JPS6288099A - Course guidance unit 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 [Technical Field of the Invention 1] The present invention relates to a route guidance device for a vehicle that is mounted on a vehicle and provides route guidance to an occupant.

[Technical background of the invention and its problems] As a conventional route guide device for vehicles, for example,
The one described in JP-A-150814 is known.

When this device is given a target registered intersection, it waits for the arrival before the registered intersection to be confirmed on the map before displaying route guidance. For example, instead of properly configuring each intersection at an interchange, etc., for example, a virtual point representing a branch point on the expressway side and a virtual point representing a branch point for entering and exiting the expressway from the general road side are respectively regarded as intersections. Because the intersection data was configured so that the intersections were connected to each other, only the intersection shape, direction, and intersection name that were different from the actual ones were displayed when entering or exiting the expressway. There was a problem of confusion for vehicle drivers as it was unclear whether they were entering or not, or whether they were leaving the expressway or not.

[Purpose of the Invention] This invention was made in view of the above, and its purpose is to smoothly guide vehicles without confusing the driver by accurately displaying entrances and exits to and from expressways. An object of the present invention is to provide a route guidance device for a vehicle that can perform the following operations.

[Summary of the Invention] In order to achieve the above object, the present invention selects a route from the departure point to the destination when a departure point and a destination are input, and determines the direction of travel at intersections along the route. This is a route guidance device for vehicles that provides route guidance to a destination by giving instructions, and as shown in Fig. an intersection information storage means for storing an exit branch point with an exit road as the intersection; and an intersection information storage means for storing an exit branch point with an exit road as the intersection; and an intersection information storage means for storing an exit branch point with an exit road as the intersection; The present invention has a display control means which displays a message indicating that the vehicle is entering the expressway, and displays a message indicating that the vehicle is leaving the expressway when the next intersection to be passed through when exiting from the expressway is an exit branch point.

[Embodiments of the invention] Hereinafter, the present invention will be explained in detail using the drawings.

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 cpul, which is mainly composed of a microprocessor, a system ROM 2 that stores various control system programs, and a RAM 3 that is used as a working area. It is configured.

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

Detection of the current position coordinates (X, Y) and traveling distance f△D required while driving is performed by the distance sensor 4 every time a certain distance △D is traveled.
In response to the interrupt pulse obtained from the CPU 1, the CPU 1 executes the current position calculation process (see FIG. 23), calculates the unit vector bn using the vehicle direction θ obtained from the direction sensor 5, and simply calculates the unit distance ΔD. This is done through integration processing.

Guidance information is transmitted to the driver using video RAM6. C
VDT based on RT7 (Visual□ 1spl
ay 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, etc., the CPU 1
1, the pressed area can be detected.

Various information regarding road maps, intersections, etc. is stored in an external memory 12 such as a floppy disk, optical disk, or magnetic tape.

As shown in FIG. 4A, the reference road map 13 is divided vertically and horizontally into a plurality of blocks (0, O) of appropriate size.
, (1,O), (2,O)...(2゜2), and the road map information and intersection information for each block are stored in the external memory 12 as shown in Figure 4B. . That is, in FIG. 4B, the memory area is divided into blocks, each intersection included in each block is given an intersection number, and each intersection is marked with X, Y indicating its position on the map. Coordinate information, adjacent intersection number, distance to adjacent intersection, direction to adjacent intersection, intersection name, intersection type flag, interchange number, etc. are stored. The intersection name is represented by a kanji code of up to 6 characters as shown in the figure, so
It has a memory capacity of 6 bytes, and other information is represented by a 2-byte memory. The number of adjacent intersections is considered to be up to four, and each one is numbered ■, ■, ■, ■.

The intersection type flags indicate that each intersection is a general intersection on a general road, an entrance intersection when entering an expressway from a general road, an exit intersection when exiting from an expressway to a general road, or an intersection on an expressway that intersects with an approach road to a main road. The classified intersections are classified into approach intersections, exit intersections that intersect with the exit road from the main line on the expressway, and entry/exit intersections that serve both as an entrance and exit, and these classified intersections are assigned intersection type numbers rob and Ml, respectively.

r2J, r3J, r4J, and r5J are assigned, and these intersection type numbers are stored. In other words, the correspondence between each intersection and the intersection type flag is as follows.

