JPH09101164A - Vehicle guide device - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To set a destination route that can surely reach a destination even if the current position deviates from a route target road for setting a destination route. SOLUTION: The route link ID and the current position coordinates when the current position is on the route target road are updated and stored (steps 201 to 203). Then, when the destination is set (steps 204 and 205), if the current position is on the route target road, the route to the destination is calculated with the current position at that time as the departure point, and the current position is not on the route target road. Sometimes, with the route link ID and the current position coordinates stored earlier,
The route to the destination is calculated using the position on the route target road where the current position was last as the starting point (steps 205-2).
07).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle travel guide device that guides travel along a set destination route.

[0002]

2. Description of the Related Art Conventionally, in this type of vehicle travel guide device, a route target road for setting a destination route is defined as a link connecting intersections (nodes), and this link is used to When the destination route to the destination is set, the destination route is highlighted on the road map (thick line display) or the direction of the vehicle according to the destination route is indicated by voice, I am trying to guide the driver to the destination.

In this conventional apparatus, when setting a departure place, an intersection closest to the present location is set as the departure location (Japanese Patent Laid-Open No. 61-216099), or a position on the link closest to the present location is set as the departure location. There is. There is also a system in which the current location is set as a new node and the set node is set as the starting location (Japanese Patent Laid-Open No. 5-6715).
No. 1).

[0004]

According to the above-mentioned conventional one, as shown in FIG. 7, the vehicle deviates from the route target road,
When setting a route from the deviated current position D to the destination, the intersection I closest to the current position D or the position H on the link closest to the current position D is set as the starting point, and the destination route is set from the starting point.

However, if there is an obstacle such as a river between the current location D and the points I and H, the current location D is changed to the points I and H.
However, there is a problem that it is not possible to easily reach the destination and an appropriate destination route cannot be set. Even when the current location is set as a new node as shown in Japanese Patent Laid-Open No. 5-67151, the destination route may be set from the current location via the point I or the like, and the same problem as described above occurs. Occurs.

In such a case, it is conceivable to store information on an obstacle such as a river so as not to set a destination route that crosses the obstacle. The survey requires a lot of work, and the shape of the obstacle is often complicated, resulting in a huge amount of data, and it is not practical to store information about such an obstacle.

The present invention has been made in view of the above problems, and an object of the present invention is to set a destination route that can surely reach a destination even if the current position deviates from the route target road. To do.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, in the invention according to claim 1, in setting a destination route from a starting point to a destination, when the present point is not on the route target road, the present point is last. The feature is that the departure place is set on the existing route target road. As a result, even if the current location deviates from the route target road, the current route can return to the route target road that was last present, so that the destination route can be reliably reached. It can be performed.

The invention according to claim 2 is characterized in that the data indicating the route target road in which the current position is the last existed is non-volatilely stored. Due to this, even when the current location deviates from the route target road, the vehicle driving is interrupted there, and then the driving is restarted, the above-mentioned destination route is set at that location by the non-volatile storage of data. You can

The present invention according to claim 3 is characterized in that the current location last existing on the route-targeted road is stored in a nonvolatile manner, and the stored current location is set as the starting point. As a result, the position deviating from the route target road becomes the starting point, and it is possible to surely reach the destination by returning to the position.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention shown in the drawings will be described. FIG. 1 shows the overall configuration of a vehicle travel guide device showing an embodiment of the present invention. In the present embodiment, a GPS receiver 1, a direction sensor 2, and a wheel speed sensor 3 are provided to detect the current position of the vehicle. GP
The S receiver 1 receives a radio wave from an artificial satellite and outputs a signal indicating the current position of the vehicle. The azimuth sensor 2 detects the traveling direction of the vehicle by using, for example, geomagnetism and outputs a azimuth signal. The wheel speed sensor 3 detects the traveling distance of the vehicle based on the rotation speed of the wheels and outputs a distance signal.

The storage device 4 is a CD for storing map data.
It has a ROM storage medium and outputs map data to the control device 6. The operation unit 5 has various keys operated by a vehicle occupant or the like, and outputs operation signals necessary for traveling guidance. When setting the destination route, the destination key 5a is operated, and the destination is set by, for example, designating the position on the screen of the display device 7.

