JPS6282316A - Path guide apparatus for vehicle - Google Patents

Abstract

PURPOSE:To set automatically the shortest path going from a starting intersection to the objective intersection by storing the correlation quantity between the next attainable adjoining intersection and the time required until then for every insection in a basic information storage means. CONSTITUTION:The titled apparatus is mainly constituted of a CPU 1 constituted with a microprocessor as a center and a controller consisting of a system ROM 2 storing various system programs for control and a RAM 3. Various functions are realized by executing the various control program stored in the ROM 2 with the CPU 1. Further, the storage of various pieces of information such as a road map and the intersections is performed by an external memory 12 such as floppy disk and an optical disk. Then, the correlation quantity between the next attainable adjoining intersection and the time required until then is stored for every intersection considering a passing directional rule in the basic information storage means. Further, a path retrieval means retrieves the shortest path going from the starting intersection to the objective intersection under a prescribed condition referring to the contents of the basic information storage means.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a device that is mounted on a vehicle and provides route guidance to an occupant.

(Background of the Invention) In vehicle route guidance devices, there is a desire to automate the task of setting the shortest route from a departure intersection to a destination intersection.

Previously written by EDWARD, F. MOORF, “Theshor
test Path Through a HazeJ
There are several descriptions regarding the shortest route search in the ``Research Report on the Possibility of Introducing a Dual Mode Bus System'' by the Transportation Economics Research Center.

However, the shortest route search processing described in these documents is still conceptual and cannot be directly applied to specific routes where traffic direction rules such as no entry or no right or left turns exist. It has not reached the point where it can be put to practical use.

(Objective of the Invention) The object of the present invention is to provide the shortest route from the departure intersection to the destination intersection under certain conditions, even when applied to a specific passageway where there are traffic direction rules such as no entry or right/left turns. An object of the present invention is to provide a route guide device for a vehicle that can reliably automatically set a route.

(Structure of the Invention) The present invention will be described in detail with reference to the claim correspondence diagram in FIG.

The basic information storage means a stores, for each intersection, the next reachable adjacent intersection and the amount of time required to reach it, taking into consideration traffic direction rules such as no entry and no right or left turns.

The route search means 1 searches for the shortest route from the departure intersection to the destination intersection under certain conditions by referring to the contents of the basic information record 1 means a.

(Explanation of the embodiment) First, the hardware configuration of the device of this embodiment will be explained as follows.
This will be explained with reference to the figures.

As shown in the figure, this device mainly consists of a stored program type control device consisting of a CPU 1 mainly composed of a microprocessor, a system ROM 2 in which various control system programs are stored, and a RAM 3 used as a working area. It is configured.

By causing the CPtJl to execute various control programs stored in the system ROM 2 (details will be given later), various functions are realized as shown in the vinyl flowchart of FIG.

Detection of the available position coordinates (X, Y) and traveling distance fΔD, which are necessary while traveling, is performed by the distance sensor 4 every time a certain distance ΔD is traveled.
In response to the interrupt pulse 1q from
This is performed by a unit vector addition process using the vehicle direction θ obtained from , and a simple integration process of the unit distance ΔD.

Guidance information is transmitted to the driver using video RAM6. C
VDT based on RT7 (Visual[)isp
This is done visually using the lay terminal (see Figure 3).

Various commands to the device are issued through an input operation section 8 consisting of a numeric keypad, etc. Alternatively, as shown in FIG. 3, a known transparent operation panel 10 attached to the front surface of the VDT 9 may be used.

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

Various information such as road maps and intersections is stored in an external memory 12 such as a floppy disk, optical disk, or LA tape.
It is carried out by

As shown in FIG. 4, a plurality of block areas are provided in the external memory 12, corresponding to blocks obtained by dividing the reference road map 13 vertically and horizontally.

Each block area is further divided into a plurality of intersection areas corresponding to each intersection included in the block.

