JPH06186048A - Method for guiding along course - Google Patents

Abstract

PURPOSE:To guide a vehicle on an optimum course for actual road conditions. CONSTITUTION:A course retrieval portion 14 retrieves the optimum course from a starting point to a destination using map data and the retrieved guide course data is stored in a guide course storage portion 16 and an entrance/exit specifying and comparing portion 26 specifies the entrance point of a VICS rest area on the guide course. During travel a map image describing portion 13 and a guide course describing portion 18 operate in conjunction with each other to display the map of an area around the position of the vehicle on a screen, together with the guide course using both map data from a CD-ROM 1 and guide course data from the guide course storage portion 16, so as to guide the vehicle on the specified course. If the entrance/exit specifying and comparing portion 26 detects that the vehicle has reached the entrance point while traveling on a guide course, the course retrieving portion 14 retrieves the optimum course beyond the entrance point while taking dynamic information obtained from VICS into account, and renews part of the guide course data stored in the guide course storage portion 16 and then guides the vehicle on the course using the renewed guide course data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route guidance method capable of traveling on an optimum route to a desired destination, and more particularly to a route guidance method.
The present invention relates to a route guidance method in which dynamic information such as travel regulations and traffic congestion provided by ICS is taken into consideration and a route is guided according to actual road conditions.

[0002]

2. Description of the Related Art An in-vehicle navigator has a large-capacity storage device such as a CD-ROM for storing a large amount of map data, a display device, and a vehicle position detection device for detecting the current position of a vehicle. CD-R corresponding map data
The map is read from the OM, the map is drawn on the display screen based on the map data, the vehicle position mark (location cursor) is fixed at a specific position (for example, the center of the screen) on the display screen, and the map is scrolled according to the movement of the vehicle. Display or fix the map on the screen,
The vehicle position mark is moved and displayed so that the user can easily recognize where the vehicle is currently traveling.

The map stored in the CD-ROM is divided into map sheets of a longitude width and a latitude width of an appropriate size according to the scale level, and roads and the like are vertices (nodes) expressed in latitude and longitude. , Which are represented by a coordinate set of, and these drawing is performed by connecting each node in order by a straight line. The road is composed of two or more nodes connected to each other, and a part connecting the two nodes is called a link. As shown in FIG. 19, the map data is divided into four data units (4
Each data sheet corresponds to one screen. The map data includes (1) a road layer including a road list, a node table, an intersection node list, and an adjacent node list, (2) a background layer for displaying roads, buildings, rivers, etc. on the map screen,
(3) It is composed of a character layer for displaying the names of cities, towns and villages, road names, and the like.

Of these, the road layer has the structure shown in FIG. The road list RDLT is classified into roads by road type (highway, national road, other roads), the total number of nodes that make up the road, and a node table N of nodes that make up the road.
It is composed of data such as the position on the DTB and the width to the next node. Intersection node list CRLT
Is a node table N of the other end nodes of links (referred to as intersection constituent nodes) for each intersection on the map
It is a set of positions on the DTB. Adjacent node list NN
In the case of an adjacent node in which a node is defined as a unit boundary on a road that spans multiple units and shared by multiple units (see FIG. 21), the LT indicates the number of units shared by other units except its own unit. Number of adjacent nodes shown (Fig. 2
For the adjacent node RN defined by the unit AU ₁ (AU ₂ ) in 1 (1), the other shared unit is AU.
₂ (AU ₁ ), the number of adjacent nodes is 1, and FIG.
2 (2) Adjacent node RN defined in unit AU ₁₁
About other shared units are AU ₁₁ , AU ₂₁ , A
Since U ₂₂ is three, the number of adjacent nodes is 3), the leaf number,
It is configured by the unit code to which the adjacent node belongs in the map leaf and the position on the node table in the unit.
The node table NDTB is a list of all nodes on the map. Coordinate information (longitude, latitude) for each node, an intersection identification flag indicating whether or not the node is an intersection, and if the intersection is an intersection, the node configuration node list is displayed. Pointer pointing to the position, if not an intersection, a pointer pointing to the position of the road to which the node belongs on the road list, an adjacent node identification flag indicating whether or not the node is an adjacent node, if the adjacent node,
It is composed of a pointer or the like pointing to a position in the adjacent node list NNLT.

By the way, the vehicle-mounted navigator has a route guidance function of searching for an optimum route that allows the user to reach the destination from the destination in the shortest time and displaying the guidance route on the screen to guide the driver. When driving, the guide route is displayed in a specific color in bold so as to be distinguishable from other roads so that the driver can easily reach the destination. A method using a horizontal search method has been proposed as a method for obtaining an optimum route connecting a starting point to a destination. This method refers to the road data of the CD-ROM and refers to all intersections existing in one or a plurality of adjacent quadrants including all rectangular areas having a straight line connecting a starting point and a destination as a diagonal line. In addition to the intersections, the intersection netlist CRNL is created for each intersection and stored in the route search memory for each intersection, or the intersection netlist is stored in advance. CD-
If it is stored in the ROM, the intersection netlist included in the required area is read out and stored in the route search memory, and the shortest route from the departure point to the destination is searched by referring to the intersection netlist. is there.

The intersection netlist CRNL includes (1) intersection sequential number (information for identifying the intersection) for each intersection (including intersection nodes and simple nodes that are adjacent nodes). 2) Map leaf number of the map including the intersection (3) Data unit code (4) Position on node table (5) Longitude (6) Latitude or more, intersection ID (7) Position on intersection constituent node list (the intersection Is an original intersection node) (8) Number of intersection constituent nodes (same as above) (9) Position on adjacent node list (when the intersection is an adjacent node) (10) Number of adjacent nodes (same as above) (11) Each adjacent Intersection sequential number (12) Distance to each adjacent intersection (13) Road type to each adjacent intersection (14) Intersection seat immediately before the intersection Nsharu number (15) total distance from the departure point to the intersection (16) Search degree or the like of the intersection are registered (where (14) -
(16) is registered when the route search is executed).

As shown in FIG. 23, the method of creating an intersection netlist from a road layer that does not include the intersection netlist CRNL is as follows. First, as shown in FIG. 23, for each drawing leaf including a square area having a straight line connecting a starting point and a destination as a diagonal line. The map leaf number is obtained from the map leaf management information of the map data. Then, from these map data, the road data for each of the four-divided map leaves (AU ₁₁ to AU _{44 in} FIG. 23) including a rectangular area whose diagonal line is a straight line connecting the starting point and the destination is input from these map leaves. (Each quadrant is identified by a leaf number and a data unit code), and the node table NDTB is searched for a node with an intersection identification flag or an adjacent node identification flag.
Prepare an intersection netlist with sequential numbers (1) for intersections on the route search memory, and enter the intersection ID.
Is registered ((2) to (6)). Then, from the node table, intersection configuration node list, adjacent node list,
Obtain the position on the intersection configuration node list, the number of intersection configuration nodes, the position on the adjacent node list, and the number of adjacent nodes,
Register (7) to (10).

[0008] Next, for each road in the road list RDLT, by referring to the node table NDTB, the distance of the link between adjacent intersections (including the case where one is a simple node and the adjacent node), the road type Obtained, the intersection netlist related to one intersection of the link, the other intersection of the link as an adjacent intersection, the intersection sequential number (adjacent intersection sequential number) registered in the intersection netlist related to the adjacent intersection, the distance of the link , Road types are registered ((11) to (13)). If the target for which the intersection netlist is created also serves as the adjacent node at the intersection node, or if it is the adjacent node of the simple node, the intersection netlist is created even under other shared units for the same adjacent node. Therefore, the adjacent node list NNLT is referred to search for the intersection sequential number in all other shared units, and the adjacent intersection sequential number, distance, and road type are listed in the intersection netlist. Register and perform adjacent node connection processing. At this time, the distance is 0. Finally, each intersection netlist CRNL is numbered sequentially from 1 with an intersection sequential number. This is the intersection netlist CRNL
Is completed.

FIG. 24 is a schematic explanatory view of the horizontal search method.
The road is a straight line, and the intersections (including adjacent nodes at simple nodes) are made into the intersections of the straight lines. The distance between each intersection and the road type are known, STP is the departure point (intersection), and DSP is the purpose. It is the ground (intersection). In the horizontal search method, while referring to the intersection netlist CRNL, the departure place is set as a 0th-order intersection (degree 0 is registered in (16) of the intersection netlist), and the 0th-order intersection is adjacent along the road. Search for the primary intersections A _{1 to} A _4, and for each primary intersection A _{1 to} A ₄ , from the departure point via the corresponding previous intersection (an intersection of one lower order. Here is the departure point intersection) Calculate the cumulative distance of each intersection A ₁ ~
Corresponding to A ₄ , 1 in each intersection netlist
Intersection sequential number that identifies the previous intersection,
It is registered together with the search order 1 ((14) to (16) in the intersection net list).

Then, a secondary intersection B _ij is searched for each of the primary intersections A _{1 to} A ₄ , and a cumulative distance from the departure point via the corresponding preceding primary intersection is calculated for each secondary intersection, Corresponding to each intersection B _ij , it is registered in each intersection net list together with the intersection sequential number that specifies the previous intersection and the search order 2. When calculating the cumulative distance, simply use (1
Instead of adding the distance registered in 2), the distance is weighted and added according to the road type registered in (13) of the intersection net list. Specifically, the weighting factor k is set to, for example, 1 for a highway, 2 for a national road, and 3 for other roads so that the cumulative distance is inversely proportional to the expected average traveling speed.

Regarding the primary intersection A ₁ , three secondary intersections B ₁₁ , B ₁₂ and B ₁₃ are found, and corresponding to each of these intersections, B ₁₁ : Cumulative from the departure point via the primary intersection A _1. Distance Bd ₁₁ B ₁₂ : Cumulative distance from departure point via primary intersection A ₁ Bd ₁₂ B ₁₃ : Cumulative distance from departure point via primary intersection A ₁ Bd ₁₃ ··· (a) It is stored together with the intersection sequential number of A ₁ . Further, three secondary intersections B ₂₁ , B ₂₂ , and B ₂₃ are obtained for the primary intersection A ₂ , and each secondary intersection B
Corresponding to ₂₁ , B ₂₂ and B ₂₃ , B ₂₁ : Cumulative distance from departure point via primary intersection A ₂ Bd ₂₁ ··· (b) B ₂₂ : From departure point via primary intersection A ₂ Cumulative distance Bd ₂₂ B ₂₃ : The cumulative distance Bd ₂₃ from the departure point via the primary intersection A _{2 is} stored together with the intersection sequential number of the corresponding intersection A ₂ . Similarly, for other primary intersections A ₃ and A ₄ , adjacent secondary intersections are searched for and predetermined data are stored. By the way, the intersections B ₁₃ and B ₂₁ are the same intersection. In this way, intersections that should store data overlap,
When the accumulated distances on different routes have already been stored for the intersection, the accumulated distance Bd ₁₃ in (a) and the accumulated distance Bd _{21 in} (b) are compared in magnitude and rewritten to the smaller data. Remember. For example, if Bd ₁₃ > Bd ₂₁ ,
The intersection netlist for intersection B ₁₃ (= B ₂₁ )
The sequential number of the previous intersection A ₂ corresponding to the cumulative distance Bd ₂₁ shown in (b) is finally stored.