E111 breasts! 2iL General intersection O Entrance intersection 1 Exit intersection 2 Approach intersection 3 Exit intersection 4 Entry/exit intersection 5 FIG. 4C is a diagram illustrating the types of each intersection.

In this vehicle route guidance device, by storing the intersection type number for each intersection, the message "Please enter the expressway" is displayed when entering the expressway, and the message "Please enter the expressway" is displayed when exiting the expressway. Please exit the expressway.''

In this way, in order to display the message on the CRT 7 when entering or leaving the expressway, "Please enter the expressway"
The character codes corresponding to the characters "Please exit the expressway" are stored at the end of the memory area where intersection data is stored, as shown in FIG. 4D.

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.
(I[[) (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.
In addition to storing each area name information storage area, a reduced map information storage area corresponding to each area name, an enlarged map information storage area corresponding to each zone of each reduced map, and point name information included in each enlarged map, A table that associates and stores each area name and reduced map number (see Figure 6);
A table that associates and stores each z one of the reduced map and the number of the enlarged map (see Figure 7), each Z one of the enlarged map
A table (see Fig. 8) in which one and its center coordinates are stored in association with each other, and a table (see Fig. 9) in which the names of destinations such as recreational areas are stored in association with the point coordinates of the destinations are respectively stored. has been done.

The meaning of each of these pieces of information will be explained later in ① Departure and destination identification processing.

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 General Flowchart 1 in FIG. 10, the software configuration of the apparatus of this embodiment includes a process of specifying a departure point and a destination (step 1001), and a process of selecting a departure intersection and a destination intersection (step 1002).

R short route search processing (step 1003), guidance display processing (step 1004), guidance display processing (step 1
005) and guide display processing (step 1006).

(A) About the r9B raccoon dog with departure point and destination jII In this process, the departure point and destination are finally specified while interacting with the operator using the VDT9 screen.

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, the reduced map of the specified area is transferred (see FIG. 13), the transparent operation panel is pressed, and the limited area is detected.

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, 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 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 part and the center coordinates of each Z one.

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

It is determined by referring to the table in FIG.

(B) Regarding the one-choice process of ``Start difference'' and ``Target difference 1,'' this process is based on the taught starting point coordinates <XS, yS) and destination coordinates (Xd, Yd'') as shown in FIG. 4B. Search the XY coordinate information of each intersection located in the direction of the destination as seen from the starting point, as shown in Fig.
The registered intersection closest to the starting point outside the circle of the predetermined radius is selected as the starting intersection, and as shown in FIG. 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 the difference point of the target sentence, as shown in the flowchart of FIG.

(C) @Short path About the one-choice process In this process, driving simulations are performed on various routes from the starting intersection to the destination intersection on the road map, and the registered intersections on the shortest route obtained are stored in the order they are passed. do.

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

(D) Process (I) This process provides driving route guidance from the starting point to the starting intersection, and as shown in Figure 25, until the vehicle approaches within a radius of 300 meters from the starting intersection. The direction of the starting intersection is displayed using an arrow-shaped segment, and after approaching within 300 meters, the starting road is displayed in blackout using an intersection shape with the vehicle traveling direction directly above, as shown in Figure 27. By doing so, the starting route direction, that is, the course 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.

(Processing to Plan E-)
- Shown in h.

As shown in the figure, in the guidance display process (U'), the values of the current position coordinates (X, Y) are first changed to the starting intersection coordinates (X+, Y).
+ ) (step 2801), route guidance preparation processing for the next intersection to be passed (step 2802), and route guidance display processing based on the travel trajectory on the map (step 2803).
), then confirm that the next intersection to pass through is not the target intersection (step 2804 negative), confirm that the next intersection to pass through is a straight intersection (step 28o5 go straight), and confirm that the next intersection to pass through is a normal turning intersection. (Stelaph 2806 normal) and that the next intersection to be passed is a three-dimensional turning intersection (step 2806 three-dimensional). Route guidance display and current position correction processing when passing through a normal intersection straight (step 2807) , route guidance display and current position correction processing when passing through a bend at a normal intersection (step 2808), and course guidance display and current position correction processing when passing a bend at a multilevel intersection (step 2)
809> respectively, and upon completion of the execution, the value of the intersection counter N is updated and the above operations are repeated.