Each intersection area stores intersection mode information indicating whether it is a grade-separated intersection or at-grade intersection, X-coordinate information and Y-coordinate information indicating the position on the map, and intersection name information, as well as multiple adjacent intersection areas It is provided.

Each adjacent intersection area contains intersection number information, passage number information of connecting roads, and direction information of each connecting road as seen from the intersection for the intersection adjacent to the intersection.

Sectional route information from the intersection to the adjacent intersection is recorded and hidden.

Each of the above-mentioned information includes the departure intersection, destination intersection selection processing, shortest route search processing, guidance display processing (I) to be described later.
(III) (see Figure 10).

In addition to the intersection information described above, various types of information are stored in the external memory 12, as shown in FIGS. 5 to 9.

That is, in the external memory 12, as shown in FIG.
Each area name information storage area, the reduced map information storage area corresponding to each area name, the enlarged map information record/darezoku corresponding to each zone of each reduced map, and the point name information included in each enlarged map are stored. In addition, there is a table that associates and stores place names and area names and reduced map numbers (see Figure 6).
, a table in which each ZOne of the reduced map is associated with the number of the enlarged map (see Figure 7), each Z One of the enlarged map is
one and its center coordinates in association with each other (see FIG. 8), and a table (see FIG.
(see figure) are stored respectively.

The meaning of each of these pieces of information will be explained later in the process of specifying the departure point and destination.

This concludes the explanation focusing on the hardware, and next the software configuration of the apparatus of this embodiment will be explained with reference to the drawings from FIG. 10 onwards.

As shown in the general flowchart of FIG. 10, the software configuration of the device of this embodiment includes a process for specifying a departure point and a destination (step 1001), and a process for selecting a departure intersection and a destination intersection (step 1002>).

Shortest route search process (step 1003), guide table water speed processing (step 1004), guide display process (step 1
005) and guide display processing (step 1006).

Among these processes, the R short route search process (step 1003) is directly related to the present invention, and the five processes (steps 1001, 1002, and 1004) are directly related to the present invention.
．． 1005 and 1006) are not directly related.

However, although applications have already been filed for these five processes, they have not yet been published (for example, Japanese Patent Application No. 59-2204
No. 81, Japanese Patent Application No. 59-220484, Japanese Patent Application No. 59-2
No. 42435, patent application No. 1983-57476, patent application No. 1983
-57478, patent application No. 1983-70622, patent application No. 1983
No. 0-70623, filed on August 30, 1985.

Therefore, in the following explanation, the shortest route search process will be explained in detail in text, and for the other five processes, instead of attaching flowcharts and various diagrams that specifically describe each process content in text, Explanations within the text shall be kept to the minimum necessary.

(A) Departure and Destination Identification Process In this process, both sides of the VDT 9 are used to interact with the operator, and the departure and destination are finally specified.

In other words, the 12th screen displays a list of area names on the screen.
(see figure), the designated area is detected by waiting for the transparent operation panel to be pressed.

Next, a reduced map of the specified area is displayed (see FIG. 13), and the limited area is detected by pressing the transparent operation panel.

Next, an enlarged map of the limited area is displayed (see FIG. 14), the transparent operation panel is pressed, the final specified area is determined, and its center coordinates are specified as the departure point or destination.

For those who are unfamiliar with geography, please wait for the transparent operation panel to be pressed, detect the specified point name, and use its coordinates as the starting point.
Recognize it as a destination.

The above processing is performed by executing the departure point and destination specifying processing shown in the flowchart of FIG.

The relationship between the pressed area and the reduced map number and the relationship between the pressed area and the enlarged map number can be determined by referring to the tables in Figures 6 and 7, and each image information is shown in Figure 5. As shown in the figure, the one stored in the external memory is used.

Furthermore, the relationship between the pressed region and the center coordinates of each zone.

FIG. 8 shows the relationship between the pressed area and the point coordinates.

It is determined by referring to the table in FIG.

(B) Process for selecting departure intersection and destination intersection This process is based on the taught departure point coordinates (XS, YS) and destination coordinates (Xd, Yd), and selects each intersection shown in Figure 4. The XY coordinate information is searched, and as shown in FIG. As shown in Figure 18, the registered intersection closest to the destination is selected as the destination intersection.