Thereafter, similarly, the adjacent tertiary intersection C _ij is obtained for each secondary intersection B _ij , and for each intersection C _ij , the road type from the departure point passing through the corresponding previous intersection is determined. The weighted cumulative distance is calculated and stored together with the previous sequential intersection number,
In general, the (i + 1) th-order intersection is calculated for each i-th intersection with reference to the intersection netlist, and each (i +) th intersection is obtained.
1) For the next intersection, the cumulative distance weighted according to the road type from the departure point passing through the previous i-th intersection is obtained, and the intersection sequential number of the previous intersection and the (i + 1) th next If you store it in the intersection netlist of the intersection, finally the destination (intersection) DSP
To reach. After the destination is reached, it is stored in the intersection netlist of the destination (m-th intersection) (m-
1) Next intersection, (m-1) Next intersection stored in the intersection net list of the next intersection, ...
The first-order intersections stored in the intersection netlist of the second-order intersections, and the 0th-order intersections (departures) stored in the intersection netlist of the first-order intersections are sequentially turned from the departure side to the destination side. The shortest optimal route is the route connected in this order.

However, even if the destination is reached by a certain route, the route search is continued while there is a route having a short cumulative distance with respect to the cumulative distance stored in the intersection netlist of the destination. , When reaching the destination on any other route, if the accumulated distance on that route is shorter than the accumulated distance already stored in the intersection netlist of the destination, it is rewritten. The route search may be terminated when the total distance becomes longer than the total distance registered in the ground intersection netlist. Further, even when the route search is advanced from the destination intersection toward the departure intersection, the optimum guide route can be similarly obtained.

As described above, according to the horizontal search method, the optimum path can be obtained by using the shortest distance as an index in graph theory. Therefore, by displaying the optimal guide route in a specific emphasized color together with the vehicle position mark in the map image on the screen, the driver can be guided to a desired destination. In addition to the road type, the width may be taken into consideration when calculating the cumulative distance. Further, the Dijkstra method (dijkstra method) is often used in addition to the above-described lateral search method for searching for the guide route, but the description thereof is omitted here.

[0015]

By the way, the optimum guide route connecting the starting point and the destination obtained as described above is as follows:
Since we do not take into account actual road conditions such as traffic closures and traffic congestion due to accidents and construction, when we follow the guide route, we are caught in traffic on the way and it takes time to reach the desired destination. However, there is a problem that the route guidance is not useful because you can not travel along the guidance route because it is closed on the way and you have to go to the destination on a route outside the guidance route. It was In view of the above, an object of the present invention is to provide a route guidance method capable of guiding an optimal route in consideration of actual road conditions.

[0016]

According to the present invention, there is provided a map data storage means for storing map data,
A vehicle position detecting means for detecting the vehicle position, a VICS receiving means for receiving dynamic information such as traffic restrictions and traffic congestion from the VICS, and an optimum guide route connecting the departure point and the destination with reference to the map data. Means, guide route storage means for storing guide route data, means for determining the VICS service area entrance point of the guide route when the guide route passes through the VICS service area but the departure place is outside the VICS service area, In addition, a means for performing a predetermined route guidance based on the guidance route data stored in the guidance route storage means, and the dynamic information received from the VICS when the vehicle reaches the entrance point of the VICS service area while traveling While referring to the map data, the optimum route from the entrance point is searched again, and the re-searched guide route data is stored in the guide route storage unit. It is accomplished by a means for 憶.

[0017]

According to the present invention, the optimum route connecting the starting point and the destination is searched by referring to the map data, and the guide route is VIC.
When passing through the S service area but the departure place is outside the VICS service area, the VICS service area entry point of the guidance route is obtained in advance, and when the vehicle reaches the entry point while receiving the predetermined route guidance, By referring to the map data while considering the dynamic information received from the VICS, the optimum route from the entry point to the future is re-searched, the re-searched guidance route data is stored in the guidance route storage unit, and the guidance route is stored. A predetermined route guidance is performed based on the route data. As a result, when the vehicle travels according to the initially searched guidance route and enters the VICS service area, the route guidance can be received based on the optimal route in consideration of the dynamic information obtained from VICS. It will be easy to reach.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Overall Configuration FIG. 1 is an overall configuration diagram of an in-vehicle navigator embodying the route guidance method of the present invention. In the figure, 1 is a CD-ROM (map information storage unit) for storing map data. The map data is composed of a road layer including an intersection netlist, a background layer, a character layer, and the like. 2 is a CRT display device that displays a map image and a vehicle position mark according to the current position of the vehicle, a guide route searched by the optimum route search, and 3 is a vehicle while detecting the traveling distance and direction of the traveling vehicle. Is a vehicle position detector that calculates the current position of the vehicle and outputs vehicle position data and vehicle azimuth data.

Reference numeral 4 denotes an operation unit having a map search key, an enlargement / reduction key, a map scroll key, a destination input key, and the like.
Is a beacon receiver that receives and demodulates VICS data from quasi-microwave beacons from roadside beacon transmitters arranged along the road, 6 is an in-vehicle FM radio, and 7 is an in-vehicle FM
It is a VICS data demodulator that demodulates FM-multiplexed VICS data from a radio FM detection signal. VI here
CS is a road traffic information communication system (= Vehicle Inform
ation & Communication System), a quasi-microwave beacon from outside for vehicles equipped with an in-vehicle navigator,
It provides location information, static information such as destination information, dynamic information such as traffic congestion information and temporary traffic restrictions, etc. by wireless communication such as FM multiplex broadcasting, and displays these information on the screen when the driver desires. The in-vehicle navigator automatically displays the screen, and is being put into practical use in order to enable smooth running.

VICS sent in quasi-microwave beacon
The data includes various static information such as location information, destination guidance, parking lot guidance, etc., traffic congestion information in relatively narrow areas (congestion sections, congestion levels, causes, etc.) and temporary traffic restrictions (sections, causes, etc.). It includes various dynamic information such as. Further, the VICS data transmitted by FM multiplexing includes various dynamic information such as traffic congestion information, weather information, and temporary traffic restrictions in a relatively wide area.

Reference numeral 10 denotes a navigation controller having a microcomputer configuration, which displays a map image around the vehicle position on the screen of the CRT display device 2 together with a vehicle position mark, a guide route and the like. Of these, 11 is a buffer memory for temporarily storing the map data read from the CD-ROM, and 12 is the vehicle position detection unit 3 at that time when the map search key of the operation unit 4 is pressed. A cursor position calculation unit that sets the vehicle position as the initial value of the cursor position and then calculates the cursor position (longitude, latitude) that continuously changes while the map scroll key is pressed and outputs the cursor position data. , 13 are CD-ROMs based on vehicle position data (or cursor position data)
The map data relating to one map including the current position (or cursor position) from 1 and eight peripheral maps surrounding the map is read out, stored in the buffer memory 11 once, and based on the map data, the current position is read. A map image drawing unit that draws a dot image map image in which one map in the center including (or the cursor position) and eight peripheral maps surrounding the map are integrated in a video RAM described later with north facing upward. Is.

Reference numeral 14 denotes a route search unit which, when the map input key is pressed and then the destination input key is pressed, sets the vehicle position at that time as the starting point and the cursor position as the destination from the CD-ROM 1. After reading the intersection netlist in a slightly wider range than the rectangular area with the straight line connecting the departure point and the destination as the diagonal line, storing it in the route search memory described later via the buffer memory 11, and traveling in the VICS service area in the past It is a route search unit that searches for an optimal guide route connecting a departure place and a destination by using an intersection netlist while taking into account the travel history at the time. When searching for the optimum route connecting the departure point to the destination, the link cost is corrected by partially changing the distance between intersections according to the traveling history.

The route searching unit 14 also receives a re-search command from the entrance / exit specifying / comparing unit, which will be described later, and from the entry point to the exit point of the VICS service area The map data in a range slightly wider than a rectangular area having a diagonal line connecting the ground) is read to the buffer memory 11, the intersection netlist included in the map data is stored in the route search memory, and then the VICS is used using the intersection netlist. The optimum guidance route connecting the entrance point to the exit point (the destination when the destination exists in the VICS service area) is searched again while adding the obtained dynamic information. At the time of re-search, the route search unit 14 modifies the link cost by partially changing the weighting for the distance between the intersections or deleting a specific adjacent intersection from the intersection netlist.

Reference numeral 15 is a route search memory that stores the intersection netlist read by the route search unit, 16 is a guide route storage unit that stores guide route data that constitutes the optimum route searched by the route search unit, and 17 is The video RAM 18 for storing the map image drawn by the map image drawing unit, 18 is stored in the guide route storage unit.
A guide route drawing unit for selecting a route which is currently drawn in the map area drawn in the video RAM and drawing a guide route which is overlaid on the map image and thickly emphasized with a predetermined color, and 19 receives the read control of the map image drawing unit, It is a read control unit that reads out an image for one screen centered on the vehicle position (or the cursor position) from the RAM. Map image drawing unit 13
Outputs a window address indicating a range of one screen centered on the vehicle position (or the cursor position) in the video RAM to the read control unit for read control.

Reference numeral 20 denotes a mark image generating section for generating a vehicle position mark oriented in the vehicle azimuth direction detected by the vehicle position detecting section 3 and generating a cursor mark.
Reference numeral 21 denotes a synthesizing unit, which synthesizes the vehicle position mark (or cursor mark) with the image read from the video RAM by the read control unit 19, and 22 a predetermined video signal of the image synthesized by the synthesizing unit. Convert to CR
A video conversion unit for outputting to the T display device 2 for screen display.

