JPS6282500A - Route guiding device for vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

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.

(Prior art and its problems) As a conventional route guide device for vehicles, for example, Japanese Patent Laid-Open No. 58
The one described in Japanese Patent No. 150814 is known.

In this type of device, when a target registered intersection is given, it waits until the arrival before the registered intersection is confirmed on the map, and then displays the route guidance, and then displays whether the registered intersection has been passed or not. After this confirmation, the travel distance d''3 and the current position are automatically corrected, and upon completion of the correction, a new registered intersection is assigned as a marker.

Therefore, if it is difficult to confirm that the intersection has passed through a registered intersection, and as a result there is a delay in correcting the travel distance and current location,
The route guidance display for the next registered intersection will also be delayed by that amount.

By the way, the current 1t-position coordinates obtained by integrating the 1-a distance traveled (unit mileage and its 6th place) for passing through an intersection can be compared on the map with the next registered intersection coordinates. First, it is confirmed that C-C is located near the registered intersection, and then, based on the detection of various information specific to the σ-edge receiving point in that state, it is determined whether or not to pass through the intersection. That's what I do.

Here, when passing through a bending intersection, the bending angle of the intersection can be used as intersection-specific information.
It is possible to check the crossing at a very high level of accuracy, but in the case of a straight-through intersection, the mileage information and the intersection section can be checked. There is no other way than to roughly confirm the passage by comparing it with the distance information, so there is a risk that the device will confirm that the vehicle has passed the intersection when it has actually passed the intersection and is already well advanced. In this case, if there is a turning intersection immediately after the straight intersection,
Due to the error in the route guidance display for the bending intersection,
There is a risk that you will miss the intersection.

(Objective of the Invention) The object of the present invention is that when there is a turning intersection immediately after a straight intersection, the route guidance display of the turning intersection is blocked due to the delay in the passing certainty h3 of the straight intersection hI7). , the objective is to prevent the analytic intersection 2 from turning around the point 1 (vl;s r=).

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

Guide display means a (J2, target σ sexual intercourse Display route guidance on line 4f, then mark the passage of the registered intersection on the map (if
After being recognized, I searched for my next target, a registered intersection.

The determining means then determines whether the intersection is a crossing or a straight intersection, and the next registered intersection is a turning intersection, and both passing points are close to each other. Judgment■
2. In the case of a negative determination, the target updating means provides the next registered intersection to be passed as a target to the guidance display means in response to the Mii request, while in the case of a negative determination, the target updating means provides the next registered intersection as a target. The next registered intersection to pass through is given as a target.

(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 consists of a CPU 1. Various control systems
It is constructed by ten gram system control devices including a system ROM 2 in which the Vth gram is K's 1a, and a RAM 3 used as a working device 1) 7-1 to 7-10.

Therefore, various control blocks stored in the system ROM2
By causing the CPU 1 to execute the program (details will be described later), various functions are realized, as shown in General No.

Detection of the current position coordinates (X, Y) and traveling distance fΔD required while driving is performed by CPU 1 in response to an interrupt pulse obtained from distance sensor 1 and 4 every time a certain distance is traveled. (See FIG. 23) is executed, the intermediate vector addition process using the vehicle position θ obtained from the azimuth sensor 5, and the simple integration process of 0 to the unit distance.

Guidance information is transmitted to the driver using Bio RAM 6.
VD bottom with 11 CR77 (1sualDispl
ay Terminal > (see Figure 3) visually displays line 4.

Various commands to the device are sent to the input operation section 8, which includes keys such as keys. Alternatively, as shown in FIG. 3, a known transparent operation panel 10 attached to the front surface of the VD king 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 becomes able to detect the pressed area via the operation panel interface 11.

Various types of information such as road maps and intersections are stored in an external memory 12 such as a floppy disk, optical disk, or magnetic tape.

As shown in FIG.
A plurality of 10-block areas are created (
I'm being treated.

Each block block is divided into a plurality of intersections -Lsj] corresponding to each intersection included in the block.

Each intersection area stores intersection type information indicating whether it is an overpass or at-grade intersection, X+ marker information indicating the location on the map, Y coordinate information, and intersection name information, as well as information on multiple adjacent intersections. Rear ■～■ are set up.

"Each adjacent intersection" contains the intersection number information of the intersection adjacent to the intersection, the negative road number information of the connecting path, and the 6th position information of each connecting path from the intersection.