This is done by executing the process of selecting the starting intersection and destination intersection shown in the flowchart of FIG.

(C) About the shortest route search process In this process,) while searching for the destination intersection from the vicinity of the starting intersection to the farthest distance on the neck map, the shortest route to each intermediate intersection is memorized, and the destination intersection is detected. At that point, the shortest route from the starting intersection to the destination intersection is selected by returning to the starting intersection based on the route information to each intersection.

Particularly, in this invention, the road map information includes traffic direction rules such as no entry and (a) no left turns, so that the distance to each intermediate intersection can be determined along the route that can actually be driven. .

First, the content of the road map information, which is the premise of this process, will be explained with reference to FIGS. 19B to 19L.

Figure 19B is a diagram showing the relationship between plane intersection figures on general passages with no traffic direction restrictions such as no entry or left turns, and intersection positions on road map information, and Figure 19C is a diagram showing the corresponding roads. This is a memory map showing the format of map information.

What is shown in Figure 19B is the Funakoshibashi 3-chome intersection (tentative name), where roads No. 0.3 and No. 0.10 intersect at right angles to each other, and when entering the city from either north, east, west, or south. As shown by the arrows in the figure, it is possible to go straight and turn right and left in three other directions.

In addition, in the north, south, east, and west, traffic No. 11, traffic No. 11,
13. Adjacent intersections corresponding to intersection No. 2 and intersection No. 22 are also arranged.

In the case of such an intersection, the intersection is counted as one on the path map information, and its position is the center of the intersection. In this example, the intersection No. 0.12 indicated by C in the figure corresponds to this.

Passage map information corresponding to intersection number 12 is expressed as shown in FIG. 19C. That is, in the intersection mode, X coordinate, X coordinate, and intersection name area, "Plane intersection J,"
rx+ 2J, ry+ 2J.

Information corresponding to ``Funakoshibashi 3-chome'' is listed. Hey, here is the X coordinate of intersection N0.12.

The X coordinates are abbreviated as X+21YI2, respectively.

Next, the contents of the adjacent intersection areas ■ to ■ will be explained. Adjacent intersection areas ■ to ■ are sequentially allocated clockwise from the north to the four passages extending from intersection No. 0.12.

That is, the adjacent intersection areas ■ to ■ are intersections N.

22, intersection No. 13, and intersection No. 0.11.

Then, corresponding information is stored in the road number, area, road direction area, and section route area of each area (■ to ■).

That is, each passage No. of areas ■ to ■, the area has the corresponding road No., rloJ, r3J, rloj, "3"
``O'' in the road direction area.

r90J, r180J, r270J, and in the section route area "D1222", "D1213", rD+
202J and rD+ 211J are respectively stored.

In addition, in this example, the road direction is 360 minutes v1 clockwise with north as the starting point, and the section distance between Intersection No. 0.12 and Intersection No. 0.22 is used as DI 222. It is abbreviated.

In this way, by writing the road direction information in each adjacent intersection area ■~■, and conversely reading this information, it is possible to know that four passages extend from intersection No. 12 and the direction of each road corner. Now you can know if it's suitable for you. These road orientation information are used in the intersection figure drawing process (after) e) performed before each intersection.

On the other hand, the most important point in the present invention is to write the intersection number in the intersection number and area of each adjacent intersection area ■ to ■, or write nothing and write a state of no data 2, for example FFFF. There is.

In other words, in this invention, for each intersection, it is necessary to identify the next actually reachable adjacent intersection from among all adjacent intersections, and this identification is performed by assigning the intersection number to the area.
This is done either by writing the data, or by writing no data at all.

In the case of the intersection in Figure 19B, the adjacent intersection is the intersection No.
22, Interchange No., 13. Since Intersection No. 2, Intersection No. 1, and Intersection No. 1 are all adjacent intersections that can actually be reached, the intersection No. and area of each adjacent intersection area ■ to ■ correspond to the corresponding intersection No., r22J, r13J.

r2J and rllJ are respectively stored.