The map image drawing unit 13 has a read control unit 19
The map image in the video RAM 17 is rewritten at any time in accordance with the change in the vehicle position (or the change in the cursor position) so that the read range by does not exceed the image range in the video RAM 17. In addition, the guide route drawing unit 18 rewrites the map image in the video RAM 17 each time the vehicle position changes.
The guide route is drawn in the video RAM 17.

Reference numeral 23 denotes a buffer memory for temporarily storing the latest VICS data output from the beacon receiver 5 and the VICS data demodulator 7 separately, and 24 denotes a beacon transmitter in which the beacon receiver 5 is installed along the road. A travel history recording unit that records a travel history in a travel history storage unit each time a beacon is emitted. Specifically, as shown in FIG. 2, the traveling history recording unit 24 includes beacon transmitters BC ₁ , BC ₂ , BC ₃ , ... In which the vehicle is arranged along the up lane of the road RD _a in order. when going through, BC ₁ -BC distance between ₂ L _12, BC ₂ -BC ₃ between the distance L _23, as ... are all known, first, in the beacon receiver 5 of the beacon transmitter BC ₁ When the beacon is received and the VICS data is stored in the buffer memory 23, the reception time is specified and the beacon transmitter BC ₁ is specified from the VICS data. And
The beacon of the next beacon transmitter BC ₂ is received and
When the CS data is stored in the buffer memory 23, the reception time and the beacon transmitter BC ₂ are specified, and
The average velocity of the velocity v ₁₂ = L ₁₂ / t ₁₂ is calculated using the time difference t _12, from the same beacon transmitter BC ₁ measured up to the previous time to the BC ₂ between the beacon transmitter BC ₁ of immediately preceding * V ₁₂ (* means average) and number of measurements n
₁₂ is used to calculate (* v ₁₂ · n ₁₂ + v ₁₂ ) / (n ₁₂ +1) → * v ₁₂ n ₁₂ + 1 → n ₁₂ and the result is replaced by the previous * v ₁₂ and n _12. The data is updated and stored in the traveling history storage unit.

Next, the beacon transmitter BC₃Beacon of
Received and VICS data stored in buffer memory 23
Then, when the reception time and beacon transmitter are specified,
Both of them are the beacon transmitter BC, which is one before this.₂Time between
Difference t_{twenty three}Using velocity v_{twenty three}= L _{twenty three}/ T_{twenty three}Is calculated and
Same beacon transmitter BC measured at₂To BC₃Until
Average speed * v_{twenty three}(* Means average) and total
Number of measurements n_{twenty three}Using, (* v_{twenty three}・ N_{twenty three}+ V_{twenty three}) / (N_{twenty three}+1) → * v_{twenty three} n_{twenty three}+ 1 → n_{twenty three} Is calculated and the result is * v_{twenty three}And n_{twenty three}Instead of
The data is updated and stored in the traveling history storage unit. Road RD_aDown lane
Beacon transmitters BC arranged along₁´ 、 BC
₂´ 、 BC₃´ 、 ・ ・ etc., regarding traveling between other beacons
The same is true.

That is, BC₃´-BC₂Distance between ´
₃₂´ 、 BC₂´-BC₁Distance between ´_{twenty one}´ is known
As the vehicle is on the road RD_aBy going down, first, beeco
Beacon transmitter BC with receiver 5₃'Beacon is received
And the VICS data is stored in the buffer memory 23.
Then, the reception time is specified and the VICS data is received.
Beacon transmitter BC₃´ is specified. That
Next beacon transmitter BC ₂'Beacon is received
And the VICS data is stored in the buffer memory 23.
And its reception time and beacon transmitter BC₂Identify ´
Together with the beacon transmitter BC one before this₃Between ´
Time difference t₃₂′ Using velocity v₃₂′ = L₃₂´ / t₃₂´ is total
And the same beacon transmitter BC measured up to the previous time₃´
To BC₂Average speed to '*₃₂'And the number of measurements n₃₂
′ Is used, (* v₃₂´ ・ n₃₂´ + v₃₂′) / (N₃₂´ + 1) → * v₃₂'N₃₂´ + 1 → n₃₂´ is calculated, and the result is * v₃₂'And n₃₂In lieu
The data is updated and stored in the traveling history storage unit.

Next, when the beacon of the beacon transmitter BC ₁ ′ is received and the VICS data is stored in the buffer memory 23, the reception time and the beacon transmitter BC ₁ ′ are specified and the beacon immediately before is received. Transmitter BC ₂ '
Using the time difference t ₂₁ ′ between the speed v ₂₁ ′ = L ₂₁ ′ / t
₂₁ ′ is calculated and the average speed * v ₂₁ ′ and the number of measurements n ₂₁ ′ from the same beacon transmitters BC ₂ ′ to BC ₁ ′ measured up to the previous time are used to calculate (* v ₂₁ ′ · n ₂₁ ′ + v ₂₁ ′) / (n ₂₁ ′ +1) → * v ₂₁ ′ n ₂₁ ′ + 1 → n ₂₁ ′ is calculated, and the result is updated to the running history storage unit instead of the previous * v ₂₁ ′ and n ₂₁ ′. Remember. The above recording is not performed when a beacon that is not adjacent to the road is received after a certain Bicon is received, or when a beacon that is adjacent on the road but has an abnormally long time interval is received.

A traveling history storage unit 25 stores traveling history between adjacent beacons for each direction as shown in FIG. Reference numeral 26 identifies the entry point and the exit point when the guide route passes through the VICS service area from the guide route data stored in the guide route storage unit 16, and detects the vehicle position while the vehicle is traveling while receiving the route guide. It is an entrance / exit specifying / comparing unit that compares the vehicle position detected by the unit 3 with an entrance point and gives a re-search command to the route searching unit 14 when they match.

When searching for an optimum route connecting a departure place and a destination, the route search unit 14 reads the intersection netlist into the route search memory 15 and then refers to the travel history data stored in the travel history storage unit 25. Then, for example, as shown in FIG. 2, for intersections CP ₁ , CP ₂ and CP ₃ existing between the beacon transmitters BC ₁ and BC ₂ in the up direction of the road RD _a , * v ₁₂ and the road RD _a of the road RD _a . using a modified coefficient f ₁₂ that is inversely proportional to the difference between the predicted average speed for the road type, the distance to the adjacent intersection CP ₂ registered in the intersection network list intersection CP ₁ (see FIG. 5) 1 / f ₁₂ multiplies , The distance of the intersection CP ₂ to the adjacent intersection CP ₃ registered in the intersection net list is multiplied by 1 / f ₁₂ . Also, road RD _a
For intersections CP ₁ , CP ₂ , CP ₃ that exist between beacon transmitters BC ₂ ′ and BC ₁ ′ in the down direction of
Using the correction coefficient f ₂₁ ′ that is inversely proportional to the difference between v ₂₁ ′ and the expected average speed for the road type, multiply the distance of the intersection CP ₃ to the adjacent intersection CP ₂ registered in the intersection netlist by 1 / f ₂₁ ′. Then, the distance of the intersection CP ₂ to the adjacent intersection CP ₁ registered in the intersection net list is multiplied by 1 / f ₂₁ . The same applies to other intersections.

When the route search unit 14 receives a re-search command and searches for an optimum route connecting an entrance point and an exit point of the VICS service area (the destination when the destination is in the VICS service area), Buffer memory 2
Based on all the latest dynamic information stored in 3,
Referring to the map data of the CD-ROM 1, for the section of the traffic regulation, for example, as shown in FIG.
If the crossing between CP ₄ and CP ₅ is completely closed on _b , the sequential number of the adjacent intersection CP ₅ registered in the intersection net list related to the intersection CP ₄ , the road type, the intersection CP ₄ to the adjacent intersection The distance to CP ₅ is deleted, and similarly, the sequential number of the adjacent intersection CP ₄ registered in the intersection net list related to the intersection CP ₅ , the road type, the intersection CP ₅ to the adjacent intersection C
Delete the distance to P ₄ . Further, as shown in FIG. 4 (2), if the intersection CP ₆ on the road RD _c has a one way toward CP _8, adjacent intersection CP registered in the intersection network list according to the intersection CP ₇ The sequential number of ₆ , the road type, and the distance from the intersection CP ₇ to the adjacent intersection CP ₆ are deleted, and similarly, the intersection CP ₈
Sequential number, road type, and intersection C of the adjacent intersection CP ₇ registered in the intersection netlist related to
Delete the distance from P ₈ to the adjacent intersection CP ₇ .

Regarding the section of traffic congestion in the dynamic information, for example, as shown in FIG. 4 (3), the intersection CP of the road RD _{d
When a} traffic jam occurs in the direction from ₉ to CP ₁₁ , the traffic congestion flag is set and the traffic congestion flag is set by arranging them according to the road type of the adjacent intersection CP ₁₀ of the intersection netlist related to the intersection CP _9. Register the data indicating
Adjacent intersection C of the intersection netlist related to intersection CP ₁₀
The traffic congestion flag is set and data indicating the degree of traffic congestion is registered in line with the road type of P ₁₁ .

After performing the above processing for all traffic restrictions and traffic jams included in the dynamic information, the route search unit 14 determines that the route from the entrance point to the exit point (when the destination is in the VICS service area, the destination is concerned). ) Re-search for the optimal route connecting to. When re-search, when via a certain intersection CP _i from entrance point obtains the cumulative distances to adjacent intersection CP i _{+ 1,} the congestion flag adjacent intersections CP i _{+ 1} in the intersection network list according to the intersection CP _i Is standing, the weighting coefficient k according to the road type and the weighting coefficient k ′ according to the degree of traffic congestion with respect to the distance from the intersection CP _i to the adjacent intersection CP _{i + 1} registered in the intersection net list. (K '>
After weighting by multiplying both of 1), it is added to the cumulative distance to the intersection CP _i . Note that k'is increased as the degree of traffic congestion increases.

The map stored in the map data CD-ROM 1 is divided into scales having a proper size of longitude and latitude according to the scale. The map data of each map leaf is divided into four data units (each of four divided map leaves) corresponding to one screen (see FIG. 1).
9)), in the map data, roads and the like are indicated by a coordinate set of vertices (nodes) expressed in latitude and longitude, and these are drawn by sequentially connecting each node with a straight line. The road is composed of two or more nodes connected to each other, and a part connecting the two nodes is called a link. The map data includes (1) a road layer including a road list, a node table, an intersection node list, an adjacent intersection list, and an intersection net list, and (2) roads, buildings, rivers, etc. on the map screen. It is composed of a background layer, (3) character layers for displaying names of cities, towns and villages, road names, and the like. Of these, the road layer includes the road list RDLT, the intersection configuration node list CRLT, and
In addition to the node table NDTB and the adjacent node list NNLT, the intersection netlist is also included.

