JPH0690759B2 - Vehicle route guidance device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a device mounted on a vehicle for performing route guidance to an occupant.

<< Prior Art and its Problems >> Conventional devices of this type include, for example, JP-A-58-223017.
As shown in the publication, the distance between intersections is pre-stored for each pair of adjacent registered intersection sections, and the shortest route from the departure intersection to the destination intersection is selected based on this distance. However, there is a problem that the optimum route cannot always be obtained when the traffic condition changes according to the situation.

<Object of the Invention> An object of the present invention is to provide a vehicle route guidance device having a function of always selecting an optimum route irrespective of fluctuations in traffic conditions caused by road congestion or the like.

<< Structure of the Invention >> The present invention is configured as shown in the claim correspondence diagram of FIG. 1 to achieve the above object, has intersection information about each intersection, and when a departure intersection and a destination intersection are set, A vehicle that guides the vehicle to the target intersection while selecting a travel route based on the intersection information, determining the current location of the vehicle as the vehicle progresses, and displaying the current location overlaid on the map displayed on the display device. In the route guidance device, a storage unit a that stores a preset required time correlation amount for each pair of adjacent registered intersection sections, and a road that receives road congestion degree information for each pair of registered intersection sections from outside the vehicle. Based on the traffic congestion degree information received by the congestion degree information receiving means b and the road congestion degree information receiving means b, the required time correlation amount for each registered intersection section stored in the storage means is corrected. And correcting means c that, based on the required time correlation amount after correction, selecting means d for selecting the shortest time required path from a starting intersection to a destination intersection
And are provided.

<< Description of Embodiments >> First, the hardware configuration of the device of this embodiment is described below.
Description will be given with reference to the drawings.

As shown in the figure, this on-vehicle device is mainly a stored program type control device consisting of a CPU 1 mainly composed of a microprocessor, a system ROM 2 storing various control system programs and a RAM 3 used as a working area or the like. Is configured as.

Then, by causing the CPU 1 to execute various control programs (details will be described later) stored in the system ROM 2,
Various functions are realized as shown in the general flow chart of FIG.

The current position coordinates (X, Y) and the traveling distance ∫ΔD required during traveling are detected by the CPU 1 in response to an interrupt pulse obtained from the distance sensor 4 every time the vehicle travels a certain distance ΔD. (See FIG. 23) is executed and the unit vector addition process using the vehicle direction θ obtained from the direction sensor 5 and the simple integration process of the unit distance ΔD are performed.

Guidance information is transmitted to the driver visually by a VDT (Visual Display Terminal) (see FIG. 3) mainly by the video RAM 6 and CRT 7.

Various commands to the apparatus are issued using the input operation unit 8 including a numeric keypad or the like, or a known transparent operation panel 10 attached to the front surface of the VDT 9 as shown in FIG.

As shown in FIG. 3, when the transparent operation panel 10 is pressed with a fingertip or the like, the CPU 1 can detect the pressed portion via the operation panel interface 11.

Data ROM12 is used for storing various information such as road maps and intersections.
It is done by.

As shown in FIG. 4B, the data ROM 12 corresponds to each block (0,0) to (2,2) obtained by vertically and horizontally partitioning a reference road map (see FIG. 4A). Then, a plurality of block areas are provided.

Each block area further includes a plurality of intersection No. areas (1 to 8) corresponding to each intersection included in the block,
It is divided into (9-11), (12-18), etc.

Each intersection No. area is provided with an X, Y coordinate information area of the intersection, an adjacent intersection No. area, an orientation information area to the adjacent intersection, an intersection name information area, a flag area, and an inter number area.

Further, in the distance information area to the adjacent intersection, the travel distance of each adjacent intersection section is stored as the required time correlation amount.

The information described above is used for selecting a departure intersection, a destination intersection, route search processing, and guidance display processing (I) to (II), which will be described later.
It is used in case I) (see Fig. 10).

Further, in the data ROM 12, in addition to the intersection information described above, various kinds of information related to the present invention are stored as shown in FIGS. 5 to 9.

That is, in the data ROM 12, as shown in FIG. 5, each area name information storage area, reduced map information storage area corresponding to each area name, enlarged map information storage area corresponding to each zone of each reduced map, In addition to storing the spot name information included in the enlarged map, a table (see FIG. 6) that associates and stores each other area name with the number of the reduced map, and associates each Zone of the reduced map with the number of the enlarged map. Table (see FIG. 7), a table (see FIG. 8) in which each Zone of the enlarged map and its center coordinates are stored in association with each other, a name of a destination such as a resort and map coordinates of the destination. Tables (see FIG. 9) for storing and associating with each other are stored.

The meaning of each of these pieces of information will be described later in the process of identifying the starting point and the destination.