Next, Fig. 19D is a diagram showing the relationship between plane intersection figures on general passages with traffic direction restrictions such as prohibition of right turns and intersection positions on the passage map information, and Figs. 19E to 19H are diagrams showing this relationship. This is a memory map showing formats 1 to 1 of corresponding passage map information.

The intersections shown in FIG. 19D are Road No. 9 and Road No. 0.
The Nakayama Kita 3-chome intersection (tentative name) is where the road No. 8 intersects at right angles to the intersection. There is.

In addition, the adjacent intersections are No. 28 and No. 65.
Four intersections, No. 4, No. 39, No. 43, are arranged.

In the case of such intersections, the number of intersections is counted as four, and each intersection is positioned at the road entrance to each intersection. In this example, the intersection number is indicated by a circle in the figure.

61, intersection number, 62, intersection number, 63, and intersection number, 64 correspond to them.

Then, each individual intersection No. 61, No. 61, No.
62, No. 63, No. 64, Fig. 19E~
As shown in FIG. 191, passage map information is stored respectively.

In the passage map information shown in Figures 19E to 19H, the contents of the intersection mode area, The same is true for the case, and the contents of the road number, area, passage direction 1 noah, and section route area for each adjacent intersection area
It is the same as the case of an intersection without traffic direction regulation explained in the figure.

On the other hand, only the intersection number and area among the adjacent intersections (2) to (2) are significantly different from the intersection without traffic direction regulation shown in FIG. 19C.

That is, to explain the case of intersection No. 0.61 shown in FIG. 19D, intersection No. 61 is the intersection No. 0.61 as an adjacent intersection.
28. Cross No. 54, Cross No. 39. Exchange No.

There are four intersections consisting of 43, but among them, only intersection No. 0.28 and intersection No. 43 are actually reachable.

To express this, as shown in Figure 19E,
Exchange No. 54. The adjacent intersection area corresponding to intersection number 0.39, the intersection number of ■, ■, the area has any intersection number,
is not written and a state with no data is stored.

Therefore, by referring to the road map information shown in FIG. 19E, there are four roads around intersection No. 0.61, but among them, the roads that are actually reachable are intersection No.
28, it is possible to confirm that there is only a path heading towards intersection No. 0.43.

Similarly, from FIG. 19F, the intersections that can actually be reached from intersection No. 62 are intersection No. 28. Exchange No.

54, and from Figure 19G, the intersection No.
, 63, intersection No. 54, intersection No. 39, are the only reachable intersections; roughly from FIG. 19H, from intersection No. 64, intersection No. 39. Exchange No.

It can be confirmed that only intersection No. 43 is reachable.

Next, Figure 19I shows an intersection figure where a general road, a highway passage, a down road from the highway to the general passage, and an up passage from the general road to the highway intersect, and the intersection on the road map information. Figure 19J, which shows the relationship with the position, is a memory map showing the map of road map information corresponding to this.

The intersection shown in Figure 19I is a grade-separated intersection between the general road No. 16 and the expressway No. 45, and a one-way road leading up to the expressway and a one-way road going down from the expressway. This is a multi-level intersection where the passageway intersects the general road at right angles, and the adjacent intersection that can be reached at this multi-level intersection is Intersection No. 102 on the general road.
．． Interchange No. 0.103 and Interchange No. 95 on the expressway
I'll go.

In the case of such an intersection, on the road map information, one intersection (intersection No. 85> is provided as indicated by a circle in the figure) at the center of the intersection where the general road and the expressway intersect.

As shown in Figure 19J, on the passage map information corresponding to intersection No. 85, intersection areas
O, 102, Cross No., 103. Road information heading toward intersection No. 95 is stored, and the fourth adjacent intersection (front rear ■) is shown to be empty by writing O in the intersection No. 95.