The intersection netlist CRNL included in the road layer of the intersection netlist CD-ROM 1 is constructed as shown in FIG.
In addition to the original intersection (intersection node (whether or not it is an adjacent node)), for each intersection including simple nodes that are adjacent nodes, (1) Intersection sequential number (the intersection (2) Map leaf number of the map containing the intersection (3) Data unit code (4) Position on node table (5) Longitude (6) Latitude (7) Whether inside or outside VICS service area Flags to indicate (0; outside, 1; inside) Above, intersection ID (8) Position on intersection constituent node list (9) Number of intersection constituent nodes (10) Position on adjacent node list (11) Number of adjacent nodes (12) Sequential number of each adjacent intersection (13) Distance from the intersection to each adjacent intersection (14) Road type to each adjacent intersection, congestion flag, degree of congestion (15) Intersection Intersection sequential number before the intersection (16) Cumulative distance from the departure point to the intersection (15) to (17) are registered when the route search is executed).

6 to 10 are flow charts showing the operation of the navigation controller 10, FIG. 11 is an explanatory view showing the outline of the road from the departure place to the destination, and FIG. 12 is an explanatory view of the first route search by the horizontal search method. 13 is an explanatory diagram showing an outline of roads in the VICS service area, and FIG. 14 is an explanatory diagram of re-search by the lateral search method, which will be described below with reference to these drawings. It is assumed that sufficient traveling history data has been accumulated in the traveling history storage unit 25 because the vehicle has traveled in the VICS service area in the past. In addition, as the map data, it is assumed that the lower layer of which the scale is relatively small and which includes even small roads is used.

When the driver wants to travel to a desired destination with route guidance, he pushes the map search key of the operation unit 4 and then operates the cursor key to move the center of the screen (the cursor mark is displayed). Input the destination by pressing the destination key in accordance with the destination (step 10 in FIG. 6).
1).

The operation of the navigation controller 10 in step 101 is to press the map search key. First, the cursor position calculator 12 sets the current position detected by the vehicle position detector 3 at that time as the initial cursor position, The map image drawing unit 13 refers to the map leaf management information in the map data, reads out one map including the cursor position from the CD-ROM 1 and all map data around the map, and stores it in the buffer memory 11. . Then, using the read map data, a map image in which one central map including the cursor position and eight maps surrounding the map are integrated is drawn in the video RAM 17 with the north facing upward. Then, the map image drawing unit 13 has a video RAM 17
A window address indicating a range for one screen centered on the cursor position is given to the read control unit 19 to read a map image for one screen centered on the cursor position. Subsequently, the mark image generating unit 20 generates a cursor mark, the synthesizing unit 21 synthesizes the cursor mark at the center of the image for one screen read by the reading control unit 19, and the image converting unit 22 determines a predetermined image. It is converted into a signal and output to the CRT display device 2. As a result, a map centering on the current vehicle location is displayed on the screen, and a cursor mark is displayed in the center.

Thereafter, while the map scroll key is being operated, the cursor position calculation unit 12 calculates a cursor position that continuously changes from the initially set cursor position,
The cursor position data is output to the map image drawing unit 13.
The map image drawing unit 13 does not redraw the map image while the cursor position indicated by the cursor position data is included in one map at the center of the map images previously drawn in the video RAM 17 without redrawing the map image. A window address that changes according to a change in position is output to the read control unit 19 so that one screen whose center is at the cursor position is always read from the video RAM 17, and the cursor position is the video RA.
When the map deviates from the one map in the center of M17, the map image in which the one map in the center including the cursor position and the eight maps surrounding the map are integrated again is displayed in the video RAM.
The image is redrawn in 17 with north facing upward, and the window address that changes according to the change in the cursor position is output to the read control unit 19. As a result, the map on the screen scrolls during the cursor operation (the cursor mark is always displayed in the center of the screen).

When the cursor mark reaches the destination on the map, if the cursor operation is stopped and the destination key is pressed to input the destination, the route searching unit 14 is detected by the vehicle position detecting unit 3 at that time. The current vehicle position is set as the departure point, and the cursor position calculated by the cursor position calculation unit 12 is set as the destination (step 102).

Next, the route search unit 14 determines whether the departure place is an intersection defined by the road data (an original intersection node or an adjacent node among simple nodes) based on the map data of the map leaf including the departure place. It is checked (step 103), and if it is an intersection, it is determined as the departure point intersection STP (step 10).
4) Perform the processing from step 106 onward, and if it is not an intersection, the nearest intersection defined by road data is set as the departure point intersection STP (step 105), and step 106
Perform the following processing. When the departure point intersection STP is determined, the route search unit 14 checks whether the destination is the intersection defined by the road data (the original intersection note or the adjacent node in the simple nodes) (step 106). The destination intersection DSP is set (step 107), the processing from step 109 is performed, and if it is not an intersection, the nearest intersection is set as the destination intersection DSP (step 108),
The processing after step 109 is performed.

Departure intersection STP and destination intersection DS
When P is determined, the route search unit 14 refers to the leaf management information to obtain one or a plurality of four-divided leafs including a rectangular area having a straight line connecting the starting point and the destination as a diagonal line, Map data is read from the CD-ROM 1 to the buffer memory 11 for all the divided map sheets, and all the intersection netlists CRNL in the map data are stored in the route search memory 15 (step 109). If the intersection net number CRNL is not stored in advance in the intersection net list CRNL, the intersection sequential numbers stored in the route search memory 15 are sequentially numbered from 1 in ascending order.

Next, the route search unit 14 performs a link cost correction process on the intersection netlist based on the past travel history data stored in the travel history storage unit 25 (step 110). Specifically, for example, a certain road R
When the average speed from adjacent beacons BC _i to BC _{i + 1} on D is * v, the beacon BC _i is modified using a correction coefficient f that is inversely proportional to the difference between the * v and the planned average speed for the road type. For the m intersections CP _{j to} CP _{j + m−1} existing between the beacons BC _i and BC _{i + 1} as viewed from the side, the adjacent intersections CP _{j + 1} stored in the intersection net list of the intersection CP _j are stored. The distance is multiplied by 1 / f, and the distance of the adjacent intersection CP _{j + 2} stored in the intersection net list of CP _{j + 1 is} reduced by 1 / f.
f times, and the distance of the adjacent intersection CP _{j + m-1} stored in the intersection net list of CP _{j + m-2} is multiplied by 1 / f. The average speed between other beacons is similarly processed. If the difference between the average speed * v between beacons and the planned average speed for the road type is small, the distance may not be corrected.

After that, the route search unit 14 searches for the optimum route connecting the departure point to the destination by the horizontal search method using the intersection netlist stored in the route search memory 15 (see FIG. 12). When read from the CD-ROM 1, all the congestion flags in the intersection netlist are off. First, the route search unit 14 determines the item number (3) of the intersection net list CRNL related to the departure point intersection STP.
The search order i = 0 is registered in 4) (step 20 in FIG. 7).
1, 202) and whether there is an intersection adjacent to the 0th intersection (departure intersection STP) with reference to the intersection netlist CRNL of the departure intersection STP (step 203). In step 203, the jth
Excludes the next intersection (j = 0, 1, ..., I).

If an adjacent intersection remains, one of the adjacent intersections, for example, A ₁ , is the starting point intersection STP.
To the adjacent intersection A ₁ are calculated according to the road type, and the cumulative distance D is calculated (step 204). D ₁ The total distance D from the departure point intersection STP to i-th order intersection, and the distance from the i-th order intersection to the adjacent intersection A ₁ and d _2, the following equation _{d 1 + k · d 2 →} D ( where , K are weighting factors corresponding to the road type from the i-th intersection to the adjacent intersection A _1. Here, an expressway; k =
1, national road; k = 2, other roads; k = 3), but when i = 0 _first, d ₁ = 0, so D = k · d ₂
Becomes d ₂ and k are (12) and (13) in FIG. 5 of the intersection netlist CRNL related to the departure point intersection STP.
It can be understood from the item numbers such as.

Next, with reference to the item numbers after (32) in FIG. 5 of the intersection netlist CRNL related to the adjacent intersection A ₁ , the retrieval order is already (i + 1),
Per intersection A _1, information specifying the total distance and one before the intersection of the different routes (intersection sequential number) or the like is checked whether registered (step 205), since the NO is where the adjacent intersection A ₁ (32) to (3) in FIG. 5 of the intersection netlist CRNL related to
In 4), the following data (A) the intersection sequential number of the 0th intersection STP currently being focused on, (B) the cumulative distance from the 0th intersection STP to the adjacent intersection A ₁ ,
(C) As a search order of the adjacent intersection A ₁ , (i +
1) = 1 is registered (step 206), and thereafter, the process returns to step 203, refers to the intersection net list CRNL for the departure point intersection STP, and refers to the intersection next to the 0th intersection of interest. It is checked whether or not it remains, and if it remains, the same processing is repeated.

Since the adjacent intersection A ₂ remains, the cumulative distance D from the departure point intersection STP to the adjacent intersection A ₂ weighted according to the road type is obtained, and the 0th order is added to the intersection netlist of the adjacent intersection A _2. It is registered together with the intersection sequential number of the intersection and the search order (i + 1) (steps 204 to 206). Then, the process returns to step 203. The same processing is performed for the adjacent intersections A ₃ and A ₄ .
As a result, the adjacent intersections A _{1 to} A ₄ existing in the intersection net list of the departure point intersection STP are set as the primary intersections, and the corresponding intersection net list CRNL is set to the previous intersection (here, the departure point intersection). STP) intersection sequential number, total distance from departure point Ad _{1 to} Ad
₄ , the search order 1 is registered.