In addition, the in-vehicle device described above is a communication interface.
13, Traffic information center via modem 14 and wireless line 1
The vehicle-mounted device can receive traffic information such as road congestion degree wirelessly transmitted from the traffic information center 15 as described later.

The description centering on the hardware is completed above, and then the software configuration of the apparatus of this embodiment will be described with reference to the drawings starting from FIG.

As shown in the general flow chart of FIG. 10, the software configuration of the device of this embodiment is such that the starting point and the destination are specified (step 1001), the departure intersection and the destination intersection are selected (step 1002), and the route search processing is performed. (Step 1003), guidance display processing I (step 1004), guidance display processing II (step 1005), and guidance display processing III (step 1006).

Of these processes, only the route search process (step 1003) is directly related to the present invention, and the other five processes are not directly related.

However, although these five treatments have already been filed, they are still unpublished (for example, Japanese Patent Application No. 59-220481,
Japanese Patent Application No. 59-220484, Japanese Patent Application No. 59-242435, Japanese Patent Application No. 60-
57476, Japanese Patent Application No. 60-57478, Japanese Patent Application No. 60-70622, Japanese Patent Application No. 60-70623, and patent application on August 30, 1985. ).

Therefore, in the following description, only the shortest route search process (step 1003) will be described in detail in text, and the other five processes will be accompanied by a flowchart and various charts in which each process is specifically described in text. Instead, the explanation of the text in the specification shall be kept to the minimum necessary.

(A) Determining origin and destination In this process, the origin and destination are finally identified while interacting with the operator using the screen of VDT9.

That is, a list of area names is displayed on the screen (see FIG. 12), and the designated area is detected by pressing the transparent operation panel.

Next, a reduced map of the designated area is displayed (see FIG. 13), the transparent operation panel is pressed, and the designated zone is detected.

Next, an enlarged map of the designated zone is displayed (see Fig. 14), the pressing of the transparent operation panel is waited for, the final designated area is determined, and its center coordinates are specified as the starting point or the destination.

In addition, for those who are unfamiliar with geography, a list of point names is displayed (see Fig. 15), waiting for the transparent operation panel to be pressed, the specified point name being detected, and the coordinates of the starting point,
Recognize as the destination.

The above processing is performed by executing the starting point / destination specifying process shown in the flowchart of FIG.

The relationship between the pressed area and the reduced map number and the relationship between the pressed area and the enlarged map number are obtained by referring to the tables in FIGS. 6 and 7, and each image information is shown in FIG. The one stored in the data ROM 12 is used as shown in FIG.

Further, the relationship between the pressed portion and the center coordinates of each Zone and the relationship between the pressed portion and the point coordinates can be obtained by referring to the tables in FIGS. 8 and 9.

(B) Regarding selection processing of departure intersection and destination intersection This processing is based on the starting point coordinates (Xs, Ys) and destination coordinates (Xd, Yd) specified by the starting point / destination specifying processing. The XY coordinate information of each intersection shown in Fig. 4 is searched, and as shown in Fig. 17, the registered intersection that is in the direction of the destination from the point of departure and is closest to the point of departure outside the circle with a predetermined radius. Is selected as the departure intersection, and the registered intersection closest to the destination is selected as the destination intersection, as shown in FIG.

This is performed by executing the selection process of the departure intersection and the destination intersection shown in the flowchart of FIG.

(C) Route selection process FIG. 19A shows details of the route search process.

When this process is started, first, the traffic information sent from the traffic information center 15 via the wireless line is received and stored (step 1901).

As shown in FIG. 19C, in this example, the traffic information is represented for each congestion section I as a starting intersection No., an ending intersection No. and a congestion degree 1 to 3 of the congestion section.

When the reception and storage of the traffic information is completed, a process of correcting the distance information of the congestion section according to the congestion degree is then performed (step 1902).

In this processing, first, the intersection information file corresponding to each congestion degree section is read into the RAM as shown in FIG. 19D, and then the distance information correction processing shown in FIG. 19B is executed.

That is, the value of the congestion section counter I is sequentially updated from the initial value (step 1914) (step 1915), and the value of the congestion degree is read (step 1916). Convert to (step 1917,1918,191
9).

Next, the intersection section distance information is corrected by multiplying the distance information corresponding to the congestion section in the intersection information by these coefficients K (step 1920).

The above processing is performed until the value of the traffic jam section counter I reaches the maximum value Max.

Then, as shown in FIGS. 19D and 19E, the value of the distance information of the intersection space is appropriately extended according to the value of the degree of congestion, and the value is changed to the variable information area for the distance to the adjacent intersection of the intersection information file. Is stored.

That is, as shown in FIG. 19D, the information on the distance (fixed) area to the adjacent intersection is the required time correlation amount information represented by the path distance itself between the registered intersections, while the information on the adjacent intersections is shown. The content of the distance (variable) area up to is the required time correlation amount information obtained by considering the traffic situation, that is, the actual traffic flow velocity.