Therefore, by recording the road direction information in each area of ■ to ■, it is possible to confirm that intersection No. 0.85 has three intersections as adjacent intersections and that it is possible to reach each of them. That's why.

Also, intersection N0093 on the expressway shown in Figure 191
There is no risk of being detected on the information shown in FIG. 19J, and therefore a route that involves driving in the wrong direction on a one-way road will not be selected.

Next, Figure 19 is a diagram explaining the intersection No. 25> on the expressway on the interchange where the general passage and the expressway intersect, and Figure 19L is the passage map information corresponding to this. This is a memory map showing Tsugamat.

No. 19: Intersection No. 2 on the expressway shown in the diagram
5) is an intersection on the expressway (traffic NO.
, 6, intersection No. 19>, there are intersections on the -ship road, intersection No. 29, intersection No. 0.20>.

Among these four intersections, the actual reachable adjacent intersections are Intersection No. 19, Intersection No. 29, and Intersection No.

There are only three of 20, and it is impossible to reach intersection No. 0.6.

Therefore, as shown in FIG. 19L, the intersection number of the adjacent intersection area (■) corresponding to intersection number 6.

No data is stored in the area.

Therefore, from the stored information in FIG. 19L, the intersection No.

25 has four intersections as adjacent intersections, among which the reachable intersections are Intersection No. 29, Intersection No. 20, Intersection No.
It can be confirmed that there are only 0 and 19.

As explained above with reference to FIGS. 19B to 19B, the in-vehicle storage device stores the next reachable adjacent intersection and The correlation amount of time required to reach the intersection (in this example, the distance to the adjacent intersection) is stored for each intersection, and based on this information, the shortest route search process and intersection graphic display process are performed. , intersection passage confirmation processing, etc. are performed.

Next, details of the shortest route search process from the departure intersection to the destination intersection will be described with reference to FIG. 19A.

Once the departure intersection and destination intersection have been identified, first find the reachable previous intersection next to the departure intersection (i.e. -
Next intersection) is searched for (step 1901).

Here, to check which intersections are reachable among all adjacent intersections, as mentioned above, each adjacent intersection area
Refer to the intersection number and area in ■, and determine whether the intersection number is recorded here or if there is no data.
Only intersections whose intersection numbers are stored can be considered as reachable adjacent intersections.

Next, as shown in FIG. 20, the distance jd from the departure intersection to the primary intersection is stored in the distance storage area corresponding to each intersection, and at the same time, the departure intersection is stored as the previous intersection (step 1902).

Thereafter, the value of the intersection counter N is set to the initial value (step 190
Step '1911) to update sequentially from 3),
The previous intersection, which must be one next to each N-th intersection, is (N+
1> Search for the next intersection (step 1904), calculate the distance from the starting intersection to each (N+1) next intersection (step 1905), and check if the distance has already been stored in the distance storage area for the (N+1> next intersection). (Step 19
As shown in FIG. 20, the route information and the previous intersection are rewritten only if the route area is shorter than the already stored route area (step 1907).
If no route has been memorized yet (No in step 1906), the traffic from the starting intersection is stored in the traffic storage area corresponding to each intersection as shown in FIG. Intersections are memorized (step 1908).

While repeating the above operations, if the target intersection is detected among the (N+1) next intersections (step 190
9 (affirmative), based on the information of the intersection before each intersection,
As shown in FIG. 1, the intersections passed through on the shortest route from the destination intersection to the starting intersection are stored in order (step 1910).As a result, as shown in FIG. 21, when the above processing is completed, the starting intersection The shortest route from the point to the destination intersection is set and stored in the form of the intersections to be passed and the order in which they should be passed.

What is particularly important in this invention is that, as mentioned above, the storage device takes into consideration traffic direction rules such as no entry and no right/left turns, and stores the next reachable adjacent intersection and the correlation amount of the time required up to that point. is stored for each intersection, and as a result of performing the shortest route search process using this, the shortest route obtained will actually be one that vehicles can pass, so there is no need to worry about turning left or right or entering prohibited. , it is possible to prevent the possibility of the road becoming impassable.