Then, the next intersection to be passed is finally determined to be the destination intersection (step 2804, affirmative), and the guidance display process (I[>) 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 correction processing when passing through a normal intersection straight on (step 2807), route guidance display and current position correction processing when passing through a bend in a normal intersection (step 2808), route guidance display and current position correction processing when passing through a bend in a multilevel intersection The details of the current position correction process (step 2809) will be sequentially explained in relation to the present invention.

FIG. 29 is a flowchart 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, and then (
Steps 2901, 2902, 2903), passing order (N>, (N+1),
(N+2) each intersection number P (N> , P (N+
1), processing to read P (N+2) (2904
, ), and the intersection type flags corresponding to the read intersection numbers are read out from the stored external memory 12 as shown in FIG. 4B, and these intersection type flags are checked (step 2904-1). As a result of checking this intersection type flag, the next intersection P(N+
1> is entrance intersection 1 and the next next intersection P(N+2) is entrance intersection 3, since the next intersection is to enter the expressway, the high-speed entry flag is set to rlJ (step 2904-3). .

Also, if the next intersection P (N+1) is exit intersection 4 and the next next intersection P (N+2) is exit intersection 2, then the next intersection is to get off the expressway, so the high-speed exit flag is set to "
1 (step 2904-4>). If the intersection type flag is not checked, both the high-speed entry flag and the high-speed exit flag remain reset to rOJ (step 2904-2).

By setting the high-speed entry flag or the high-speed exit flag that has been set in this way, it is known that the vehicle will enter the highway next time or exit the highway. It is used in the processing shown in FIG.

In the next step 2905, the intersection number P(N)
The section distance up to P(N+1>) is read from the information regarding (see FIG. 4).

Next, from the information regarding the intersection kiln number @P(N+1> (see FIG. 4), the next intersection coordinate (XN ++ ) is determined.

YN++) (step 2907), P(N
) information and P(N+1> to the approach direction θin of the next intersection
The process (step 2908>) of calculating the escape direction θout of the next intersection from the P (N+1) information and P (N+2) is performed in sequence.

Note that, as shown in FIG. 31, the approach direction θin is the direction to enter the intersection, and the escape direction θout is the direction to escape from the intersection.

Next, based on the entry direction θin and the exit direction θou, it is determined that the next intersection to be passed is to go straight.Step 2
911), a test area equation for confirming passing through an intersection is determined (step 2914).

Here, as shown in FIG. 30, two test dates A and B are used to confirm passing through a straight intersection, and the respective radii are α×D and βXD. α and β are constants.

Also, the next intersection is determined to be a turning intersection (step 2
911 turn) and the next intersection is determined to be a normal intersection based on the intersection type information (Stellaf 2916 normal), the reset direction θrst is determined from the approach direction θin and the exit direction θout (step 2917>).

Here, as shown in FIG. 31, the reset direction θr
The value of st is set to be an intermediate direction between the approach direction θin and the exit direction θOut.

Once the reset orientation θrst has been determined, a test area equation for confirming passing through a turn at a normal intersection is determined (step 2918).

Here, as shown in FIG. 31, test inside B is normally used to confirm passing of a turn at an intersection.

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, confirmation of passage of the intersection bend is to cross the line segment α1 and enter the approximately circular area α, as shown in FIG. 32, and to cross the line segment 0 as shown in FIG. This is done based on the fact that the vehicle has entered the arcuate area β.

In this way, a test area equation for confirming passage through a straight intersection is determined (step 2914), a test area equation for confirming passing through a turn at a normal intersection is determined (step 2918), and a test area equation for confirming passing at a turn at a graded intersection is determined (step 2914). When the determination of (step 2919) is completed, the test area equation for confirming route deviation is finally determined (step 2915>
.

Here, as shown in FIGS. 30 and 31, confirmation of route departure is made at successive intersection points (XN, YN), (
This is performed based on the fact that the current position enters the outer region of the error test ellipse including (XN+I, YN+1) (step 2915).

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, first, the flag for confirming entry into test A is reset to "before entry" (step 3401).
), the intersection type flag is checked to confirm whether the intersection type is exit intersection 2 or approach intersection 3 (step 3401-1). In the case of exit intersection 2 or approach intersection 3, the shape of the intersection P(N+1) to be passed next is displayed with the vehicle direction directly above the screen, an arrow indicating the vehicle course is superimposed on this, and The intersection name is also displayed (step 3401-2).