In this way, when the distance information of the congestion section is corrected according to the congestion degree, the optimum route from the departure intersection to the destination intersection, that is, the shortest required time route is subsequently obtained based on the corrected distance information.

This processing is performed by performing a traveling simulation on various routes from the departure intersection to the destination intersection on the road map, and sequentially storing the obtained registered intersections on the shortest required time route in the order of passage.

That is, first, all intersections adjacent to the departure intersection (that is, the primary intersection) are searched (step 1903).

Then, as shown in FIG. 20, the route from the departure intersection is searched and stored in the route storage area corresponding to each intersection based on the distance information corrected according to the traffic condition (step
1904).

After that, the value of the intersection counter N is initialized (step 1905).
While sequentially updating from (step 1913), all the intersections next to each Nth intersection, that is, the (N + 1) th intersections are searched (step 1906), and each time from the departure intersection to each (N + 1) th intersection. Ask for a journey (step 19
07), if the route is already stored in the route storage area at the (N + 1) th intersection (Yes at step 1908), as shown in FIG. 20, only if the route is shorter than the route already stored, Rewrite information (step 1909),
If no route has been stored yet (No at step 1908), the 20th route is stored in the route storage area corresponding to each intersection.
The route from the departure intersection is stored as shown (step 1910).

If the target intersection is detected in the (N + 1) th-order intersections during the above-mentioned operations (Yes in step 1911), the objective information is obtained as shown in FIG. 21 by relying on the road information up to each intersection. Shortest required time for returning from an intersection to a departure intersection
1912).

As a result, as shown in FIG. 21, when the above processing is completed, the shortest required time route from the departure intersection to the destination intersection is set and stored in the form of the passing intersection and the passing order. .

In the above embodiment, the distance information of the intersection section was stored in advance on the vehicle side, but instead of this, the calculated required time correlation amount information, that is, the expressway The present invention is applied to the present information even when the information that the road is short and the city road is long or the required time correlation amount information calculated under the assumption that all roads are driven at the same speed is stored. By correcting with the traffic flow velocity information, it is possible to always obtain the optimum shortest required time route information.

(D) Guide display processing (I) This processing is for guiding the travel route from the departure point to the departure intersection. As shown in FIG. And arrow-shaped segments are used to indicate the direction of the starting intersection, and also 300 m
After approaching within the range, as shown in FIG. 27, by using an intersection figure with the vehicle traveling direction right above, by displaying the starting road in black, the starting road direction, that is, the course at the intersection is displayed. At the same time, I draw a running track on the screen.

This is performed by executing the processing shown in FIGS. 22, 24, and 26, respectively.

(E) Guide display processing (II) In this processing, while confirming that the current position is not out of the planned traveling route, the approach to the next passing intersection is monitored, and the current position is confirmed each time the arrival at the intersection is confirmed. To fix
The above operation is repeated with the intersection to be passed next as a new target.

Further, in front of each intersection, as shown in FIGS. 35, 37, and 38, the route at the intersection is guided and displayed using the intersection figure and the route arrow.

When the intersection to be bent is a grade-separated intersection, as shown in FIG. 41, the central portion of the intersection figure is outlined, and a path arrow is attached to this to guide and display the path at the intersection.

Further, while traveling, the traveling locus is always displayed on the road map in a superimposed manner.

This is done by executing the respective processes shown in the flowcharts of FIGS. 28, 29, 34, 36, 39 and 40.

(F) Guide display processing (III) In this processing, as shown in FIG. 43, the direction of the destination is displayed by using the car figure and the arrow-shaped segment, and when the vehicle approaches the destination, Notifies the driver of this with an arrival notice, as shown in FIG.

This is done by executing the processing shown in the flowchart of FIG.

<< Effects of the Invention >> As is apparent from the above description of the embodiments, according to the vehicle route guidance device of the present invention, the optimum route from the departure intersection to the destination intersection is always set based on the traffic conditions such as road congestion. The route can be selected, and the usability of this type of device can be significantly improved.