The section distance from the intersection to the adjacent intersection (information is stored respectively).

Each of the above-mentioned information is used in the departure intersection, destination intersection selection processing, shortest route search processing, and guidance display processing (][), which will be described later.
- (III) (see Fig. 10).

Further, in the external memory 12, in addition to the intersection information described above, various information is stored as shown in FIGS. 5 to 9.

That is, as shown in FIG.
Each area name information record/hidden bandit, reduced map information record/hidden bandit corresponding to each bandit name, bottled map information storage area corresponding to each z one of each reduced map, point name included in each enlarged map When information is recorded, Chisol (No. 6
(see figure), associate each 10ne of the reduced map with the number of the enlarged map, and associate each Zone of the enlarged map with its center P1 mark (see figure 7). A C-memory table (see Figure 8) and a table (see Figure 9) that stores the names of destinations such as recreational areas and the point coordinates of the destinations in relation to each other are provided. Notes: Hidden.

The meaning of each of these pieces of information (:1) We will finish the explanation focusing on the hardware at 1° or more, which will be explained later in the process of specifying the departure point and destination. The configuration will be explained with reference to the drawings from FIG. 10 onwards.

As shown in general flowcharts 1 to 1 in FIG. 10, steps 1 to 1 of the apparatus of this embodiment include a process for specifying a departure point and a destination (step 1001), a process for selecting a departure intersection and a destination intersection (step 1001); Step 1002).

Shortest route search processing (step 1003), guidance display processing ■ (step 1004), guidance display processing ■ (step 1005), and guidance display processing I[1 (step 1006)
It is roughly divided into six types of processing.

Among these processes, the one that is directly related to the present invention is the guide display process (step 1005), and the other process (steps 1001, 1002, and 1003).
．． 1004 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. 59-220
/1.81, patent application No. 59-220484, patent application No. 1973
9-2424358-1 Japanese Patent Application No. 60-57476, Japanese Patent Application No. 60-57478, Japanese Patent Application No. 60-70622,
Patent Application No. 1988-70623, August 30, 1985 Patent Application 'Fi- (by J).

Therefore, in the following explanation, we will give a detailed explanation of the guide display process H in text, and for the other five processes, we will explain each process in terms of monthly salary from the text 1. Instead of attaching various figures and tables, text explanations in the specification shall be kept to the minimum necessary.

(Δ) Departure point and destination specifying process In this process, the departure point and destination are finally specified while interacting with the operator A using the screen of the VDT 9.

Zunawara, the 12th project that displays a list of area names on the screen
See figure>, detect the designated area by pressing the transparent operation panel.

Next, a reduced map of the specified area is displayed (see Figure 13), and the limited area is detected by waiting for the transparent operation panel to be pressed.

Next, an enlarged map of the limited area is drawn out (see Figure 14), the final designated area is determined by pressing the transparent operation panel, and the center coordinates are specified as the starting point or destination.

For those who are unfamiliar with geography, you can copy a list of point names (see Figure 15), wait for the transparent operation panel to be pressed, detect the specified point name, and use its coordinates as the departure point.
Recognize with destination binding.

The above processing is performed by executing the departure point and destination specifying processing shown in flowchart 1 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.

Historically, the relationship between the suppressed area and the central difference mark of each 7one.

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 the starting intersection and destination intersection This process is based on the taught starting point coordinates (XS, YS) and destination coordinates (Xd, Yd). The XY coordinate information of the intersection is searched, and as shown in Fig. 17, the registered intersection that is located in the direction of the starting point from the starting point and that is closest to the starting point within or outside the predetermined radius is determined as the starting intersection. ) and select the registered intersection closest to the destination as the destination intersection, as shown in FIG. This is done by executing the process of selecting a departure intersection and a destination intersection.

(C) Select the shortest route. In this process, the destination intersection is searched for on the road map by performing stain correction on various routes in all directions from the starting intersection. The ten shortest route intersections are stored sequentially in the order they are passed.

This is done by executing the shortest route search process shown in FIG.

(D) Guidance display processing (King) This processing provides driving route guidance from the departure point to the departure intersection -C.As shown in Fig. 25, until you approach within a radius of 30Qm from the departure intersection, Displays the direction of the departure intersection using automatic medium shapes and arrow-like segments,
Furthermore, after approaching within 300m, as shown in Figure 27, by using an intersection figure with the vehicle traveling direction as the true mark and displaying the departure road by filling it out, The route is displayed, and at the same time the route is drawn on the screen.