Next, based on the contents of the current position register (X, Y), the state is set to stand by for entry into test area A, entry into the error 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.

Moreover, the distance sensor 4. If entry into the inspection area A is not confirmed for a long time due to an error in the direction sensor 5 or a deviation from the route of the driving name, etc., by operating the clear key provided on the input operation section 8, <Step 341
0 affirmative), departure place.

The operation of the device can be returned 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 the inspection area A based on the contents of the current position register (X, Y) (step 3402).

When entering into inspection area A is confirmed, it is checked whether the intersection type flag is exit intersection 2 or approach intersection 3. If it is neither, step 3402-1>> If it is neither, the intersection P (to be passed next) is checked. N+1) is displayed with the vehicle direction directly above the screen, and an arrow is superimposed on this without indicating the vehicle course, and the intersection name is also displayed (step 3402-2>).

Then, it is checked whether the high-speed entry flag is set to "1" or not, and if it is set to "1", the character code is read from the stored comment data area as shown in Figure 4D. A message "Please enter the expressway" is displayed as shown in FIG. 35 (step 3402-3.4).

Also, if the high-speed entry flag is not set, it is checked whether the high-speed exit flag is set to "1", and if it is set to "1", the character code is read from the comment data area and the "high-speed exit flag" is set. Please get off the aisle" is displayed in the same manner as in FIG. 35 (step 3402-5.6).

Furthermore, when it is confirmed that the vehicle has entered within test day A, the flag for confirming that the vehicle has entered test entrance A is set, and from then on until the value of the mileage register fΔD reaches the value of the section distance to the next intersection. (Step 3405 is negative), the A entry confirmation flag continues to be set (Step 3403).

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 (step 3405 affirmative).

Then, the contents of the current position register (X, Y) are rewritten with the contents of the intersection coordinates (XN + I, YN +1), the contents of the traveling distance fΔD are reset to zero (step 3411), and the The intersection figure and route display disappear (step 3412).

Please note that after confirming that you have entered test date A (step 3)
Step 406 (Yes), if it is confirmed that the travel distance fΔD and the section distance are not in agreement and it is confirmed that the test date B has entered (Step 3407 Yes), in this embodiment, the test date B is exited. At the same time (step 3408 negative), the current position and travel distance are roughly corrected (steps 3411-3412>).

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

In this process, first, the intersection type flag is checked to confirm whether the intersection type is exit intersection 2 or approach intersection 3 (step 3600).

In the case of exit intersection 2 or approach intersection 3, the shape of the intersection P(N+1) to be passed next is displayed with the vehicle direction directly above the screen, an arrow indicating the vehicle course is superimposed on this, and The intersection name is also displayed (step 3600-1>).

Next, based on the contents of the current position register (X, Y), the state is set to wait for entry into test date B, entry into the error area, and operation of the clear key (step 3601).
-3602-3603-3601>.

During this time, as in the case of the process at the straight intersection described above, if it is confirmed that the current position has entered the error area (step 3602, affirmative) and the clear key operation is confirmed (step 3603, affirmative), Error processing or a return to the above-described departure and destination identification processing is performed.

On the other hand, if the distance sensor 4 and the direction sensor 5 are normal and the vehicle is traveling correctly on the travel route, when the vehicle approaches the turning intersection and it is confirmed that the vehicle is entering within inspection date B, the intersection Check whether the type flag is exit intersection 2 or approach intersection 3. Step 3601-
1>, if neither is the intersection P to pass through next
A figure (N+1) is displayed with the vehicle direction directly above the screen, an arrow indicating the vehicle route is superimposed on this, and the intersection name is also displayed (step 3601-2).
>.

Then, it is checked whether the high-speed entry flag is set to "1" or not, and if it is set to "1", the character code is read from the stored comment data area as shown in Figure 4D. A message "Please enter the expressway" is displayed as shown in FIG. 35 (step 3601-3.4).

Also, if the high-speed entry flag is not set, it is checked whether the high-speed exit flag is set to "1", and if it is set to "1", the character code is read from the comment data area and the "high-speed exit flag" is set. Please get off the road" is displayed in the same way as in FIG. 35 (step 3601-5.6).

As described above, after the vehicle enters the inspection date B and is displayed as entering or exiting the expressway, the mileage register f△D
After confirming that the value of has reached the section distance directly to the next intersection, and further confirming that the intersection has been passed, the current position register (×).