The control device 6 is configured to include a computer means such as a microcomputer, and displays a road map of the traveling area of the vehicle on the display device 7 in response to signals from the above-mentioned components 1 to 5. At the same time, the arithmetic processing for displaying the current position of the vehicle on the road map is executed. Furthermore, when performing route guidance for a destination, a destination route for the destination is set, and an arithmetic process for highlighting the destination route on the display device 7 is executed. Further, in order to set the departure point in the destination route, data indicating the route target road in which the current location was last present (route link ID described later) and the current position coordinates are non-volatile stored even when the vehicle is not operating. The nonvolatile memory 6a is provided.

The display device 7 is provided in the instrument panel portion of the vehicle and displays a current location and a road map.
A liquid crystal display device, a CRT display device, or the like can be used as the display device 7. FIG. 2 shows the structure of the map data. The map data is composed of display road data and route road data (route target road data).

The display road data is composed of shape point information for displaying a road map, display link ID information, and attribute information. The shape point information defines the shape of the road by a set of a plurality of links specified by the two-dimensional coordinate points, and
Coordinate data forming a link is stored for each link forming a stroke. For example, on a road as shown in FIG. 3, the stroke S1 is defined by the links L1 to L3.
When the stroke S2 is composed of the links L4 and L5, the link L1 has coordinates p11 to P13, the link L2 has coordinates p13 to 16, and the link L3 has coordinates p1.
6 and P17, the link L4 has coordinates p21,
The link L5 is coordinate p13, p2 by p22, P13.
4, p25.

Here, a plurality of links are respectively given link IDs, and the links L1 to L5 form the link ID. This link ID is given as a unique ID number for each link on roads nationwide, and is given as a continuous number within a stroke. The display link ID information includes link IDs at the start and end of the link string in each stroke of the display road. The attribute information is composed of road types (highways, national roads, etc.), the number of road lanes, information on regulations such as one-way traffic, and the like.

At the time of displaying the road, the control device 6 identifies a continuous link ID string between the start and end link IDs of each stroke, and accesses the shape point information from this link ID string to make each stroke. The coordinate points forming the link in are extracted. The extracted coordinate points are linked and displayed according to the attribute information, and the road map is displayed on the display device 7.

On the other hand, the route road data used for setting the destination route is composed of route link ID information and network information. The link ID information for the route is
It is composed of a link ID, a link cost, and a pointer to network information. Network information is information about how road links connect to other links,
For example, the link A is information indicating that the link A is connected to the links B, C, and D.

At the time of route guidance, the control device 6 calculates the optimum route from the current position to the destination by using the link cost and the network information, identifies the route as a link ID string, and from this link ID string, the shape point is determined. Access information. Then, the coordinate point specified by the shape point information is connected and the destination route is highlighted on the display device 7. As described above, the display road data and the route road data are associated with each other by the link ID, and when the destination route is set, the shape point information can be accessed from the link ID to highlight the destination route. it can.

Next, the main arithmetic processing in the control device 6 will be described based on the flowchart shown in FIG.
The control device 6 obtains the coordinates of the current position from the signals from the GPS receiver 1, the azimuth sensor 2, and the wheel speed sensor 3 (step 101), reads the display road data from the storage device 4, and a road map including the current position together with the current position. Display device 7
Is displayed (step 102). The display of this road map is as described above. Further, map matching processing is performed so that the current location of the vehicle is located on the displayed road. When the destination route is set, the display device 7 highlights the destination route (step 103).

Next, setting of the destination route in the control device 6 will be described with reference to the flowchart shown in FIG. The control device 6 first determines whether or not the current position obtained as described above is on the route target road (step 2).
01). When the vehicle is traveling on the displayed road, the current location of the vehicle is on any of the links due to the map matching processing described above. If the link ID for this link is included in the route link ID, it is determined that the current position is on the route target road.

When the current position is on the route target road, the link ID for the route and the current position coordinates are stored in the nonvolatile memory 6.
It is updated and stored in a (step 202). On the other hand, when the vehicle deviates from the displayed road, or when the link to the road is not the route link even on the displayed road, it is determined that the current position is not on the route target road, and the nonvolatile memory 6a Do not update and store to.