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

([) About the guide display process (n) The outline of the guide display process (n) is shown in the flowchart of FIG.

As shown in the figure, in the guidance display process (II), the values of the river rock position coordinates (X, Y) are first changed to the starting intersection coordinates (X+, Y+
) (Step 2801>, route guidance preparation process for the next intersection to be passed (Step 2802>), process for transferring the road map information of the driving area to the screen back P (Step 2803) in order -13=Next, Next, it is confirmed that the next intersection to pass through is not the destination intersection (step 2804, negative), and that the next intersection to pass through is a straight intersection (step 2805, go straight)2.
It must be the next passing intersection or a normal turning intersection (Stella 1
2806 Normal), and that the next intersection to be passed is a three-dimensional turning intersection (Step 2806 Three-dimensional). When passing (t3 &j), the route guidance display and current position correction process (step 2808) and the route guidance display and current position correction process (step 2809) when passing the VI intersection are executed, and when the execution is completed, the intersection counter is displayed. The value of N is updated and the above operation is repeated.

Then, the next intersection to be passed is finally determined to be the target intersection (step 2804), and the guidance display process (n) ends.

Next, each process described above, that is, route guidance preparation process to the next intersection to be passed (step 2802>).

Route guidance display and current position light TF processing when passing through a normal intersection (step 2807), route guidance display and current position correction processing when passing through a bend in a normal intersection (step 2808), and TF processing when passing through a bend in a multi-level intersection Route guidance display and current position correction processing (step 2809>
The details will be sequentially explained in connection with the present invention.

FIG. 29A is a flowchart 1 showing details of route guidance preparation processing for the next intersection to be passed.

As shown in the figure, in this process, first, as an initial process, the value of the intersection counter N is set to the initial value from 1 to 1 (
Steps 2901.2902.2093), passing order (N), (N+1), from the set route information (see Figure 21),
Each intersection number P(N>, P(
N+1・), P(N+2), and (N+3> are read out (step 2904). From the information regarding the intersection number P(N> (see FIG. 4)), the section distance ti51tD from P(N+1) is read. In the process (step 2905), from the information regarding the intersection number P(N+1) (see FIG. 4),
The process of reading the section distance D'' (see FIG. 298) to P(N+2) (step 2906>) is performed sequentially.

Next, information regarding the intersection number P(N+1>
(see figure), the next intersection coordinate (X N + + +Y
The process of reading P (N++) (step 2907), P (N
＞From the information and P(N+1＞, approach direction θ1n of the next intersection
, and P (N+1) information and P (N −+−2)
The process of calculating the escape direction θout of the next intersection from
2) Processing to read (Stella 72909), P (
From N+1>information and P(N+2>, calculate the approach direction θin° of the next intersection, and from P(N+2>information and P(N
+3>, the process (step 2910) for determining the escape direction 0out' of the next intersection is performed sequentially (1).

As shown in FIG. 31, the approach direction θin is the direction of approaching the intersection and the exit direction θOut is the direction of escaping from the intersection. Based on θout, when it is determined that the next intersection to pass is to go straight (step 2911, go straight), it is determined that the next intersection is to go straight (
(step 2912, go straight), or even if it is a turn, the distance mfD- between the next intersection and the next intersection is not less than 200 m (see Figure 29B) (step 2913, negative); A test area equation for passing confirmation is determined (step 291/4>).

Here, as shown in FIG. 30, two test circles A and B are used to confirm passing through a straight intersection, and their radii are αXD and β×D, respectively. α and β are constants.

Also, the next intersection is determined to be a turning intersection (step 2
911 turn) and is determined to be the next intersection or a normal intersection based on the intersection type information (STELLA 12916 normal), the reset direction θrst is determined from the approach direction θin and the exit direction θ0IJt (step 2918>).

Here, as shown in FIG. 31, the values of the reset direction θrst are the approach direction θin and the escape direction θOu.
The direction is set to be an intermediate direction between t and t.

Once the reset direction θrst has been determined, a test area equation for confirming whether the vehicle has passed a turn at a normal intersection is determined (step 2918).

Here, as shown in FIG. 31, the test circle B is used for R2 when passing through a normal intersection turn.