When the processing is completed for all the adjacent intersections included in the intersection net list CRNL for the departure point intersection STP, the route search section 14 determines that the departure point intersection ST is present.
It is judged whether there is a 0th intersection other than P (Step 2
07) Since it does not exist, it is judged whether or not the destination intersection DSP is subsequently reached, in other words, whether or not the destination intersection DSP is included in the (i + 1) th intersection (step 208). If not, i is incremented to 1 (step 209). Then, paying attention to _one of the first-order intersections, for example, A ₁ , and referring to the intersection netlist related to the intersection A ₁ stored in the route search memory 15, the 0th-order intersection is displayed by then. , It is determined whether there is an adjacent intersection other than the intersection designated as the first intersection (step 203). Here, B ₁₁ , B ₁₂ , and B ₁₄
Exists, one of them, for example the adjacent intersection B ₁₁
In regard, with reference to the intersection network list of intersection A _1, departure point intersection STP, first intersection A ₁ of interest currently, the total distance D was weighted according to the road type in the path of the adjacent intersection B ₁₁ Calculate (Step 20)
4).

The cumulative distance Ad ₁ from the starting point intersection STP to the primary intersection A _{1 of} interest at present, the distance d ₂ from the primary intersection A ₁ to the adjacent intersection B ₁₁ and the road type are the intersection A. Figure 5 of ₁ intersection netlist CRNL
Since they are stored as item numbers (33), (12), (13), etc. in, the cumulative distance D from the departure point intersection STP to the adjacent intersection B ₁₁ is obtained by Ad ₁ + k · d ₂ → D. Next, referring to the intersection netlist CRNL related to the adjacent intersection B ₁₁ , (3 in FIG.
2) It is checked whether or not the previous sequential intersection number, cumulative distance, and search order have been registered in the subsequent item numbers (step 205). Since it is NO here, the adjacent intersection B
Corresponding to ₁₁ , the following data (A) The intersection number of the _first intersection A ₁ currently being focused on, (B)
Cumulative distance from departure point to the adjacent intersection B ₁₁ (C)
(I + 1) = 2 as the search order of the adjacent intersection B ₁₁
5 is registered in (32) to (34) of FIG. 5 of the intersection net list CRNL of the intersection B ₁₁ (step 206), the process returns to the step 203 side, and if there is a next adjacent intersection related to the first intersection A ₁ , Perform similar processing.

Since the adjacent intersection B ₁₂ exists, the cumulative distance D weighted according to the road type in the route of the departure intersection STP, the primary intersection A ₁ which is currently focused, and the adjacent intersection B ₁₂ is calculated ( Step 204). Then
By referring to the intersection netlist CRNL related to the adjacent intersection B ₁₂ , it is checked whether or not the previous sequential intersection number, cumulative distance, and search order have been registered in the item numbers (32) onward in FIG. 5 (step 205). Since this is also NO in this case, the following data (A) is associated with the adjacent intersection B ₁₂ , and the following sequential data (A) is the intersection sequential number of the primary intersection A ₁ currently being focused on, (B) is the departure point and the adjacent intersection B ₁₂
(C) register (i + 1) = 2 as the search order of the adjacent intersection B ₁₂ to (32) to (34) in FIG. 5 of the intersection net list CRNL of the intersection B ₁₂ (step 206). Then, returning to the step 203 side, if there is a next adjacent intersection related to the first intersection A ₁ , the same processing is performed.

The adjacent intersection B₁₄Exists and exits
From the departure intersection STP to the adjacent intersection B ₁₄Up to the road type
Calculate the weighted cumulative distance D according to₁₄
At the intersection netlist of the first intersection A₁At the intersection of
Register with sequential number and search order (i + 1)
(Steps 204 to 206). And step 20
Return to 3. As a result, the first intersection A₁Crossing net
In addition to the departure intersection, the adjacent intersection B in the list₁₁, B₁₂, B
₁₄Exists and each of these corresponding intersection networks
The intersection sequence of the previous intersection on the strike CRNL
Number, total distance from departure point Bd₁₁, Bd₁₂, Bd
₁₄, The search order 2 is registered.

[0054] When the processing for all the adjacent intersections contained in the intersection network list CRNL intended for intersection A ₁ is finished, the route search unit 14 judges whether the first intersection other than the intersection A ₁ is present (step 207), since there is an intersection A ₂ here, the processing is repeated from step 203 onward as a new primary intersection (step 210). In the intersection netlist of the intersection A ₂ , adjacent intersections B _{21 to} B ₂₃ exist in addition to the departure place. Of this, B
_In the processing of ₂₁ , B ₁₂ = B _21, so step 20
5, the intersection B adjacent to the first intersection A _1
Since it has been processed as ₁₂ (the data of the above (A) to (C) has been stored), the result is YES. In this case, total distance D'= Bd ₁₂ from the departure point intersection STP that is registered in the intersection network list CRNL according to the adjacent intersection B ₁₂
And the magnitude of the distance D obtained this time in step 204 are compared (step 211).

If D <D ', the adjacent intersection B
₁₂(= B_{twenty one}) Of the intersection netlist CRNL
I-th order stored in the item numbers of (32) and (33)
Intersection A ₁Focusing on the intersection sequential numbers of
I-th intersection A₂Place at the intersection sequential number
And the cumulative distance D ′ is changed to D = Bd_{twenty one}Rewrite with
(Step 212), and thereafter returns to Step 203.
When D ≧ D ′, the intersection B₁₂(= B_{twenty one}) To
The intersection netlist CRNL (3 in FIG.
Return to step 203 without changing the contents of 2) and (33)
It Intersection A₂With respect to each adjacent intersection
When the process is completed and another primary intersection no longer exists, the
Check whether you have reached the DSP intersection (Step 2
07,208), so i incremented i
2 (step 209). Then, step 203
Then, the processing similar to the above is repeated in sequence.

Thereafter, in the check in step 208, the destination intersection DSP is included in all the intersections of the (i + 1) th order, and when the determination is YES, the destination intersection DSP, the destination intersection DSP The intersection (m-1) th intersection stored in the item number (32) of FIG. 5 of the intersection netlist CRNL related to the intersection DSP (m-th intersection) The (m-2) th next intersection stored in the intersection netlist CRNL.
・ Aiming from the departure point side to the 0th-order intersection = departure point intersection STP, which is stored in the intersection netlist CRNL related to the secondary intersection, and stored in the intersection netlist CRNL related to the primary intersection The shortest route is determined by sequentially connecting in the order toward the ground side (step 213). Then, the node sequence that forms the obtained shortest path is individually VIC
A flag indicating whether the service area is inside or outside the S service area is added and stored as guide route data in the guide route storage unit 16 to end the route search process (step 214, FIG. 11, FIG. 1).
3 (1)). At this time, the guide route stored in the guide route storage unit 16 is one in which the past travel history in the VICS service area is added, and therefore the actual road condition is reflected to some extent.

Even if the destination DSP is reached by a certain route, the route search is performed while there is a route having a short cumulative distance with respect to the cumulative distance registered in the intersection net list related to the destination intersection. Continue, young, D on other routes
When reaching SP, if the accumulated distance on the route is shorter than the accumulated distance already registered in the intersection net list related to the destination intersection, rewrite, and then any route is related to the destination intersection. The route search may be ended when the cumulative distance registered in the intersection net list becomes longer. Further, since the guide route data is composed only of intersections (including simple nodes that are adjacent nodes), the intersection net list, the road list RDLT in the road data, and the node table ND.
It is also possible to perform simple node interpolation between intersections by referring to TB or the like to obtain detailed route guidance data, and then store it in the route guidance storage unit 16. Furthermore, a route search may be performed from the destination side toward the departure side, and the searched node strings may be arranged in reverse order to form the guide route data.

When the guide route data is stored in the guide route storage unit 16, subsequently, the entrance / exit specifying / comparing unit 26, among the nodes stored in the guide route storage unit 16, sees from the departure place side. An intersection where the flag indicating whether it is inside or outside the VICS service area changes from 0 to 1 is an entrance point, and an intersection where the flag indicating whether inside or outside the VICS service area has changed from 1 to 0 near the destination from the entrance point Is specified as the exit point (step 301 in FIG. 8). Here, as shown in FIG. 11, the guide route passes through the VICS service area, but the departure point and the destination are both VI.
Since it exists outside the CS service area, entrance point E
It is assumed that the NT and the exit point EXT are specified.

After that, the navigation controller 1
0 performs route guidance processing to the driver using the guidance route data stored in the guidance route storage unit 16 to the destination (step 302). That is, the map image drawing unit 13 inputs the vehicle position data from the vehicle position detecting unit 3 and refers to the map leaf management information to refer to one map including the vehicle position and eight maps surrounding the map. The data is read from the CD-ROM 1 to the buffer memory 11, and a map image in which one map in the center including the vehicle position and eight peripheral maps surrounding the map are integrated by using the map data with the north facing upward. And draw it in the video RAM 17. In addition, the guide route drawing unit 18 uses the video RAM input from the map image drawing unit 13.
Based on the 17 map image area information, the guide route storage unit 1
From the guide route data stored in 6, video RAM
A portion that enters the map image area drawn in 17 is selected, and the guide route is drawn in the video RAM 17 while being thickly emphasized in a predetermined color in a thick manner on the map image. Then, as the vehicle position changes as the vehicle travels, the map image drawing unit 13 determines, based on the vehicle position data input from the vehicle position detecting unit 13,
An image for one screen centered on the vehicle position is read from the video RAM 17 by the read control unit 19.

If the vehicle position changes, the video RAM 17
If the range of one screen centered on the vehicle position is likely to be out of the map image drawn on the screen, the map image drawing unit 13
-While reading new map data around the vehicle position from the ROM 1 to the buffer memory 11, a map image in which one map at the center including the vehicle position and eight maps surrounding the map are integrated into the video RAM 17 Redraw. Then, the guide route drawing unit 18 selects from the guide route storage unit 16 the guide route data that enters the map image area newly drawn in the video RAM 17, superimposes the guide route on the map image in the video RAM 17, and emphasizes the guide route in a predetermined color thickly. Let me redraw.

On the other hand, the mark image generator 20 generates a vehicle position mark in the direction indicated by the data based on the vehicle direction data input from the vehicle position detector 3. At the center of the image read from the read control unit 19, the synthesizing unit 2
1, the vehicle position mark generated by the mark image generation unit 20 is combined, converted into a predetermined video signal by the video conversion unit 22, and then output to the CRT display device 2 to display the highlighted guide route. A map image of the surrounding area is displayed on the screen together with the vehicle position mark. The driver can travel toward the destination by traveling along the guide route displayed on the screen.