[Brief description of drawings]

FIG. 1 is a diagram corresponding to the claims of the present invention, FIG. 2 is a block diagram showing the hardware configuration of the apparatus of this embodiment, and FIG. 3 is a VDT.
FIG. 4 is a perspective view showing a state in which a transparent operation panel is attached, FIG. 4 is a memory map showing the contents of an intersection information area provided in the external memory, and FIG. 5 is provided in the external memory in relation to the present invention. Area name information storage area, reduced map information storage area, enlarged map information storage area, memory map showing spot name information storage area, FIG. 6 shows the contents of a table in which each area name and the number of the reduced map are stored in association with each other. FIG. 7 is a memory map showing the contents of a table for storing each zone of the reduced map and the number of the corresponding enlarged map in association with each other. FIG. 8 is each zone of the enlarged map and the corresponding Zo.
FIG. 9 is a memory map showing the contents of a table for storing the table in which the center coordinates of ne are associated and stored. FIG. Is a general flow chart of the route guidance device, FIG. 11 is a flow chart showing details of the process of identifying the departure point and the destination, FIG. 12 is an explanatory diagram showing a state in which area names are collectively displayed on the VDT screen, and FIG. Explanatory diagram showing reduced map displayed on VDT screen, Fig. 14 shows VD
Explanatory diagram showing the enlarged map displayed on the T screen, No. 15
The figure is an explanatory view showing a state in which a point name list is displayed on the VDT screen, Fig. 16 is a flow chart showing a selection process of a departure intersection and a destination intersection, and Fig. 17 is an explanatory diagram showing an algorithm for selecting a departure intersection, 18th. FIG. 19 is an explanatory diagram showing an algorithm for selecting a target intersection, FIG. 19A is a flowchart showing details of the shortest route search processing, FIG. 19B is a flowchart showing details of distance information correction processing, and FIG. 19C is a traffic information format. Fig. 19D is a memory map showing the contents of RAM, Fig. 19E is a diagram showing the relationship between intersection sections and the degree of congestion, and Fig. 20 is a memory map showing the details of the route storage area provided in RAM. FIG. 21 is a memory map showing the details of the intersection number area provided in the RAM, FIG. 22 is a flow chart showing the details of the guidance display processing (I), and FIG. 23 is the contents of the current location calculation processing executed by interruption. Indicates Fig. 24 is a flow chart showing details of departure intersection direction display processing. Fig. 25 is an explanatory diagram showing a display example on the VDT screen on the way from the departure place to the departure intersection. Fig. 26 is a departure road direction display. Fig. 27 is a flowchart showing details of the process, Fig. 27 is an explanatory diagram showing a display example on the VDT screen when approaching the departure intersection, Fig. 28 is a flowchart showing details of the guidance display process (II), and Fig. 29 is next. Fig. 30 is a flow chart showing the details of the route guidance preparation processing to the passing intersection, Fig. 30 is a road map example showing the relationship between the test circle A, the test circle B, the error test oval, etc. in the state toward the straight intersection, Fig. 31 is An example of a road map showing the relationship between the test circle B and the error test oval in the state of going to a bent intersection, Fig. 32 is an explanatory diagram showing the test area at the time of entering a bent three-dimensional intersection, and Fig. 33 is a bent three-dimensional vehicle. The state of each test area at the time of exiting the intersection Fig. 34 is a flow chart showing details of route guidance display processing and current position correction processing when passing straight ahead at an intersection, and Fig. 35 is an explanatory diagram showing a display example of a VDT screen when approaching a straight ahead intersection, and Fig. 36. Is a flow chart showing the details of the route guidance display processing and current position correction processing when passing through a normal intersection bend, Fig. 37 is an explanatory view showing a display example of the VDT screen when a bend plane intersection is approaching, and Fig. 38 is a bend Explanatory diagram showing a display example of VDT screen when approaching a level intersection, FIGS. 39 and 40 are flowcharts showing details of route guidance display processing and current position correction processing when passing through a normal intersection bend, and FIG. VD near a bent intersection
Fig. 42 is an explanatory diagram showing a display example of the T screen, and Fig. 42 shows the guidance display processing (I
II) is a flowchart showing the details, FIG. 43 is an explanatory view showing a display example of a VDT screen when approaching a destination intersection, and FIG. 44 is an explanatory view showing a display example of a VDT screen when approaching a destination. a ... storage means b ... road congestion degree information receiving means c ... correction means d ... selection means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kazuhiko Yoshida 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (56) References JP-A-60-115000 (JP, A) JP-A-58-92907 (JP, A) JP-A-59-85599 (JP, A)

Claims (1)

[Claims] 1. Having intersection information about each intersection, when a departure intersection and a destination intersection are set, a travel route is selected based on this intersection information, and the current location of the vehicle is obtained as the vehicle progresses. In a vehicle route guidance device that guides the vehicle to the target intersection while displaying this current position on the map displayed on the display device, the required time correlation amount set in advance for each pair of adjacent registered intersection sections. Based on the road congestion degree information received by the road congestion degree information receiving means, and the road congestion degree information receiving means for receiving the road congestion degree information for each pair of registered intersection sections from outside the vehicle. Correcting means for correcting the required time correlation amount for each registered intersection section stored in the storage means, and the shortest route from the departure intersection to the destination intersection based on the corrected required time correlation amounts A route guide device for a vehicle, comprising: a selecting unit that selects a time route.