Further, if the next intersection to be passed is determined to be a turning intersection (step 2911, turn), and if it is determined to be a graded intersection (step 2916, graded intersection), a test area equation for confirming passage through the graded intersection is determined. (Step 2919 >
.

Here, the probability 8 of passing through a bent intersection is to cross the line segment α1 and enter the approximately circular area α, as shown in FIG. 32, and cross the line segment β1 as shown in FIG. This is done based on the fact that it has crossed and entered the arcuate rear β.

In this way, the verification area equation for confirming passage through a straight intersection is determined (step 2914>, normal intersection turning passage f
Determination of test area equation for Rf recognition (Subj Tsubu 2918)
and the determination of the test area equation for confirming passing through the intersection (step 2919), the test area equation for confirming the route delamination is finally determined (step 291).
5).

Here, as shown in FIG. 30 and FIG.
N+1. This is performed based on the fact that the current device has entered the outer area of the error verification oval containing YN++ (step 2915).

In this way, if the next intersection is a straight intersection,
Even if the next next intersection is also a straight intersection C, or even if the next next intersection is a turning intersection, as long as the next intersection and the next next intersection are not close, proceed to the next intersection as usual. Route guidance preparation processing is performed with this as the goal.

On the other hand, the next intersection is determined to be an intersection where you should go straight (step 2911 go straight), and the next next intersection is determined to be an intersection where you should turn (step 2912 turn),
The distance between the next intersection and the next intersection is 200m.
If it is determined that the distance is less than or equal to (approaching) (step 2913 affirmative), the distance to the next target intersection is corrected to D + D-, and the target intersection coordinates are adjusted to the next intersection. Coordinates (XN+2.YN+2 > Sera 1
...and further 010. θ01Jt is θin', θ0
1lt' (Step 2920>. Then, after updating the value of intersection force [Kunta N by +1 (Mechitub 2
921), the above-mentioned bending process (steps 2916- and 29
19).

Therefore, as will be described later with reference to Fig. 36, it is necessary to wait for confirmation of passing the next straight intersection, and when the next intersection (before the turning intersection) reaches the point f in front of the intersection, immediately turn. The route to be taken is displayed as a guide, and it is possible to avoid making a wrong turn at a turning intersection.

FIG. 34 is a flowchart showing details of route guidance display processing and current position correction processing when the vehicle passes straight through an intersection.

When this process starts, firstly, the flag for confirming entry within examination date A is set to
), based on the contents of the current position register (X, Y), the system waits for entry into test date A, entry into the Nilla area, and operation of the clear key (step 3402).
→3406→3409→3410→3401→3402
>.

During this period, if the vehicle deviates from the set route and enters the error area (Yes at step 3409), error processing (not shown) is performed and a warning to that effect is issued to the occupants.

Also, distance sensor 4. If it is not confirmed that the vehicle has entered test date A due to an error in the direction sensor 1 or 5 or the driver has deviated from the route, by operating the clear key provided on the input operation section 8 (step 3
410), departure point.

It is possible to return the operation of the device to destination identification processing.

In this case, the process of specifying the departure point and destination must be restarted.

On the other hand, distance sensor 4. When the direction sensor 5 is normal and the vehicle has traveled normally on the set route, it approaches the next intersection and is confirmed to have entered test date A based on the contents of the current position register (X, Y) (step 3402).

Then, from then on, until the value of the travel distance register f△D reaches the value of the section distance [) to the next intersection (step 3
7105 (No), the A entry confirmation flag continues from Sera 1 to [NO (Step 34.03>), and in the upper left corner of the VD King screen, as shown in Figure 3b, the next intersection P ( A figure N+1) is displayed with the vehicle direction directly above the screen, and an arrow indicating the vehicle course is superimposed on it (
Step 3/104).

Distance sensor 4. If the error caused by the direction sensor 5 is small and the vehicle travels normally on the set route, it will arrive at the center of the next intersection and it will be confirmed that the travel distance fΔD matches the section distance hΣ (Step 3406 Portrait) .

Then, the contents of the current position register (X, Y) are rewritten with the contents of the intersection coordinates (XN+1.YN+1), the contents of the travel distance fΔD are reset to zero (step 3411), and the intersection figure on the VDT screen is and the route display disappears (step 3412).

Furthermore, after it has been confirmed that the vehicle will enter within test date A (step 3406), it is determined that the vehicle enters test date B without being able to find a match between the travel distance f△D and the section distance [). If confirmed, step 3407 (portrait), in this example, exit the test circle "3" at the same time as 4.T, (step 34
08 negative), the current position and travel distance have been roughly corrected (Steps 3/111 to 3412>
.