When a vehicle approaches the entrance point ENT while receiving a route guidance from the departure point, the entrance point appears on the map on the screen, but the guidance route storage unit 16 shows the entrance point ENT.
Since further guidance route data is also stored (see FIG. 1
1, FIG. 13 (1)), the guide route ahead of the entrance point is also displayed on the screen. Therefore, the driver can know about the planned travel route after entering the VICS service area. Moreover, since the guide route of the VICS service area is obtained by taking the past travel history into consideration, it reflects actual road conditions to some extent, and unless a sudden accident or the like occurs, It is the optimum route to reach the destination. However, due to a sudden accident or short-term construction, V
When temporary traffic restrictions or sudden traffic congestion occur in the ICS service area, if you continue to travel on the initially requested route, you may be delayed in reaching the destination or the route may be blocked. It may be necessary to drive away from the vehicle, which is inconvenient.

The navigation controller 10 in the present embodiment receives the route guidance from the departure place and the vehicle does not reach the destination while traveling (N in step 303).
O), after entering the VICS service area, the beacon transmitted from the beacon transmitter is received by the beacon receiver 5, and the VICS data is stored in the buffer memory 23 every time the VICS data is output (step 30).
4 and 305), the traveling history recording unit 24 performs a traveling history recording process (step 306). Also, FM multiplexed V
The ICS data is received by the in-vehicle FM radio 7, and the VICS
When demodulated by the data demodulator 8, it is temporarily stored in the buffer memory 23 separately from the data received by the beacon (steps 307 and 308). FM multiplexed VICS
When the data is received, subsequently, the entrance / exit identification / comparison unit 26 compares the vehicle position detected by the vehicle position detection unit 3 with the entry point ENT to check whether the vehicle has reached the entry point ENT ( At step 310), when it reaches, a re-search command is given to the route search unit 14.

Upon receiving the re-search command, the route search unit 14 sets the entry point (entrance intersection) ENT as the re-starting point intersection and the exit point (exit intersection) EXT as the temporary destination intersection (step 311), and re-starts. All map data relating to one or a plurality of four-divided map leaves including a rectangular area having a diagonal line connecting the ground intersection and the temporary destination intersection is read into the buffer memory 11, and all the intersection netlists in the map data are searched for a route. Read to memory 15 (step 31)
2).

Then, the route search unit 14 uses a buffer memory.
Intersection based on all the latest dynamic information stored in 23
Correct the link cost for the point netlist
(Step 313). Specifically, the entire surface of FIG. 13 (2)
For the closed sections, see the intersection C₁Intersection related to
Adjacent intersection D registered in the list₁₂The sequence
Shall number, road type, intersection C₁From adjacent intersection
D₁₂Delete the distance to, and also at intersection D₁₂Exchange relating to
Adjacent intersection C registered in the difference net list ₁Shi
Sequential number, road type, intersection D₁₂From adjacent
Intersection C₁Delete the distance to. Also, FIG. 13 (2)
Although it is not on the guide route as shown by the triangle mark, intersection D₁₂
And C₂Between intersections C₂To D₁₂Astringent in the direction toward
If there is a stagnation, intersection C₂Intersection net pertaining to
Adjacent intersection D registered in the list₁₂Because of the traffic jam
Register the data showing the degree of traffic congestion while making a lag
To do.

After that, the route search unit 14 uses the intersection netlist stored in the route search memory 15 to horizontally search for the optimum route connecting the re-starting point STP 'to the temporary destination DSP' as follows. Search again by the method (Fig. 14
reference). First, the route search unit 14 sets the search order i = 0 (step 401 in FIG. 9), and registers the search order 0 in the item number (34) of the intersection net list CRNL related to the re-starting point intersection STP ′ (step 402). ), Whether there is an intersection adjacent to the 0th intersection (restarting point intersection STP '), the intersection netlist CRN of the restarting point intersection STP'
It checks by referring to L (step 403). In step 403, the j-th intersection (j = 0, 1,
.., i) are excluded.

If an adjacent intersection remains, one of the adjacent intersections, for example, C ₁ is not congested on the route from the 0th intersection to the adjacent intersection C ₁ (congestion flag is off). , The cumulative distance D from the re-starting point intersection STP ′ to the adjacent intersection C ₁ is weighted according to the road type (steps 404 and 405). D is d ₁ the total distance from the new start point intersection STP' to i-th order intersection, and the distance from the i-th order intersection to the adjacent intersection C ₁ and d _2, the following equation _{d 1 + k · d 2 →} D (However, k is a weighting coefficient according to the road type from the i-th intersection to the adjacent intersection C _1. Expressway; k = 1, national road;
k = 2, other roads; k = 3), but when i = 0 initially, d ₁ = 0, so D = k · d ₂ . d
₂ and k can be known from the item numbers such as (12) and (13) in FIG. 5 of the intersection netlist CRNL related to the re-starting point intersection STP '.

[0068] Next, with reference to the item number of the subsequent (32) in FIG. 5 of the intersection network list CRNL according to adjacent intersection C _1, already per intersection C _1, the search order is (i +
1), in other words, it is checked whether the accumulated distances on different routes and the information (intersection sequential number) for identifying the previous intersection are registered (step 406). , The adjacent intersection C
_In (32) to (34) of FIG. 5 of the intersection netlist CRNL related to ₁ , the following data (A) the intersection sequential number of the 0th intersection STP ′ currently focused on, (B) the 0th intersection STP From ´ to the adjacent intersection C
Total distance of up to _1, registers (i + 1) = 1 as (C) searching order of the adjacent intersection C ₁ (step 40
7) After that, it returns to step 403, and the re-starting point intersection S
By referring to the intersection netlist CRNL for TP ', it is checked whether or not the intersection adjacent to the 0th-order intersection of interest still remains, and if it remains, the same processing is repeated.

Although the adjacent intersection C ₂ remains, the route from the 0th intersection to the adjacent intersection C ₂ is not congested either. Therefore, it depends on the road type from the restarting intersection STP 'to the adjacent intersection C ₂ . obtains the cumulative distance D in which the weighting is registered in the intersection network list adjacent intersection C _2, together with the intersection sequential number and the search order of the zeroth-order crossroads (i + 1) (step 404 to 407). Then, the process returns to step 403. The same processing is performed for the adjacent intersections C ₃ and C ₄ . As a result, adjacent intersection C ₁ ~C ₄ that is present in the intersection network list of re-starting point intersection STP'
Is the primary intersection and each corresponding intersection netlist C
In the RNL, the intersection sequential number of the previous intersection (here, the re-starting point intersection STP ′), the cumulative distances Cd _{1 to} Cd ₄ from the starting point, and the search order 1 are registered.

When the processing is completed for all the adjacent intersections included in the intersection net list CRNL for the re-starting point intersection STP ', the route searching section 14 has the 0th-order intersection other than the re-starting point intersection STP'. Since it does not exist, it is determined whether the temporary destination intersection DSP ′ has been reached, in other words, whether the temporary destination intersection DSP ′ is included in the (i + 1) th intersection. Judge (step 409), and if not included, i
Is incremented to 1 (step 410). Then, paying attention to _one of the first-order intersections, for example, C ₁ and referring to the intersection netlist related to the intersection C ₁ stored in the route search memory 15, the 0th-order intersection is displayed by then. , It is determined whether or not there is an adjacent intersection other than the intersection designated as the first intersection (step 403). here,
Previously, since the adjacent intersection D ₁₂ was deleted in the processing of step 312, only D ₁₁ and D ₁₄ exist, and for one of them, for example, the adjacent intersection D ₁₁ , refer to the intersection netlist of the intersection C ₁ . Meanwhile, the cumulative distance D weighted according to the road type in the route of the re-starting point intersection STP ′, the currently-selected primary intersection C ₁ , and the adjacent intersection D ₁₁ is calculated (steps 404 and 405).

The cumulative distance Cd ₁ from the re-starting point intersection STP ′ to the primary intersection C ₁ currently being focused on, the distance d ₂ from the primary intersection C ₁ to the adjacent intersection D ₁₁ and the road type are Since the intersection netlist CRNL of the intersection C ₁ is stored as the item numbers (33), (12), (13), etc. in FIG. 5, Cd ₁ + k · d ₂ → D from the restart point intersection STP ′ The adjacent intersection D ₁₁
The total distance D up to is obtained. Next, referring to the intersection net list CRNL related to the adjacent intersection D ₁₁ , the search order registered in the item number of (34) in FIG. 5 is (i + 1) = 2.
It is checked (step 406), and since it is NO here, the following data (A) is associated with the adjacent intersection D ₁₁ , and the following sequential data (A) is the primary sequential intersection C ₁ of the current intersection, and (B) is a restart. From the ground to the adjacent intersection D
The cumulative distance to ₁₁ (C) (i + 1) = 2 as the search order of the adjacent intersection D ₁₁ is registered in (32) to (34) of FIG. 5 of the intersection net list CRNL of the intersection D ₁₁ (step 407). ), Returning to the step 403 side, the first
If there is a next adjacent intersection related to the next intersection C ₁ , similar processing is performed.

Since the adjacent intersection D ₁₄ exists, the re-starting point intersection STP ', the first-order intersection C ₁ currently under consideration,
The cumulative distance D weighted according to the road type in the route of the adjacent intersection D ₁₄ is calculated (steps 404, 40).
5). Next, with reference to the intersection net list CRNL related to the adjacent intersection D ₁₄ , it is checked whether the search order registered in the item (34) of FIG. 5 is (i + 1) = 2 (step 406). The following data (A) corresponding to the adjacent intersection D ₁₄
Next intersection C ₁ intersection sequential number, (B) total distance from re departure point to the adjacent intersection D _14, (C) the intersection of the adjacent intersection D ₁₄ searches the order of the (i + 1) = 2 the intersection D ₁₄ The netlist CRNL (3
2) to (34) are registered (step 407), the process returns to the side of step 403, and if there is the next adjacent intersection related to the first-order intersection C ₁ , similar processing is performed.

As a result, adjacent intersections D ₁₁ and D ₁₄ are present in the intersection netlist of the first intersection C ₁ in addition to the departure intersection, and the adjacent intersection netlist CRNL is immediately preceded by one. The intersection sequential number of the intersection, the cumulative distances Dd ₁₁ and Dd ₁₄ from the departure place, and the search order 2 are registered.

