intersection to the other is instructed by the direction indicating means 58, whereby the vehicle departs from the departure position toward the end intersection located in the vicinity thereof or from the start position side end intersection. You are guided towards the position.

<Example> A preferred example of an apparatus according to the present invention will be described below with reference to the drawings.

In FIG. 2, the CPU 1 performs processing using the RAM 3 in accordance with the contents of the system ROM 2, and the traveling distance detection signal and the orientation detection signal detected by the distance sensor 4 and the orientation sensor 5 for confirming the traveling position of the vehicle. Is the CPU
It is used for processing 1.

The driver of a vehicle equipped with this device has a video RAM 6, C
Information is given by using the RT7, and the input operation unit 8 including a numeric keypad or the transparent operation panel 1 attached to the front surface of the VDT 9 in FIG.
Information is given using 0.

The VDT 9 is composed of a video RAM 6 and a CRT 7, and the transparent operation panel 10 is provided with the operation panel interface 11 shown in FIG.

Further, the external memory 12 in FIG. 2 is composed of a floppy disk device, an optical disk device, a magnetic tape device, etc., and FIG. 4 shows the structure of the data stored in the external memory 12.

As can be understood from FIG. 4, the external memory 12 is provided with an intersection data storage table, a block-intersection No. conversion table, and a straight line data table.
The contents are shown in FIGS. 5, 6, and 7, respectively.

Among them, in the intersection data storage table of FIG. 5,
In the figure, a plurality of block areas are provided corresponding to each block obtained by vertically and horizontally partitioning the reference road map 13.

The block areas correspond to the block numbers in FIG. 6, and each block area is divided into a plurality of intersection areas corresponding to the intersections included in them.

And in each intersection area, the intersection No., the X coordinate position of the intersection, the Y coordinate position, the No. of the adjacent intersection, the distance to each adjacent intersection, the direction of the road to those adjacent intersections,
The intersection type data indicating the name of the intersection, whether the intersection is a grade separation intersection, a level intersection, or an entrance / exit registration intersection of an expressway is stored.

As described above, the position data of each registered intersection is stored in the external memory 12 together with other data.

Here, in the straight line data storage table of FIG.
Coordinate data X ₁ , Y ₁ , on each line with an ID number,
X ₂ and Y ₂ are associated with each other, and the coordinate data X ₁ and Y ₁ specify the starting point coordinates of the straight line, and the coordinate data X ₂ and Y ₂ specify the ending point coordinates of the straight line.

As described above, in the table of FIG. 7, a plurality of straight lines whose IDs can be designated and whose start and end points are indicated by coordinates are specified. These straight lines are used for vehicles such as seas, rivers, and lakes. It is set on a vehicle that cannot travel or when the vehicle travels from one point to another such as a mountain, where the traveling distance becomes extremely long.

For example, in FIG. 7, the straight line designated by the ID number 2 is the sea 60 in which the vehicle cannot travel as shown in FIG.
Is set on the existing range.

In addition to the tables shown in FIGS. 7 and 5 and 6, the partial memory 12 has an area for storing other data in the fourth area.
It is prepared as shown in the figure and their data structure is
These are shown in FIGS. (A), (B), (C) and (D), respectively.

By utilizing these stored contents, the starting position and the destination position are specified (step 1001 in FIG. 10) when the apparatus is used.

In the processing, the display of FIG. 12 is first performed, and when the "Miura Peninsula" display portion of the transparent operation panel 10 is pushed as shown in FIG. 12, the display of FIG. 13 is performed.

When the transparent operation panel 10 is further operated as shown in FIG. 13, the display of FIG. 14 is displayed.

In FIG. 14, when any one of the regions demarcated by the broken line is pushed, the center coordinates thereof are taken as the starting position or the destination position of the vehicle, and the "LIST" portion is operated to display the display of FIG. When any of the spot name display portions is pushed as shown in the figure after is selected, the starting position or the destination position of the vehicle is set as its coordinate position.

In this way, when the starting position and the target position are specified (step 1001) to obtain coordinate positions Zs (Xs, Ys) and Zd (Xd, Yd) for them, they are present around them. Among the registered intersections on the road, the departure intersection and the destination intersection located in the vicinity are selected as the end intersections of the guide route (step 1002 in FIG. 10).