Next, FIG. 36 shows details of the route guidance display process and current position correction process when passing through a bend at a normal intersection.

When this process starts, first the current position is within the test circle [
The state waits for any of the following: entering J, entering the error area, or operating the clear key (steps 3601-, -3602→3603).
→3601).

During this time, as in the process of entering the straight intersection described above, confirm that the current position has entered the error area (
Step 3602 Portrait>, if the clear key operation is confirmed (Step 3603 Portrait), error processing or the departure point described above.

A return to destination identification processing is performed.

On the other hand, the distance sensor 4. If the orientation sensors 5 are normal and the vehicle is traveling correctly along the route 1), the vehicle approaches the turning intersection and is marked as entering test day B (step 3601). ), until the device side confirms that the device has passed the intersection (steps 3610, 3611, 3612M), ■1'
) In the upper left corner of the child screen, as shown in Figures 37 and 38, either the figure of the next intersection to be reached or the vehicle direction directly above the screen is displayed, and an arrow or arrow indicating the vehicle's course is displayed over this. is displayed (step 3604).

From then on, until the vehicle approaches 100 meters before the target intersection on the map (No in step 3605), as shown in FIG. A blinking display is performed only for the 7j length segment that has already passed (step 3606),
It will be confirmed that you are within 100m (Step 3)
6o5 Portrait), as shown in FIGS. 3 and 3, the escape route portion of the arrow indicating the vehicle path flashes (step 3607).

Thereafter, the vehicle direction information is read every time a certain minute distance is traveled (step 3608), and the read letter vehicle direction information is read.
．． ;tFirst Tn First Out stack (hereinafter referred to as FIFO stack) (step 3609).

Next, the latest vehicle heading matches the exit heading θout (step 3610), and the past vehicle heading matches the approach heading θi.
n (Step 3611 Portrait), and furthermore, the escape direction θ0IJt and the approach direction θin match the reset 1 to direction θrst (Step 3612
The process of confirming (affirmative) is repeated, and all of the above is confirmed, and the contents of the current position register (X, Y) are rewritten with the coordinates of the bending intersection, and at the same time the travel distance f
ΔD is also reset to zero (step 3613), and finally, processing for terminating the intersection figure and course display is performed (step 3614).

In this way, when the intersection coordinates to be reached and the distance to the intersection are given, the approach to the intersection is detected by comparing the given coordinates and the current position coordinates, and the route is displayed. In this approach detection state, when a change in the traveling direction specific to the bending intersection is detected, passing of the intersection is confirmed, and the intersection that is the target of the intersection is requested.

One-note processing is when the next intersection is a ``straight ahead'', the next next intersection is a ``turn'', and the next intersection and the next next intersection are close to each other. In this case, the goal to reach is not the next intersection but the next next intersection, and as a result, it is possible to do it without waiting for confirmation of passing the next intersection. Route guidance can be displayed at the intersection, and it is possible to prevent missed turns at bending intersections.

In other words, the target intersection coordinates are the next intersection coordinates (XN4+
, YN+1), but the next intersection coordinate (X
N + 2, Y N + 2 > Toshi TJ and Erare, and the distance traveled to the target intersection is not the distance to the next intersection, but the distance to the next intersection after -r D+-D
−, the result given by the next intersection coordinates (XN+
2. A test date B is set with YN-2> as the center and a radius according to the distance D+D-, and the approach direction and exit direction are not θin, θ0IJt of the next intersection, but the next next intersection. As a result of the θin'' and θout' of the intersection being given, the target of the intersection turn confirmation becomes the next next intersection.

(F) About the guide display process (III) In this process,
As shown in FIG. 43, the direction of the destination is displayed using car figures and arrow-like segments, and
When the destination is near, the driver is notified of this with an arrival announcement text, as shown in FIG.

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 present invention, when there is a turning intersection immediately after a straight intersection, the next turning intersection is used instead of the straight intersection. Since it is given as a "reaching" mark, route guidance can be reliably displayed before the turning intersection, and it is possible to prevent a missed turn at the intersection due to a delay in the route guidance display.