[0074] When the processing for all the adjacent intersections contained in the intersection network list CRNL intended for intersection C ₁ is completed, the route search unit 14 judges whether the first intersection other than the intersection C ₁ exists (step 408), since there is an intersection C ₂ here, the processing after step 403 is repeated as a new first intersection (step 411). In the intersection netlist of the intersection C ₂ , adjacent intersections D _{21 to} D ₂₃ exist in addition to the departure place. Of this, D
_In the process of ₂₁ , since the congestion flag is set, the weighting coefficient k ′ (> 1) proportional to the degree of the congestion is used, and Cd ₂ + k · k ′ · d ₂ → D is used to restart the intersection STP ′. From the adjacent intersection D ₂₁
Find the cumulative distance D up to (steps 404, 41
2). Then, the adjacent intersection D ₂₁ is still, the data of the (A) ~ (C) is not stored, stores these data in the intersection network list CRNL according to adjacent intersection D ₂₁ (step 406, 407 ).

[0075] total distance D'obtained here for adjacent intersection D ₂₁ is congestion is longer by the amount of k'for occurring. Therefore, when the cumulative distance D to the intersection D ₂₁ is obtained by another route, there is a high probability that D ′> D, and there is a high possibility that it will be rewritten at step 414 following step 413. Ground intersection STP
It becomes difficult to finally select the route of '→ primary intersection C ₁ → secondary intersection D ₁₂ as the guide route. The other adjacent intersections D ₂₂ and D ₂₃ are similarly processed.

Regarding the intersection C ₂ , if the predetermined processing for each adjacent intersection is completed and another primary intersection does not exist, it is checked whether or not the temporary destination intersection DSP 'has been reached (steps 408, 409). If so, i is incremented to 2 (step 410). Then
The process proceeds to step 403, and the same processing as described above is sequentially repeated.

Thereafter, in the check at step 409, when all the intersections of the (i + 1) th order include the temporary destination intersection DSP ', and when YES is determined, the temporary destination intersection DSP' , The temporary destination intersection DS
It is stored in the item number of (32) in FIG. 5 of the intersection netlist CRNL related to P ′ (assumed to be the mth intersection) (m−
1) The next intersection, the (m-2) th intersection stored in the intersection netlist CRNL related to the (m-1) th intersection, ... To the intersection netlist CRNL related to the second intersection. First-order intersections memorized and first-order intersections 0th-order intersections = restarting point intersections STP 'stored in the intersection netlist CRNL are sequentially connected in the order from the re-starting point side to the temporary destination side. Then, the shortest route is determined (step 415). Then, in the node sequence that constitutes the shortest route from the obtained re-starting point side to the temporary destination, the entry point ENT to the exit point EXT stored in the guide route storage unit 16 are stored.
Are rewritten and the reroute search processing is terminated (step 416, see FIG. 13 (2)). The guide route data rewritten this time takes into account traffic restrictions, traffic restrictions, and other driving restrictions. At that time, the entry point ENT to the exit point EXT
It is a route to go to in the shortest time.

When the re-search for the optimum route is completed, the navigation controller 10 restarts the route guidance using the guidance route data stored in the guidance route storage unit 16 (step 501 in FIG. 10). At this time, the guide route displayed on the screen does not include the closed section that occurred on the original guide route, and it is usually a route that avoids congestion, so you can quickly reach the destination. And it will be easy to reach. After that, the beacon transmitted from the beacon transmitter is received by the beacon receiver 5, and the VIC
Each time the S data is output, the navigation controller 10 stores the VICS data in the buffer memory 23 (steps 502 and 503), and then the travel history recording unit 2
5 records the traveling history (step 504). In addition, the FM multiplexed VICS data is the in-vehicle FM radio 6
The navigation controller 10 stores the VICS data in the buffer memory 23 each time it is received by the VICS data demodulator 7 (steps 505, 5).
06). After that, if the destination is smoothly reached, the navigation controller 10 finishes the route guidance (step 507).

When the original destination is within the VICS service area, the route search unit 14 that receives the re-search command obtains the optimum route from the entrance point to the destination from VICS. Of the guide route data stored in the guide route storage unit 16 from the entry point to the destination (step 31 in FIG. 8).
4).

According to this embodiment, when the initially determined optimum route connecting the departure place and the destination passes through the VICS service area and the departure place is outside the VICS service area, the vehicle is guided by the route and travels. When the vehicle arrives at the entrance point of the VICS service area, the optimum path is searched again from the entrance point in consideration of the dynamic information obtained from VICS, and the route is guided based on the re-searched guide route. By doing so, it becomes possible to guide to the desired destination quickly and easily by taking the optimum route that takes into account temporary traffic restrictions due to accidents and construction in the VICS service area, construction restrictions, and traffic restrictions such as traffic congestion. You can do it.

Further, since the optimum route connecting the starting point and the destination, which is initially sought, takes into consideration the past driving history in the VICS service area, the road conditions are taken into consideration to some extent, and the entry point and the The exit point becomes an appropriate route. Furthermore, when the vehicle comes close to the entrance point and the entrance point appears on the map on the screen, the guide route ahead of the entrance point is also displayed, so that the expected traveling route can be known.

In the above-mentioned embodiment, when the destination is outside the VICS service area, the optimum route connecting the entrance point to the exit point is searched again.
You may make it search again from an entrance point to a destination. Further, initially, when obtaining the optimum route connecting the departure place and the destination, it is possible to search only from the map data read from the CD-ROM without considering the past travel history.

15 to 17 are flowcharts showing the operation of the navigation controller 10 according to the modification of the present invention, and FIG. 18 is an explanatory diagram of the route search processing. In this variation,
By using the map data of the upper layer with a large scale and the map data of the lower layer with a small scale, the search time can be shortened when the departure place and the destination are far apart.

When the destination input operation is performed by operating the map search key, the map scroll key, or the destination input key of the operation unit 4 (step 601 in FIG. 15), the route search unit 14
Using the map data of the upper layer with a large scale stored in the CD-ROM 1, the optimum route connecting the starting point, which is the vehicle's current location, to the destination is primarily searched for while taking into account the past travel history, and then the guide route is set once. It is stored in the storage unit 16 (step 602, see FIG. 18). At this time, the starting point intersection and the destination intersection are determined by the upper layer map data. Next, the entrance / exit specifying / comparing unit 26 specifies the entry point and the exit point of the VICS service area from the primary search route data stored in the guidance route storage unit 16 (step 603).

Next, when the entrance point is specified by the entrance / exit specifying / comparing section 26, the path searching section 14 determines the optimum path connecting the departure point and the entrance point with the scale stored in the CD-ROM 1. A secondary search is performed using the small map data of the lower layer and stored in the guide route storage unit 16 (step 60
4, 605), and subsequently, when the exit point is specified by the entrance / exit specifying / comparing unit 26, the optimum route connecting the entrance point to the exit point is stored in the CD-ROM 1 and has a small scale. A secondary search is performed while taking into account the past travel history using the map data of the above, and it is stored in the guide route storage unit 16 (steps 606 and 607), and further, the optimum route connecting the exit point to the destination is recorded on the CD. -The secondary search is performed using the map data of the lower layer, which is stored in the ROM 1 and has a small scale, and is stored in the guide route storage unit 16 (step 60).
8, see FIG. 18). In the guide route storage unit 16, each guide route data of the departure point, the entrance point, the exit point, and the exit point is connected. Also,
When the secondary search is performed using the map data of the lower layer, the starting point intersection and the destination intersection are determined by the map data of the lower layer. The entrance point and the exit point are the intersections in the upper layer map data, but since they are also defined as the intersections in the lower layer map data, they can be used as they are.

When the route which is primarily searched does not pass through the VICS service area and the entrance point is not specified by the entrance / exit specifying / comparing section 26, the map data in the lower layer is used to connect the starting point to the destination. The optimum route is secondarily searched (step 609), and the first searched route passes through the VICS service area, but since the destination is in the service area, the entrance point is specified but the exit point is not specified. At this time, instead of performing the secondary search from the entry point to the exit point using the map data of the lower layer, the secondary search is performed from the entry point to the destination (step 610). In this way, after the entrance point and the exit point of the VICS service area are specified by the map data of the upper layer, the secondary search is performed using the map data of the lower layer while dividing the route, so that the search processing can be performed in a relatively short time. Can be executed.

When the secondary search is completed, the navigation controller 10 cooperates with the map image drawing unit 13 and the guide route drawing unit 18 to display the map image around the vehicle position on the screen together with the guide route to guide the route ( Step 701 of FIG. 16). If the vehicle enters the VICS service area and a beacon is received from the beacon transmitter without traveling to the destination (NO in step 702) during traveling, the VICS data is stored in the buffer memory 23 and the traveling history is stored. Record (steps 703-70)
5) If the FM-multiplexed VICS data is received, the VICS data output from the VICS data demodulator 7 is stored in the buffer memory 23 (step 70).
6, 707).

When the vehicle reaches the entrance point (YES in step 708), the entrance / exit identification / comparison unit 26
Gives a re-search command to the route search unit 14, and the route search unit 14 that has received the command uses the map data of the lower layer to perform VICS.
The optimum route connecting the entrance point and the exit point is secondarily searched again while adding the obtained dynamic information, and the guide route data stored in the guide route storage unit 16 is rewritten from the entrance point to the exit point. (Steps 709, 710).
If the entrance point is specified but the exit point is not specified, the route search unit 14 uses the map data of the lower layer to add dynamic information obtained from VICS to the destination point from the entrance point. The optimum route connecting the routes is searched secondarily, and the guide route data stored in the guide route storage unit 16 is rewritten from the entry point to the destination (step 711, see FIG. 18).

Then, using the guidance route data stored in the guidance route storage unit 16, the route guidance is performed for the vehicle running in the VICS service area (step 8 in FIG. 17).
01). While traveling in the VICS service area, each time a beacon is received, the VICS data is stored in the buffer memory 23 and the traveling history is recorded (steps 802 to 804).
Even when the S data is received, it is stored in the buffer memory 23 (steps 805 and 806) so that the latest dynamic information is always stored in the buffer memory 23.
After that, when the vehicle reaches the destination smoothly, the route guidance is finished (step 807).

According to this modification, when the initially determined primary route connecting the departure place and the destination passes through the VICS service area and the departure place is outside the VICS service area, the vehicle is guided by the route and travels. When the vehicle arrives at the entrance point of the VICS service area, the optimum path is searched again from the entrance point in consideration of the dynamic information obtained from VICS, and the route is guided based on the re-searched guide route. By doing so, it becomes possible to guide to the desired destination quickly and easily by taking the optimum route that takes into account temporary traffic restrictions due to accidents and construction in the VICS service area, construction restrictions, and traffic restrictions such as traffic congestion. You can do it.