The contents of Y) are rewritten with the contents of the intersection coordinates, the travel distance contents are reset to zero, and the figure and route display at the intersection on the VDT screen disappear (step 3).
605-3614).

More specifically, until the vehicle approaches the target intersection 1001 on the map (No in step 3605), as shown in FIG. The blinking display for the length segment that has already passed is performed (step 3606), and the approach is confirmed within 100 m (
Step 36051), as shown in FIG.
The escape route part of the arrow indicating the vehicle route will flash (
step 3607).

Thereafter, the vehicle heading information is read every time a certain minute distance is traveled (step 3608), and the read vehicle heading F is read.
irst In First Out stack (
(hereinafter referred to as a FIFO stack) (step 3609).

Next, the latest vehicle direction matches the exit direction θout (YES at step 3610), and the past vehicle direction matches the approach direction θi.
The process of confirming that the escape direction θout and the approach direction θin match the reset direction θrst (step 3612 affirmative) is repeated, and all of the above are confirmed. is confirmed, the contents of the current position register (X, Y) are rewritten with the coordinates of the bending intersection, and at the same time the traveling distance fΔD
is also reset to zero (step 3613), and finally, processing for terminating the intersection graphic 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, by comparing the given coordinates with the current position coordinates, the system detects approach to the intersection and displays the course. In this approach detection state, when a change in the traveling direction specific to the bending intersection is detected, passage of the intersection is confirmed, and the next intersection to be reached is then requested.

(F) Process (III) In this process, as shown in FIG. 43, self! The direction of the destination is displayed using the 1llJ car figure and arrow-like segments, and when the destination is near, the driver is notified of this with a message announcing arrival, as shown in Figure 44. .

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

[Effect of the Invention 1 As explained above, according to the present invention, when entering an expressway from a general road according to the selected route, if the next intersection to be passed through is an entrance junction, it is possible to enter the expressway. When exiting from an expressway/road, if the next intersection to pass is an exit junction, a message indicating that you are exiting the expressway is displayed, so that guidance on entering and exiting the expressway is provided accurately, and driving The driver can drive accurately and smoothly without being confused about whether to enter or exit the expressway as in the past, and the driver can be guided efficiently without hindering drivability.

[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 provided in the external memory and an explanatory diagram of various intersections, and FIG. 5 shows the area name information storage area and reduced map information storage provided in the external memory in connection with the present invention. A memory map showing areas, enlarged map information storage areas, and spot name information storage areas. Figure 6 is a memory map showing the contents of a table in which each area name and reduced map number are stored in association with each other. Figure 7 is a memory map showing the reduced map numbers. a memory map showing the contents of a table that associates and stores each Z one and the number of the corresponding enlarged map;
Fig. 8 is a memory map showing the contents of a table in which each 2 one of the enlarged map and the center coordinates of the corresponding Z one are stored in association with each other, and Fig. 9 is a memory map in which the relationship between each point name and the corresponding point coordinates is stored in association with each other. A memory map showing the contents of the table, Fig. 10 is a general flowchart of the route guidance device, Fig. 11 is a flowchart showing details of the process of specifying departure points and destinations, and Fig. 12 shows area names collectively displayed on the VDT screen. Explanatory diagram showing the state, Figure 13 is VDT
Explanatory diagram showing a reduced map displayed on the screen, No. 14
The figure 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 a state in which a point name list is displayed on the VDT screen, and Fig. 16 is an explanatory diagram showing a state in which a list of point names is displayed on the VDT screen. Fig. 16 shows a process for selecting a starting intersection and a destination intersection. Flowchart, FIG. 17 is an explanatory diagram showing the algorithm for selecting the starting intersection, FIG. 18 is an explanatory diagram showing the algorithm for selecting the destination intersection, FIG. 19 is a flowchart showing details of the shortest route search process, and FIG. 21 is a memory map showing details of an intersection number area provided in RAM; FIG. 2.2 is a flowchart showing details of guidance display processing (I); Figure 23 is a flowchart showing the details of the current location calculation process executed by an interrupt, Figure 24 is a flowchart showing details of the departure intersection direction display process, and Figure 25 is the VDT screen on the way from the departure point to the departure intersection. FIG. 26 is an explanatory diagram showing an example of the display, and FIG. 26 is a flowchart showing details of the departure route direction display process.
Figure 7 is an explanatory diagram showing an example of the display on the VDT screen when approaching the departure intersection, Figure 28 is a flowchart showing details of the guidance display process (If), and Figure 29A is preparation for route guidance to the next intersection to pass. Flowchart showing details of processing, FIG. 298 is an explanatory diagram of an example of a road to which the present invention is applied, FIG. 30
The diagram shows test date A and test circle B when heading straight to the intersection.
, an example of a road map showing the relationship between error test ellipses, etc., Fig. 31 is an example of a road map showing the relationship between test date B and error test ellipses in a state heading towards a turning intersection, and Fig. 32 is an example of a road map showing the relationship between the error test ellipses and the like, and Fig. 32 is towards a bending intersection. FIG. 33 is an explanatory diagram showing the state of each verification area when exiting from a bending multi-level intersection. FIG. 34 is a route guidance display process and current position correction process when passing through an intersection straight. 35 is a diagram showing a display example of the VDT screen when approaching a straight intersection; FIG. 36 is a flowchart showing details of route guidance display processing and current position correction processing when passing through a turning intersection; FIG. 37 is an explanatory diagram showing a display example of the VDT screen when approaching a bending plane intersection, FIG. 38 is an explanatory diagram showing a display example of the VDT screen when approaching a bending plane intersection, and FIGS. 39 and 40 are A flowchart showing the details of the route guidance display process and the current position correction process when passing through a multi-level intersection bend, FIG. 41 is an explanatory diagram showing an example of the VDT screen display when approaching a multi-level bend intersection, and FIG. 42 is a guidance display process FIG. 43 is an explanatory diagram showing a display example of the VDT screen when approaching the destination intersection, and FIG. 44 is an explanatory diagram showing a display example of the VDT screen when approaching the destination. a...Intersection information storage means b...Display control means Fig. 3 Fig. 5 (K Daichi L!! Indication platform of ko number Δ11) Fig. 25 Departure intersection direction arrow Fig. 27 Fig. 26 Fig. 3511 Figure 37 Figure 38 Procedure♀Fujisho (Method) February 1985 Director General of the Japan Patent Office Mr. 1, Indication of the case 1985 Tokube 'F Application No. 228467 2,
Title of the invention Vehicle route guide device 3, Representative of the person making the amendment: Kume Toyota Toranomon Building, 5th floor (Delivery date: January 28, 1985) 6, Subject of the amendment 7, Contents of the amendment (1) Details In the fifth line of page 32 of the book, the statement ``...Figure 29A is the next...'' has been corrected to ``...Figure 29 is the next...''. (2) Specification, page 32, line 7 to line 8 of the same page,
"Figure 29B is an explanatory diagram of an example of a passageway to which the present invention is applied."
Delete that. 1″L

Claims (2)

[Claims] (1) When a departure point and a destination are input, a route for vehicles is selected to guide the route to the destination by selecting a route from the departure point to the destination and instructing the direction of travel at intersections along the route. The guidance device includes an intersection information storage means for storing at least an entrance branch point between a general road and an entrance of an expressway, and an exit branch point between a main line and an exit road from the main line on the expressway as the intersection; When entering the expressway from a general road according to the route, if the next intersection you should pass through is an entrance branch, a message indicating that you are entering the expressway will be displayed, and if you exit from the expressway, the next intersection you should pass through will be the exit branch. 1. A route guidance device for a vehicle, comprising a display control means that sometimes displays a message indicating that the vehicle is exiting an expressway. (2) The intersection information storage means defines each intersection as an intersection on a general road, an entrance intersection when entering an expressway from a general road, and an exit intersection when exiting from an expressway to a general road;
The classified intersection information is classified into approach intersections that intersect with the approach road to the main line on the expressway, and exit intersections that intersect with the exit road from the main line on the expressway, and the classified intersection information is stored in correspondence with each intersection, and the display control means However, as a result of reading the intersection information for the intersection on the selected route from the intersection information storage means, if the entrance intersection and the approach intersection are consecutively identified, entering the expressway during route guidance at the entrance intersection is determined. 2. The vehicle according to claim 1, wherein when an exit intersection and an exit intersection are successively identified, a display indicating that the exit intersection is to be exited from the expressway is displayed during route guidance at the exit intersection. route guidance device.