In addition, in the above embodiment, the vehicle side stores the route information of the intersection section in advance, but instead of this, the required time correlation amount information calculated based on the speed limit of each road, that is, the expressway is short and It goes without saying that the present invention can also be applied to cases where information such as long city streets or information on the correlation amount of required time calculated on the assumption that all roads are traveled at the same speed are stored.

(D> Guidance display process (I>) This process provides driving route guidance from the starting point to the starting intersection. As shown in FIG. The direction of the departure intersection is displayed using arrow-like segments, and after approaching within 300 meters, the departure road is painted over using an intersection shape with the vehicle traveling direction directly above, as shown in Figure 27. By displaying this, the starting road direction V, that is, the route to be taken at the intersection, is displayed, and at the same time, the travel trajectory is drawn on the screen.

This is done by executing the processes shown in FIGS. 22, 24, and 26, respectively.

(E) Guidance display process (II) In this process, while confirming that the current position does not deviate from the planned route, the approach to the next intersection is monitored, and each time the arrival at the intersection is confirmed, the current position is After correcting this, the above operation is repeated with the next intersection to be passed as the new goal.

Also, on the plane of each intersection, Fig. 35, Fig. 37, Fig. 3
As shown in FIG. 8, the route at the intersection is displayed using intersection figures and route arrows. Even when displaying a graphic of an intersection where right or left turns are prohibited, the intersection graphic can be displayed accurately because passage direction information is stored even for adjacent intersections that cannot be reached as intersection information, as described above.

In addition, if the intersection where the turn is to be made is an overpass, the 41st
As shown in the figure, the center of the intersection figure is treated as white,
This will be accompanied by a route arrow and a guide will be displayed showing the route to take at the intersection.

Furthermore, while driving, the driving trajectory is always displayed overlaid on the road map.

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

(F) About the guidance display process (1) In this process, as shown in FIG. As shown in FIG. 44, the driver is notified of this with an arrival notification message.

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

(Effects of the Invention) As is clear from the description of the embodiments above, according to the vehicle route guidance device according to the present invention, a departure intersection leads to a destination intersection in accordance with traffic direction rules such as no entry and no right or left turns. The shortest route can be automatically set, further improving the practicality and usability of this type of device.

[Brief explanation of drawings]

Fig. 1 is a complaint correspondence diagram of the present invention, Fig. 2 is a block diagram showing the hardware configuration of the device of this embodiment, and Fig. 3 is a VD
Perspective view showing the state in which the transparent operation panel is attached to the T, No. 4
The figure shows a memory map showing the contents of the intersection information area set up in the external memory. A memory map showing the storage area for point name information, Fig. 6 is a memory map showing the contents of a table in which each area name and the number of the reduced map are stored in association with each other, and Fig. 7 shows each Z one of the reduced map and the corresponding enlarged map. A memory map showing the contents of the table to be considered in association with the number of
9 is a memory map showing the contents of a table that is stored in association with the center coordinates of ONE, FIG. 9 is a memory map showing the contents of a table that is considered by associating the relationship between each point name and the corresponding point coordinates, and FIG. 10 is a route map. General flowchart of the guidance device, Fig. 11 shows flow chart me 1 showing details of processing for specifying departure point and destination. Fig. 12 shows VDT.
An explanatory diagram showing a state in which area names are displayed all at once on the screen, Fig. 13 is an explanatory diagram showing a state in which a reduced map is displayed on the VDT screen, and Fig. 14 shows a state in which an enlarged map is displayed on the VDT screen. Fig. 15 is an explanatory drawing showing the point name list displayed on the VDT screen, Fig. 16 is a flowchart showing the process of selecting a starting intersection and destination intersection, and Fig. 17 is an algorithm for selecting 33 starting intersections. Figure 18 is an explanatory diagram showing the algorithm for selecting the destination intersection, Figure 19A is a flowchart showing details of the shortest route search process, and Figure 19B is an explanatory diagram showing the algorithm for selecting the destination intersection. An explanatory diagram showing the relationship between intersection shapes and intersection positions on the passage map information, Figure 19C is a note showing the format of passage map information corresponding to Figure 19B, and Figure 19D is a traffic direction in which right turns are prohibited. Figures 19E to 191-1, which are diagrams showing the relationship between regulated intersection figures and intersections on passage map information, are shown in Figure 19D.
A memory map showing the format of passage map information corresponding to each intersection shown in the figure, Figure 19I shows the relationship between the intersection shapes where general passages, expressways, and pedestrian roads intersect, and the intersection positions on the road map information. Figure 1 showing
Figure 9J is a memory map showing the format of road map information corresponding to Figure 19I. Figure 19 is a diagram showing the shape of an intersection on a highway at an interchange where an expressway intersects with a general passage, and the intersection position on the passage map information. FIG. 19L is a memory map showing road information formats 1 to 1 according to FIG. Figure 21 shows a memo 1 tab showing the details of the intersection number area provided in RA~1, Figure 22 is a flowchart showing details of the guidance display process (I), and Figure 23 shows the current location executed by interruption. Flowcharts 1 to 24 showing the details of the exit processing, FIG. 24 is a flowchart showing details of the departure intersection direction display processing, and FIG. 25 is an explanatory diagram showing an example of display on the VDT screen on the way from the departure point to the departure intersection. 26th
The figure is a flowchart showing the details of the departure route direction display process.
Figure 27 is an explanatory diagram showing an example of the display on the VDT screen when approaching the starting intersection, Figure 28 is a flowchart 1-1 showing details of the guidance display process (n), Figure 29 is to the next intersection to pass through. a flowchart showing details of route guidance preparation processing;
Figure 30 shows test circle A in a state of going straight toward an intersection. An example of a road map showing the relationship between test date B, error test oval, etc.
Figure 31 shows the inspection date B, which opens at the turning intersection l\
An example of a passage map showing the relationship between error test ellipses, Fig. 32 is an explanatory diagram showing the test areas when entering a bending multi-level intersection, and Fig. 33 shows the state of each test area when exiting a bending multi-level intersection. An explanatory diagram, FIG. 34 is a flowchart showing details of the route guidance display process and current position correction process when passing an intersection straight through, and FIG. 35 is a VD when approaching an intersection going straight.
An explanatory diagram showing a display example of the T screen, FIG. 36 is a flowchart 1 to 1 showing details of route guidance display processing and current position correction processing when passing through a turning intersection at a normal intersection, and FIG. Explanatory diagram showing a display example of the VDT screen, Part 3
FIG. 8 is an explanatory diagram showing a display example of the VDT screen when approaching a bend plane intersection, FIGS. FIG. 41 is an explanatory diagram showing a display example of the VDT screen when approaching a three-dimensional bend intersection, FIG. 42 is a flowchart showing details of the guidance display process (I), and FIG.
FIG. 3 is an explanatory diagram showing a display example of the VDT screen when approaching a destination intersection, and FIG. 44 is an explanatory diagram without showing a display example of the VDT screen when approaching a destination. Total: Basic information storage means b: Route search means Patent applicant Nissan Motor Co., Ltd. Figure 1 Figure 3 (VDT) Figure 7 Figure 8 Figure 17 Figure 18 Figure 190 (3 giants, No. 28) (No. 39) Fig. 19B (Accomplished No. 0.222 Fig. 19C Fig. 19E Fig. 19F Fig. 19G Fig. 19H Fig. 19J Fig. 19L Fig. 20 Fig. 21) Figure 25, Figure 26, Figure 35.

Claims (1)

[Claims] (1) A basic information storage means that stores, for each intersection, the next reachable adjacent intersection and the amount of time required to reach it, taking into account traffic direction rules such as no entry and no right/left turns; A route guidance device for a vehicle, comprising: a route search means for searching for the shortest route from a departure intersection to a destination intersection under certain conditions by referring to the contents of the information storage means.