Further, since the initial route connecting the starting point and the destination, which is initially sought, takes into consideration the past travel history in the VICS service area, the road conditions are taken into consideration to some extent, and the entry point and the The exit point becomes an appropriate route. Furthermore, before the vehicle reaches the entrance point, the guide route ahead of the entrance point is searched in advance, so when the vehicle comes close to the entrance point and the entrance point appears on the map on the screen, You can also display the guide route ahead of the entrance point,
You can know the planned travel route.

In the above modification, when the destination is outside the VICS service area, the optimum route connecting the entrance point to the exit point is searched again.
You may make it search again from an entrance point to a destination. Further, initially, when obtaining the primary route connecting the departure place and the destination, it is possible to search only from the map data read from the CD-ROM without considering the past travel history. Further, the secondary search may be first performed only from the departure point to the entrance point, and the route prior to the entrance point may be secondarily searched when the vehicle reaches the entrance point.

In the above-described embodiments and modifications, the degree of traffic congestion is registered in the intersection netlist, and when calculating the cumulative distance, the weighting coefficient corresponding to the degree of traffic congestion is multiplied. At this time, if the distance to the adjacent intersection in the intersection netlist is rewritten to a value multiplied by a weighting coefficient according to the degree of traffic congestion, the route search process becomes simple. In addition, when recording past travel history, distinguish between weekdays and holidays, further distinguish between daytime and nighttime, and when correcting the link cost according to the travel history during route search, You may make it use the travel history data according to the day of the week and the time zone.

Further, the intersection netlist is a CD-ROM.
Although it is assumed to be stored in advance as a part of the road layer, it may be created in the navigation controller from the map data that does not include the intersection netlist, or the optimum route is searched by the horizontal search method. However, the search may be performed by the Dijkstra method. In addition, in the first search, the width may be considered in consideration of the width in addition to the road type, and in the re-search, the width may be considered in consideration of the width in addition to the road type and the degree of congestion. Further, the vehicle position and the vehicle direction may be detected using GPS satellite navigation.

[0095]

As described above, according to the present invention, an optimum route connecting a departure place and a destination is searched by referring to map data, and the guide route passes through the VICS service area, but the departure place is VICS.
VICS of the guide route when existing outside the service area
When the vehicle arrives at the entrance point while traveling by receiving a predetermined route guidance, the VI
While considering the dynamic information received from the CS, referring to the map data, the optimum route from the entry point to the future is re-searched, the re-searched guide route data is stored in the guide route storage unit, and the guide route is stored. Since it is configured to guide the predetermined route based on the route data, when the vehicle travels according to the initially searched guide route and enters the VICS service area, from there onwards, the optimum route is added with the dynamic information obtained from VICS. Since the route guidance can be received based on the route, it is possible to reach the desired place quickly and easily.

Further, since the traveling history when traveling in the VICS service air is stored in the past, the traveling history is taken into consideration when searching for the optimum route connecting the departure place and the destination. Even before entering the VICS service area, it is possible to travel along a route that takes into consideration actual road conditions to some extent.

Further, first, the optimum route connecting the starting point and the destination is first searched with reference to the map data of the upper layer having a large scale, and the route searched first passes through the VICS service area, but the starting point is the VICS service area. When the vehicle exists outside, the entry point of the VICS service area of the primary search route is obtained, and the optimum route connecting the departure point to the entry point is secondarily searched by referring to the map data of the lower layer with a small scale. The next searched guidance route data is stored in the guidance route storage unit, a predetermined route guidance is performed based on the guidance route data, and when the vehicle reaches the entrance point while receiving the route guidance and received from the VICS By referring to the map data of the lower layer with a small scale while adding the dynamic information, the optimum route from the entrance point to the destination is secondarily searched, and the guide route data searched secondarily is obtained. Since the route is stored in the guide route storage unit and the predetermined route is guided on the basis of the guide route data, when entering the VICS service area, the optimum route in consideration of the dynamic information obtained from the VICS is obtained from there. Since you can receive route guidance based on the route, you can reach the desired place quickly and easily, and even if the departure place and the destination are far away, the time required for the search is relatively short, and you can enter the destination. There is no need to wait long after the start of route guidance.

Further, the traveling history when traveling in the VICS service air is stored in the past, and the traveling history is taken into consideration when the optimum route connecting the departure place and the destination is first searched for first. Therefore, even before entering the VICS service area, it is possible to travel along a route that takes into consideration actual road conditions to some extent.

Further, until the vehicle reaches the entry point of the VICS service area, a secondary search is made in advance by referring to the map data of the lower layer having a small scale from the entry point and stored in the guide route storage section. Based on the guidance route data, it is configured to perform a predetermined route guidance to the portion beyond the entry point, so when the vehicle comes near the entry point of the VICS service area and the entry point appears on the map on the screen, It is possible to know the approximate travel route ahead of the entrance point.

In addition, the traveling history when traveling in the VICS service air is accumulated in the past, and the vehicle is
Before reaching the entrance point of the S service area,
A secondary search is performed referring to the map data of the lower layer with a small scale while adding the traveling history from the entrance point to the destination, and based on the guidance route data stored in the guidance route storage unit, a predetermined portion for the portion beyond the entrance point is determined. Since it is configured to guide the route, when the vehicle comes near the entry point of the VICS service area and the entry point appears on the map on the screen,
It is possible to know a planned travel route that is in accordance with actual road conditions to some extent beyond the entrance point.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an in-vehicle navigator embodying a route guidance method according to the present invention.

FIG. 2 is an explanatory diagram of a traveling history recording method.

FIG. 3 is an explanatory diagram of travel history data stored in a travel history storage unit.

FIG. 4 is an explanatory diagram of a link cost correction method based on dynamic information.

FIG. 5 is an explanatory diagram of an intersection netlist.

FIG. 6 shows a first operation of the navigation controller.
2 is a flowchart of.

FIG. 7 is a second diagram showing the operation of the navigation controller.
2 is a flowchart of.

FIG. 8 is a third view showing the operation of the navigation controller.
2 is a flowchart of.

FIG. 9 is a fourth view showing the operation of the navigation controller.
2 is a flowchart of.

FIG. 10 is a fifth flowchart showing the operation of the navigation controller.

FIG. 11 is an explanatory diagram of a road outline from a departure place to a destination.

FIG. 12 is an explanatory diagram of the first horizontal search method.

FIG. 13 is an explanatory diagram of a road outline in the VICS service area.

FIG. 14 is an explanatory diagram of a second horizontal search method for the VICS service area.

FIG. 15 is a first flowchart showing the operation of the navigation controller according to the modified example of the present invention.

FIG. 16 is a second flowchart showing the operation of the navigation controller according to the modified example of the present invention.

FIG. 17 is a third flowchart showing the operation of the navigation controller according to the modified example of the present invention.

FIG. 18 is an explanatory diagram of a route search method of a modified example.

FIG. 19 is an explanatory diagram of how to hold map data on a CD-ROM.

FIG. 20 is an explanatory diagram of a road data structure.

FIG. 21 is an explanatory diagram of an adjacent node.

FIG. 22 is an explanatory diagram of a drawing leaf for which an intersection netlist is created.

FIG. 23 is an explanatory diagram of a route search method based on a horizontal search method.

[Explanation of symbols]

 1 CD-ROM 2 CRT display device 3 vehicle position detection unit 5 beacon receiver 6 vehicle-mounted FM radio 7 VICS data demodulator 10 navigation controller 13 map image drawing unit 14 route search unit 16 guide route storage unit 17 video RAM 18 guide route drawing Part 24 Travel history recording unit 25 Travel history storage unit 26 Entrance / exit identification / comparison unit

Claims (6)

[Claims] 1. An optimum route connecting a starting point and a destination is searched with reference to the map data stored in the map data storage means, and the searched guide route data is stored in the guide route storage means. , In the route guidance method that performs a predetermined route guidance based on the guidance route data stored in the guidance route storage means while traveling, the optimum route connecting the starting point and the destination is searched with reference to the map data. When the guide route passes through the VICS service area but the place of departure is outside the VICS service area, the VICS service area entrance point of the guide route is sought, and the vehicle reaches the entrance point while receiving the predetermined route guidance and traveling. , Refer to the map data while considering the dynamic information received from the VICS, and re-search for the optimal route from the entry point to the destination, and the re-searched guidance route Stores data in the guide route storage unit, it has to perform a predetermined route guidance based on the guidance route data, the route guidance method comprising. 2. A history of traveling when traveling in the VICS service air is accumulated in the past, and the traveling history is taken into consideration when searching for an optimum route connecting a departure place and a destination. The route guidance method according to claim 1, wherein: 3. The optimum route connecting the starting point and the destination is searched with reference to the map data stored in the map data storage means, and the searched guide route data is stored in the guide route storage means. In a route guidance method in which a predetermined route guidance is performed based on the guidance route data stored in the guidance route storage means while traveling, first, an optimal route connecting a departure place and a destination is shown in a map of a large upper layer. A primary search is performed by referring to the data, and the route that is primarily searched passes through the VICS service area, but the departure place is VIC.
When the vehicle is outside the S service area, the entry point of the VICS service area of the primary search route is obtained, and the optimum route connecting the departure point and the entry point is secondarily searched by referring to the map data of the lower layer with a small scale. When the guide route storage unit stores the guide route data searched secondarily, performs a predetermined route guide based on the guide route data, and when the vehicle reaches the entrance point while receiving the route guide, The optimum route from the entry point to the destination is secondarily searched by referring to the map data of the lower layer having a small scale while adding the dynamic information received from the VICS, and the second route searched guide route data is stored in the guide route storage unit. And a predetermined route guidance is carried out based on the guidance route data. 4. A travel history when traveling in the VICS service air is accumulated in the past, and the travel history is taken into consideration when initially searching for an optimum route connecting a departure place and a destination. The route guidance method according to claim 3, wherein: 5. Until the vehicle reaches the entry point of the VICS service area, a secondary search is made in advance with reference to the map data of the lower layer having a small scale from the entry point to the entry point, and the map is stored in the guide route storage unit. The route guidance method according to claim 3, wherein a predetermined route guidance is performed to a portion ahead of the entrance point based on the guidance route data. 6. The traveling history of traveling in the VICS service area in the past is accumulated, and the traveling history is added in advance from the entry point until the vehicle reaches the entry point of the VICS service area. While performing a secondary search with reference to the map data of the lower layer of a small scale, based on the guide route data stored in the guide route storage unit, to perform a predetermined route guidance to the portion beyond the entrance point, The route guidance method according to claim 3, wherein: