JP3203981B2 - Route guidance device for vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route guidance device for a vehicle, and more particularly to a route re-search.

[0002]

2. Description of the Related Art Hitherto, there has been developed a route guidance device which displays a route to be traveled on a screen or provides voice guidance to reduce a driving operation of a vehicle driver. In such a route guidance device, when a driver inputs a destination or a waypoint, the device searches for an optimal route and notifies the driver,
Drivers do not always follow this route,
There is a case where the vehicle travels on a route different from the guide route intentionally or against the intention.

Therefore, for example, in Japanese Patent Application Laid-Open No. 4-107700, if the driver makes a mistake in the route based on the search route displayed on the display device and the progress of the vehicle, or if it is impossible to turn right or left, the route as presented is displayed. There is disclosed a configuration in which, when the vehicle cannot travel, the presence or absence of a route change such as a case where the route is intentionally changed is determined, the determination result is displayed on a display device, and the vehicle travels toward the destination.

[0004]

However, an actual road has a lane change prohibition area (a restricted area with a so-called yellow line) in front of an intersection or the like, and according to the guide route, the next intersection is a right turn. In some cases, the vehicle should run on a straight lane when it should be. In such a case, since the vehicle is still traveling on the route, the above-described conventional technology does not perform the re-searching, and a right-turn guide is displayed or instructed by voice even though the right-turn cannot be performed. It will cause discomfort.

The present invention has been made in view of the above-mentioned problems of the prior art, and has as its object to drive on an incorrect lane (a lane that cannot travel along a guide route) in a lane change prohibition area. The present invention is to provide a route guidance device for a vehicle that can present a new guidance route to a driver, and can perform more efficient route guidance in consideration of an intersection where a route error easily occurs. .

[0006]

According to a first aspect of the present invention, there is provided a vehicle route guidance device for searching for a recommended route to a destination and guiding a vehicle. detecting means for detecting a lane change prohibition zone is present at the intersection to be a route guidance, and calculating means for calculating in advance a path other than the recommended route if it detects a lane change prohibition zone in front Symbol detection means, said operation means storage means for storing the obtained path, the host vehicle in the lane change prohibition zone
A lane recognizing means for recognizing a traveling lane, and driving from a route stored in the storage means when the lane recognized by the lane recognizing means is a lane which makes traveling along the recommended route impossible. Select the route that corresponds to the lane you are in,
Control means for setting a new recommended route.

In order to achieve the above object, a vehicle route guidance device according to a second aspect of the present invention is the vehicle route guidance device according to the first aspect, wherein the lane recognized by the lane recognizing means is the recommended lane. When the vehicle is traveling on a lane that makes traveling along the route impossible, a transmission unit that transmits route error information to the on-road unit is provided.

Further, in order to achieve the above object, a vehicle route guidance apparatus according to a third aspect provides a vehicle route guidance apparatus according to the first aspect.
Route guidance device, further comprising:
The recognized lane disables driving along the recommended route.
To send the route error information to the roadside
And a step provided on the road side for receiving the path error information
And a recommended route to a destination based on the route error information.
And a means for searching for and transmitting it to the vehicle .

[0009]

In the vehicle route guidance device according to the first aspect, the lane change prohibition area (a restricted area having a so-called yellow line).
If you are traveling on a lane that cannot be traveled along the recommended route at an intersection that has a turn, for example, at an intersection that has a right-left turn and a straight-ahead lane, even though the recommended route is a right turn, you may be on a straight lane or a left-turn lane. When the vehicle is traveling, the vehicle returns to the original recommended route corresponding to the currently traveling lane from the new route calculated in advance when it is detected that the lane change prohibited area exists. To inform the driver of the new route. This prevents the driver from forcibly changing lanes in the lane change-prohibited area, and eliminates the driver's anxiety or the like, thereby making it possible to reliably guide the route.

In the vehicle route guidance apparatus according to the second aspect, when the vehicle travels in the wrong lane, error information about the intersection is transmitted (uplink) to the on-road unit.

Thus, the on-road unit can collect information on intersections where the route is likely to be erroneous and can be used for future road planning and the like.

In the vehicle route guidance apparatus according to the third aspect,
In a dynamic route guidance, it processes the route error information sent from vehicles statistically, on the basis of the route error information vehicle for transmitting guidance information to reach the destination from the road device side in the vehicle Is induced.

Thus, for example, it is possible not to guide the vehicle to an intersection where errors easily occur, and it is possible to improve the efficiency of route guidance.

[0014]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows the configuration of this embodiment.
Each of a turn signal detection sensor 10, a yaw angle (or lateral movement) detection sensor 12, a lane regulation detection sensor 14, a steering sensor 16, and wheel speed difference detection sensors 18 and 20 are provided. Output. In addition, a gyro, a G sensor, or the like can be used as the yaw angle sensor 12, and an image recognition device that recognizes a yellow line, a road sign, or the like can be used as the lane regulation detection sensor 14. Although not shown, various devices such as GPS used in a normal navigation system are also mounted. Each detection signal processed by the microcomputer 22 is transmitted to the electronic control unit E
Output to CU24. The ECU 24 determines that the vehicle is in the lane regulation area and travels along the guidance route stored in the memory 30 based on the data from the road beacon received by the transceiver 26 and the signal from the microcomputer 22. When it is determined that the vehicle is in the wrong lane, the driver is notified by the alarm 32, and a new route suitable for the wrong lane is selected from the guide routes calculated and stored in advance. Display 3
1 is displayed.

FIG. 2 conceptually shows the state of processing in this embodiment. Vehicle 200 is a beacon 10 on the road
The information received from 0 includes road link information, and includes link length L, lane information for each sublink Lsn (n = 0, 1, 2, 3 in FIG. 2) (how many lanes there are).
And information such as right / left turn, straight-only lane, and lane regulation information. When the transceiver 26 of the vehicle 200 receives these beacon information, the ECU 24 determines whether there is lane regulation until the next intersection 300.
Then, when there is lane regulation, the map database 28 is accessed to search for a new route in the case where the lane is incorrect, and is stored in the memory 30 in advance. In the case of FIG. 2, since it is known from the information from the beacon 100 that there is a restricted lane of three lanes up to the next intersection, if the guidance route is a right turn, a new route for a left turn and a straight route for a straight ahead are searched in advance. And memorize it. On the other hand, the travel distance from the beacon is always calculated based on the detection signal from each sensor,
Know where the vehicle is at the intersection. Then, the route at the next intersection 300 in the guidance route is compared with the traveling lane in which the current vehicle is located. For example, in FIG. 2, if the current traveling position is a straight lane despite the fact that the guidance route is a right turn at the next intersection 300, the ECU 24 immediately uses the alarm 32 to be in the wrong traveling lane, and The driver is informed that he can return to the original guidance route if he follows the route indicated hereafter, and goes straight from among the new routes (routes for left-turn and straight-ahead) stored in the memory 30 in advance. Then, the new route is selected and displayed on the display 31. This allows
The driver does not feel uncomfortable receiving the guidance that he should turn right when he cannot make a right turn, and does not feel uneasy because a route for returning to the original route is promptly presented.

Hereinafter, the operation of this embodiment will be described in more detail with reference to the flowcharts of FIGS.

As with the conventional navigation system,
When the driver first inputs a destination or a waypoint, the ECU 2
4 searches for the optimum route to the destination and stores it in the memory 30, and displays the current position and the searched route together with the map data on the display 31 to notify the driver. When the vehicle is traveling along the route, the ECU 24
It is determined whether or not data has been received from the beacon 100 (S101). The transceiver 26 periodically emits a transmission radio wave, and when the transceiver 26 enters the area under the control of the beacon 100,
The data from the beacon 100 is received. When the beacon data is received, the ECU 24 recognizes the lane in which the vehicle 200 is traveling based on the lane information included in the data from the beacon (S102). The recognition result is stored in the memory 30 (S103), and it is determined from the beacon information whether or not there is a lane regulation up to the next intersection 300 (S104). If there is no lane regulation, the vehicle can travel along the searched route, so that normal route guidance is performed (S108), and it is determined again whether or not data from the beacon 100 has been received (S109). Is received, the stored data is transmitted and received by the transceiver 26.
Is transmitted to the beacon 100 to perform normal road-vehicle communication (S110).

On the other hand, if there is lane regulation, the ECU 24 may not be able to travel along the route depending on the traveling lane even if normal route guidance is performed. It is stored in the memory 30 (S105). In this way, by performing a calculation in advance in case of a deviation from the route, it is possible to immediately present a new route to the driver when the deviation actually occurs, for example, when the guidance route is a right turn , New routes for straight ahead and left turn are calculated and stored in advance. Then, the distance from the beacon 100 is always calculated at a predetermined processing cycle (S106), and the movement amount in the lane width direction is calculated based on detection signals from the various sensors 10 to 20 (S107). Further, a sublink (Ls
n: Refer to FIG. 2).
The CU 24 recognizes where the vehicle is in front of the intersection, that is, the lane in which the vehicle is currently traveling, based on the travel distance and the lane number (S112). Next, it is determined whether or not the recognized lane is a correct lane, that is, whether or not the lane is located on a lane that can travel along the guidance route (S114). If the lane is correct, the process proceeds to S108 described above, and normal route guidance is performed. On the other hand, if the lane is not a correct lane, the error status bit of the lane is turned ON (S11).
5) The intersection name to be passed, the status of the status bit (“0” if correct, and “1” if incorrect), and the destination name are stored as a set in the memory 30 (S116). This storage is for transmitting the fact that the route has been erroneous to the on-road unit (S110), as described later, and using it for the statistics of the error. The ECU 24 determines in advance S
From the new routes calculated and stored in 105, a new route that matches the currently traveling lane is selected, and the driver is notified using the display 31 (S117).

After informing the driver of the new route, various sensors are provided in case the driver ignores the notification or attempts to change lanes without being aware of it even though the driver is in the lane change area. Is used to constantly monitor the amount of movement in the lane width direction (S118), and confirm whether the driver is about to change lanes (S119). If the amount of movement in the lane width direction is equal to or greater than the lane width, or if the lane regulation detection sensor 14 detects that the vehicle has crossed the yellow line, it is determined that the driver is about to change lanes, and The driver is notified of the change prohibition warning by the display 31 or by voice, and is informed that the vehicle can return to the new route if the new route is followed (S1).
20).

After informing the driver of the new route, the traveling distance from the beacon 100 is constantly monitored (S12).
1) It is determined whether the vehicle has passed the restricted area (S122). If a vehicle passes through a restricted area,
Further, it is determined whether the vehicle is traveling along the new route (S123). If the vehicle is traveling along the new route, the process returns to S108 to perform normal navigation. If the vehicle is not along the new route, the new route (return route) is calculated again in the same manner (S124). ), And inform the driver (S125).

As described above, in the present embodiment, when the vehicle enters the intersection where the restricted area exists, and when the vehicle is traveling on the wrong lane which cannot travel along the guide route, A new route that has been calculated in anticipation of incorrect lanes can be immediately notified to the driver, without giving the driver any discomfort or anxiety.
You can get to the original route.

In this embodiment, since information on an intersection having an incorrect route is transmitted (uplink) to the on-road unit, this information is statistically processed on the base station side, and an intersection where the route is likely to be erroneous is obtained. It can be used for future road maintenance (for example, new right-turn road construction) and traffic control (for example, holiday regulation). It is also conceivable to avoid guiding at intersections with many route errors as much as possible.

FIG. 6 is a flowchart on the roadside machine side when an intersection having many route errors is deleted from the guide route.

First, from the data sent from the vehicle, all combinations having an intersection of status bit "1" (error bit) are listed (S20).
1). Then, the listed combinations are sorted in the order of the wrong number of times (S202), and the combinations exceeding the limit value amax are listed to pick up the intersection and the related link with the extremely wrong number of times (S203). Then, the intersection (node) and link data listed in S203 are deleted from the route guidance map database stored by the on-road unit (S20).
5). Further, the links are weighted in the route search in the order of the wrong number of times so that the weight increases in accordance with the number of errors at the intersections equal to or smaller than the limit value amax (S205).
A route search is performed in consideration of the processes of 203 and S204 (S206). If the Dijkstra method or the like is used for the route search process, it is difficult to select a link having a large weight.
An intersection with few errors is preferentially selected and a desired route is calculated. Then, the route obtained by the search is transmitted (downlink) to the vehicle via the beacon 100 (S207). As a result, the vehicle driver can more reliably reach the destination without passing through an intersection that is likely to be erroneous.

[0026]

As described above, according to the vehicle route guidance apparatus of the first aspect, even if the vehicle enters the wrong lane at the intersection where the lane change prohibited area exists, the new route is immediately given to the driver. Can be presented. Therefore, it is possible to effectively prevent a situation in which the driver tries to change lanes in a hurry, and it is possible to reliably return to the original recommended route and continue the route guidance to the destination.

According to the vehicle route guidance apparatus of the second aspect, information on an intersection having an incorrect route can be managed by the on-board aircraft, and the efficiency of route guidance can be improved by applying the information to a road plan or the like. Can be planned.

According to the third aspect of the present invention, the recommended route is determined in consideration of an intersection where a route error is likely to occur, so that more efficient route guidance can be performed.

[Brief description of the drawings]

FIG. 1 is a configuration block diagram of an embodiment of the present invention.

FIG. 2 is an explanatory diagram of processing in the vicinity of an intersection according to the embodiment.

FIG. 3 is a processing flowchart of the embodiment.

FIG. 4 is a processing flowchart of the embodiment.

FIG. 5 is a processing flowchart of the embodiment.

FIG. 6 is a processing flowchart of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Winker signal detection sensor 12 Yaw angle detection sensor 14 Lane regulation detection sensor 16 Steering sensor 18, 20 Wheel speed difference detection sensor

Claims (3)

(57) [Claims] 1. A search and vehicular navigation system for guiding a vehicle to a recommended route to a destination, detecting means for detecting a lane change prohibition zone is present at the intersection to be a route guidance, in front Symbol detection means a calculating means for calculating a pre <br/> route other than the recommended route if it detects a lane change prohibition zone, storage means for storing a route obtained by the computing means, the vehicle in the lane change prohibition zone Recognizes the lane in which the vehicle is traveling
And a route corresponding to a traveling lane from a route stored in the storage unit when the lane recognized by the lane recognition unit is a lane that makes traveling along the recommended route impossible. And a control means for selecting and selecting a new recommended route, a route guidance device for a vehicle, comprising: 2. The vehicle route guidance device according to claim 1, further comprising: when the lane recognized by the lane recognizing means is a lane that makes it impossible to travel along the recommended route, the route error information is provided on the road. A route guidance device for a vehicle, comprising transmission means for transmitting to a machine side. 3. The vehicle route guidance device according to claim 1,
And the lane recognized by the lane recognizing means is along the recommended route.
Means for transmitting route error information to the roadside when the vehicle is in a lane that makes traveling impossible
And provided on the roadside, receiving the path error information,
Search for recommended route to destination based on route error information
And a means for transmitting to the vehicle.