[Brief explanation of drawings]

Fig. 1 is a diagram corresponding to claims of the present invention, Fig. 2 is a block diagram showing the hardware configuration of the device of this embodiment, Fig. 3 is a
DT is a perspective view showing a state in which a transparent operation panel is attached, FIG. 4 is a memory map showing the contents of the lower intersection information stored in an external memory, and FIG. Memory map showing the area name information storage area, reduced map information storage area, enlarged map information storage area, and point name information storage area provided in the memory, Figure 6 (1. Memory map showing the contents of the saved table, Figure 7 shows each 7 of the reduced map.
7 blocks of poly-memory store the contents of a table in which each Z one of the enlarged map is associated with the number of the corresponding enlarged map, and FIG. 9 is a memory map showing the contents of a table that stores the relationship between each point name and the corresponding point coordinates in an associated C map, and FIG. Loader 1
・Figure 11 is a flowchart showing the details of the process of specifying the departure point and destination, Figure 12 is an explanatory diagram showing the area names displayed all at once on the VDT screen, and Figure 13 is a reduced map on the VDT screen F. FIG. 14 is an explanatory diagram showing a state in which an enlarged map is displayed on the VDT screen,
Fig. 15 is an explanatory diagram showing the point name list displayed on the VDT screen, Fig. 16 is a flowchart showing the process of selecting the departure intersection and destination intersection, and Fig. 17 is an explanatory diagram showing the algorithm for selecting the departure intersection. , FIG. 18 is an explanatory diagram showing the algorithm for selecting the target intersection, FIG. 19 is a flowchart showing details of the shortest route search process, and FIG. 20 is the R
A memory map showing details of the route storage area provided in the AM, Fig. 21 is a memory map showing details of the intersection number area provided in the RAM, and Fig. 22 shows the guide display processing (
FIG. 23 is a flowchart v-t showing the details of the current location calculation process executed by an interrupt.
~, Fig. 24 shows the details of the departure intersection direction display processing, and Fig. 25 is an explanatory diagram showing an example of the VDT screen screen display on the way from the departure point to the departure intersection, and Fig. 26 shows the departure route. Showing details of direction display processing] [1-Chart,
Figure 27 is an explanatory diagram showing an example of the display on the VDT screen when approaching the starting intersection, and Figure 28 is the guidance display process (II).
29A is a flowchart showing the details of the route guidance to the next crossing intersection (Flowchart 1 showing the details of #I processing, and FIG. 29B is an explanatory diagram of an example of a route to which the present invention is applied). Figure 30 shows test circle A in the state of going straight to the intersection.
, test circle B. An example of a road map showing the relationship between error test ellipses, etc., and FIG. 31 is test date B in a state heading toward a turning intersection. An example of a passage map that does not show the relationship between error test ellipses, Fig. 32 is an explanatory diagram showing the test areas when entering a bending multilevel intersection, and Fig. 33 is an explanatory diagram showing the test areas when exiting a bending multilevel intersection. Figure M34 shows the details of the route guidance display process and current position correction process when passing an intersection straight through. Figure 36 is a diagram showing an example, but does not show the details of the route guidance display process and current position correction process when passing through a bend at a normal intersection. Fig. 38 is an explanatory diagram showing an example of the display of
FIG. 39 is an explanatory diagram showing a display example of the T screen. FIG. 40 shows details of route guidance display processing and current position correction processing when passing through a bend in a three-dimensional intersection.
FIG. 41 is an explanatory diagram showing a display example of the VDTD surface opened when approaching a vI bending intersection, and FIG. 42 is a guide display process (II
No Roture 1-1 showing the details of I) Figure 43 is an explanatory diagram showing an example of the VDT image when approaching the destination intersection;
FIG. 471 is an explanatory diagram showing a display example of the VDTD surface that is opened when approaching the destination. a...Guidance display means b...Judgment f 1st stage C...Target update 1st stage Patent applicant Figure 8

Claims (1)

[Claims] (1) When a registered intersection is given as a target, the route guidance display for the intersection is displayed after waiting for the arrival before the registered intersection to be confirmed on the map. a guide display means for requesting a registered intersection to be the next target after waiting for it to be confirmed; the next registered intersection to be passed through is a straight intersection, and the next registered intersection to be passed to is a turning intersection; and determining that both intersections are close to each other; in the case of a negative determination, the registered intersection to be passed next is given to the guidance display means as a target in response to the request; A vehicle route guidance device comprising: target updating means for providing the next registered intersection to be passed as a target in the case of determination;