Therefore, by the above processing, the latest route link ID and the current position coordinates are stored in the non-volatile memory 6a. In other words, the route link ID and the current position coordinates for the route target road where the vehicle last existed are stored. After that, when the destination key 5a is operated to set the destination route, the determination in step 203 becomes YES and the destination is set (step 20).
4). In this case, the destination is set by operating the operation unit 5. The setting of this destination is the same as the conventional one.

Next, it is determined whether or not the current position is on the route target road (step 205). This determination is performed in the same manner as step 201. When the current location is on the route target road, the route to the destination is calculated with the current location as the starting point (step 206). In this route calculation, for example, the route from the node at the starting point to the node at the destination is set by cost calculation using the Dijkstra method. When the departure place and the destination are not on the node, the departure place and the destination are set as virtual nodes. In this Dijkstra method, the route cost in each link from the start link in which the node at the starting point exists to the end link in which the node at the destination exists exists is calculated using, for example, Equation 1.

[0025]

## EQU00001 ## Route cost = link length × road width coefficient × road type coefficient Here, the link length is a distance between nodes, and the road width coefficient is a coefficient set for the size of the road width. The road type coefficient is a coefficient set according to the road type such as a toll road. The link length, road width coefficient, and road type coefficient are stored as the link cost in the route link ID information.

Then, of the total sum of the route costs from the node of the departure place to the node of the destination, the one having the smallest cost is set as the optimum route. Then, follow the route with the lowest cost in order from the destination to the departure point,
Reversely, the route from the departure place to the destination is specified as a link ID string as shown in FIG. On the other hand, when the current location is not on the route target road, the route link ID and the current location coordinates stored in the non-volatile memory 6a
Using the route link ID as the start link, and the stored current location as the starting point, the route to the destination is calculated by the cost calculation using the Dijkstra method in the same manner as above (step 207).

When the link ID string to the destination is set as described above, the control device 6 causes the step 103 in FIG.
In, access the shape point information from the link ID column,
The destination routes are highlighted on the display device 7 by connecting them. Therefore, as shown in FIG. 7, when the current location is off the route target road, the point B last existing on the route target road is used as the starting point and the destination route B → E →
Since F → G → ... is set, the destination can be reliably reached from the original road even if there are obstacles such as rivers. In this way, when the vehicle deviates from the target road and there is an obstacle in the vicinity of it, there is a limited number of exits when there is a river ahead of the vehicle and there is a river ahead. There are cases.

In the above embodiment, the present position on the route-targeted road that was traveled last is set as the departure point. However, if it is on the route-targeted road, the intersection closest to the current position or its travel is set. It may be the nearest grounding point to the link. Further, the travel guidance is not limited to displaying the destination route, but may be voice guidance according to the destination route, or both of them may be used.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention.

FIG. 2 is a configuration diagram showing a configuration of map data.

FIG. 3 is an explanatory diagram for explaining a configuration of shape point information shown in FIG.

FIG. 4 is a flowchart showing main arithmetic processing of the control device shown in FIG.

5 is a flowchart showing a destination route setting process of the control device shown in FIG.

FIG. 6 is a diagram showing a link ID sequence from a departure place to a destination.

FIG. 7 is a diagram for explaining route setting when the current location deviates from the route target road.

[Explanation of symbols]

1 ... GPS receiver, 2 ... Direction sensor, 3 ... Wheel speed sensor, 4 ... Storage device, 5 ... Operation part, 6 ... Control device, 6a ...
Non-volatile memory, 7 ... Display device.

Claims (3)

[Claims] 1. A present location detecting means (1 to 3, 101) for detecting a present location of a vehicle, a route data storing means (4) storing data of a route target road for setting a destination route, and a destination. And a destination setting means (5, 204) for setting a destination route from the starting point to the destination by using the data of the route target road according to the present location and the destination. ~ 207), and a guide means (10) for performing travel guidance according to the destination route.
3, 7), wherein the route setting means sets the departure place on the route target road where the current position was last when the current position is not on the route target road. Travel guidance device. 2. A non-volatile storage means (6) for non-volatile storing data indicating a route target road in which the current location was last present.
The vehicle travel guide device according to claim 1, further comprising a). 3. The non-volatile storage means non-volatilely stores the current location that was last present on the route target road, and the route setting means sets the stored current location as the departure location. The traveling guide device for a vehicle according to.