The selection process of the departure intersection and the destination intersection is performed by the processing procedure shown in the flow chart in FIG. 16, and the departure intersection has its position Zs as understood from FIG.
The closest position Z ₁ (X ₁ , Y ₁ ) among those existing on the target position Zd (Xd, Yd) side of (Xs, Ys) and separated by a certain distance (3 km) or more is selected. The target intersection is selected at the position closest to the position (Xd, Yd) as understood from FIG.

Selection processing of the above-mentioned departure intersection and destination intersection (step 1
002), the guide route search process (step 1003) of FIG. 10 is started using the departure intersection and the destination intersection.

The contents of the process are shown in the flow chart of FIG.
The guide route that sets the shortest distance from the departure intersection to the destination intersection is set.

In the process of FIG. 19, a vehicle traveling simulation is performed in which the distance between intersections (2 bytes) of FIG. 5 is added along all the routes starting from the departure intersection, and from the already traveled route reaching the same intersection. The shortest route is selected (see FIG. 20), and the one that the vehicle first reaches the target intersection during the traveling simulation is set as the shortest distance guidance route.

At the time of setting, the distance between intersections is sequentially subtracted from the total intersection distance of the shortest distance route to the target intersection from the target intersection side, and compared at each midway intersection, so that the distance from the target position side to the start position side is changed. And the number of each registered intersection existing on the shortest route is sequentially set (21st
See figure).

When the shortest route is set as above,
Processing for displaying to guide the vehicle from the starting position to the destination position is performed (step 1004 in FIG. 10).

In that process (step 1004), FIG.
The process shown in FIGS. 24 and 24 is being performed. First, as shown in FIG. 25, the direction of the departure intersection is displayed together with the traveling locus.

When the vehicle approaches within 300m of the departure intersection,
As shown in FIG. 27, an intersection figure in which the vehicle traveling direction is set to 12 o'clock is displayed in the upper left corner of the screen, and at that time, the guide route is specified as shown in the figure.

When the vehicle is guided to the departure intersection in this way, display processing (step 1005 in FIG. 10) for guiding the vehicle from the departure intersection to the destination intersection is started.

The contents of this processing (step 1005) are shown in FIG.
9, 30, 31, 31, 32, 33, 3
4, FIG. 35, FIG. 36, FIG. 37, FIG. 38, and FIG.
As described with reference to FIGS. 9, 40, and 41, it has been confirmed that the vehicle traveling position deviates from the guide route.

The approach to the next-pass intersection is monitored, and the current position is corrected and the next-pass intersection is set each time the intersection is confirmed.

Further, in front of each midway intersection, as shown in FIGS. 36 and 37, the traveling direction of the intersection is guided and displayed by using the intersection graphic and the path arrow.

If the midway intersection to turn right or left is a grade crossing or an expressway entrance / exit, the center of the intersection figure is outlined as shown in FIG. Is displayed as a guide.

The running locus is always displayed on the road map while the vehicle is running.

After that, when the vehicle reaches the destination intersection, a display for guiding the vehicle from the destination intersection to the destination position is displayed (processing of step 1006 in FIG. 10).

The contents of the processing for displaying the information are shown in FIG. 42. By performing this processing, the direction of the target position is displayed as shown in FIG. 43 by using the automobile figure and the segment on the arrow. When the vehicle approaches the target position, the driver is informed by the arrival notification as shown in FIG.

As described above, in the present embodiment, the shortest general road guidance route is automatically set by the data input about the starting position and the destination position, and the guidance of the vehicle is displayed along the general road guidance route. Has been done.

Here, FIG. 45 is a flow chart showing the processing contents of FIG. 16 in more detail. When the switching flag is set (step 4501), the vehicle starting position,
The target positions are read and they are set in the reading order (steps 4502 and 4503).

When the count value of the counter indicating the ID number in FIG. 7 is reset (step 4504), the count value becomes the last ID number (step 450).
5 is positive), the coordinates are sequentially incremented (step 4506), and the coordinate data X ₁ , Y ₁ , X ₂ , Y _{2 of the} straight lines corresponding to the count values of the ID numbers are sequentially read (step 4507). ).

When the coordinate data indicating any straight line is read in the meantime, the count value of the counter indicating the intersection number in FIG. 5 is reset and the comparison reference distance D _REF is set to infinity (steps 4508 and 4509). The XY coordinate data (see FIG. 5) of all registered intersections are sequentially read until the count value of the intersection number counter reaches the final value (affirmative determination in step 4510) (step 4512).

Further, on condition that the setting of the switching flag is confirmed (affirmative determination by the switch 4513), these registered intersections exist in the area closer to the target position than the vehicle starting position and more than 3 km away from the starting position. It is determined whether or not it is present (steps 4514 and 4515).

Then, regarding the registered intersections existing in the area (affirmative determination in steps 4514 and 4515), whether or not the straight line connecting these intersections and the starting position intersects with the straight line selected at that time (step 4506). Is determined (step 4516).

For example, in the case of FIG. 8, this determination is made in steps 4516-1, 4516-2, 4516-3, 4 of FIG.
516-4 is performed, and the starting position (Xs, Yd) is closer to the target position (Xd, Yd) than the straight line represented by -Y (Yd-Ys) = X (Xd-Xs) in FIG. of all the registered intersections existing in the region away from Ys) 3 km or more, they intersection as a starting position (Xs, Ys) and the straight line connecting the _{(X B2 -X B1) (Y} -Y B2) = Y (B2 -Y _B1 ) (X-X _B2 ) is selected so as not to intersect with the straight line (judgment not to intersect in step 4516).

In this way, when the registered intersections that are present in the area on the destination position side of the departure position and 3 km or more away from the departure position and the straight line connecting the departure position does not intersect the set straight line are selected, those selected intersections are selected. It is determined whether the straight line distance L from the start position to the starting position is less than the comparison reference distance Dref (step 4517).

When the comparison reference distance Dref is greater than or equal to the straight line distance L, the distance is reduced to that distance (step 4518), and the intersection Braille sign at that time is stored (step 4519).

Therefore, of these registered intersections, the one closest to the departure position is selected.

For example, in FIG. 8, registered intersections I, J, K, L,
Of M, N, O, P, Q, R, the starting position (Xs, Y
s), which is on the target position side (Xd, Yd) and is 3 km or more away from the starting position.
P, Q, R are selected, and the starting position (Xs, Ys)
Registered intersection J, where the line connecting to and does not intersect the set line
When L, M, N are selected from them, the registered intersection J closest to the starting position (Xs, Ys) among those registered intersections J, L, M, N is finally selected and the intersection number is held. It

The registered intersection J finally selected as described above is set as the departure intersection of the vehicle guidance route.

After that, when the final ID number indicated by the count value of the ID number counter reaches the final one (affirmative determination in step 4505) and the departure intersection is confirmed, the switching flag is reset (step 4520), and the departure flag is set. The set position of the position and the target position is exchanged (step 452).
1).

As a result, similarly to the above, the registered intersection closest to the destination position is confirmed as the destination intersection of the guide route (step 4505), and the reset confirmation of the switching flag is confirmed (step 45).
22) terminates the process.

However, in that case, steps 4514 and 4515 are omitted (jump from step 4513 to step 4516), and the closest registered intersection is selected as the target intersection unless the straight line connecting the target position intersects with the set straight line.

For example, in FIG. 8, the registered intersection R and the destination position (X
Since the straight line connecting (d, Yd) does not intersect with the set straight line and the intersection R is closest to the target position (Xd, Yd), this registered intersection R is selected as the target intersection of the guide route.

As a result, in FIG. 8, among the registered intersections which are on the destination side from the starting position and are 3 km or more away from the starting position,
The nearest registered intersection P with the sea 60 in between is not selected as the departure intersection, and the direction is as described above toward the nearest registered intersection J (departure intersection) selected avoiding the sea 60. You will be guided by instructions.

When the vehicle reaches the registered intersection P (target intersection),
From that position, a similar guide is made toward the target position (Xd, Yd).

As described above, according to the present embodiment, when the vehicle departure position or the destination position is set near the sea, river, lake, mountain, etc., the departure intersection and the destination intersection are within a direction range in which they are not interposed. Is selected, it is possible to reliably and easily reach the starting intersection and the destination position only by indicating the direction.

The data structure shown in FIG. 7 is used as the data structure shown in FIG. 46. For example, as shown in FIG. 47, four straight lines are specified at two coordinate positions, and the starting intersection is set in a range where the set straight line and the calculated straight line do not intersect. It is also preferable to change the processing of FIG. 45 so as to select the target intersection.

<< Effects of the Invention >> As described above, according to the present invention, a departure intersection or a destination intersection where no sea, mountains, rivers, etc. are present between the vehicle departure position or the destination location is selected. It is possible to reach the position reliably and easily in a short time.

[Brief description of drawings]

1 is a block diagram showing a preferred embodiment of the apparatus according to the present invention, FIG. 3 is an explanatory view of a VDT and a transparent operation panel, FIG. 4, FIG. 5, FIG. FIG. 7, FIG. 7 is an explanatory diagram of the stored contents of the external memory in FIG. 2, FIG. 8 is an explanatory diagram of an example of setting a regulation line, and FIG. 9 is an explanatory diagram of the stored contents of the external memory in FIG. 2, FIG. Figure 11 is the second
Figure CPU processing procedure explanatory diagram, FIG. 12, FIG. 13, first
4 and 15 are display screen diagrams for explaining the specifying operation of the starting position and the destination position, FIG. 16 is a diagram for explaining the processing procedure of the CPU in FIG. 2, and FIGS. 17 and 18 are the starting intersection and the destination intersection. FIG. 19 is an explanatory view of the selection operation, FIG. 19 is an explanatory view of the processing procedure of the CPU in FIG. 2, FIG. 20 and FIG. 21 are memory map views explaining the search operation of the shortest guide route of the general road, FIG. 22 and FIG.
FIG. 3 and FIG. 24 are explanatory diagrams of the processing procedure of the CPU shown in FIG.
FIG. 5 is a display screen view explaining the vehicle guiding action up to the departure intersection, and FIG. 26 is a processing procedure explanatory view of the CPU shown in FIG.
Fig. 7 is an explanatory view of the screen display in front of the departure intersection, No. 28
FIG. 29 is a diagram for explaining the processing procedure of the CPU shown in FIG. 2, FIG.
FIGS. 31, 31, 32, and 33 are explanatory diagrams of processing contents at the time of route guidance, and FIGS. 34 and 35 are FIG. 2 CPU.
36, 37 are screen display diagrams for explaining route guidance action, FIGS. 38, 39 are FIG. 2C.
PU processing procedure explanatory diagram, FIG. 40 is a screen display diagram for explaining a vehicle guidance action at a grade intersection, FIGS. 41 and 42 are FIG. 2 CPU processing procedure explanatory diagrams, FIG. 43 and FIG. FIG. 45 is a screen display diagram for explaining the vehicle guiding action to the position, FIG. 45 is a process procedure explanatory diagram of the CPU in FIG. 2, and FIG.
FIG. 6 is a diagram for explaining the stored contents of the external memory in FIG. 2, and FIG. 47 is a diagram for explaining a regulation line setting example. 1 ... CPU 2 ... System ROM 3 ... RAM 4 ... Distance sensor 5 ... Direction sensor 6 ... Video RAM 7 ... CRT 8 ... Input operation section 9 ... VDT 10 ... Transparent operation panel 11 ... … Operation panel interface 12 …… External memory

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masakazu Kakuda 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (72) Seiichi Tojo 2 Takaracho, Kanagawa-ku, Yokohama, Nissan Nissan Motor Co., Ltd. (72) Inventor Hiroshi Ueno 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (72) Inventor Shinya Ishikawa 2 Takara-cho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (72) Takeshi Fukuda 31 Ohira, Tone-machi, Kitasoma-gun, Ibaraki Niles Parts Technology Center

Claims (1)

[Claims] 1. An intersection position storage means for storing the intersection position of each registered intersection, and an end intersection selection for selecting a registered intersection located near a preset vehicle start position or destination position as an end intersection of a vehicle guidance route. Means, restriction line setting means for setting the intersection selection range restriction line, and end intersection selection range restriction means for prohibiting the selection of the end intersection over the azimuth range where the straight line connecting the setting position and the end intersection intersects the setting line, A vehicle guidance device outside a guidance route for a route guidance device for a vehicle, comprising: a direction instruction means for indicating a direction from one of the set position and the end intersection toward the other to guide the vehicle to the other side.