JP3399643B2 - Vehicle guidance device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for guiding a vehicle to a destination, and in particular, by searching beforehand for a return after a departure, a corrected route, etc. The search operation and the storage of the search result are limited by limiting the range of the course changeable points where the guide route (correction route, return route, etc.) after the departure should be searched in advance. The present invention relates to a vehicle guidance device that can be efficiently performed.

[0002]

2. Description of the Related Art When a deviation from a designated route is detected,
The vehicle guidance system re-requests a new route to the destination,
A vehicle guidance device (automobile navigation system) designed to reduce a driver's burden by instructing whether to keep moving forward in a deviating direction or to make a U-turn is disclosed in Japanese Patent Laid-Open No. 63-163210. It has been proposed in the publication.

[0003]

Since the conventional vehicle guidance system obtains the route from the time when the route deviation is detected to the destination, the next instruction is delayed by the time required for the calculation.
Meanwhile, the driver is forced to drive in an uneasy state without guidance. For example, when it is best to make a U-turn to deviate from a route, unless a U-turn instruction is issued promptly, a considerable distance will be wasted.

The present invention has been made to solve such a problem. By assuming a deviation from a route and obtaining a guide route after the departure in advance, the next guidance can be promptly performed when the route deviates. It is a first object of the present invention to provide a vehicle guidance device according to the above.

It is inefficient to preliminarily search for a guide route after the departure for all possible route change points (intersections, branch roads, etc.) to reach the destination, and the search result is stored. Therefore, the capacity of the storage means is large. Therefore, by limiting the range of route changeable points for searching for the guide route (return route) after the departure, it is possible to efficiently search the guide route (return route) with a relatively small capacity storage means. A second object is to provide a vehicle guidance device.

[0006]

In order to solve the above problems, a vehicle guidance system according to a first aspect of the present invention is a route for setting a guidance route based on a destination, a route point input as necessary, and a route order thereof. In a vehicle guidance device equipped with setting means and guidance control means for visually or audibly displaying information about a guidance route according to the current position of the vehicle, it is assumed that the route deviates at a course changeable point such as an intersection or a branch point. To obtain the corrected route after departure and restore the obtained corrected route.
Corrected route search means that ranks the degree of easiness and associates the departure point with the departure direction and stores the corrected route in the corrected route storage means, and monitors the position of the vehicle based on the detection output of the vehicle position detection means to determine the guide route. When deviation is detected, route deviation detection means for outputting deviation information including a predetermined message regarding deviation point and deviation direction, and a new deviation based on the corrected path information retrieved from the corrected path storage means based on the deviation information And a guide route changing means for setting a different guide route.

According to a second aspect of the present invention, there is provided a corrected route search means including a corrected route search target point limiting means, and a route changeable point within a predetermined distance from the current position of the vehicle along the guided route, Alternatively, it is characterized in that the search target points are limited to a predetermined number of course changeable points along the guide route from the current position of the vehicle.

A vehicle guidance system according to a third aspect of the present invention includes a corrected route search target point limiting means in the corrected route search means, and a route change point and a route change within a predetermined distance in front of the route change point. From the possible point or from the course change point to a predetermined number of course change points in front,
It is characterized in that the search target points are limited.

A vehicle guidance device according to a fourth aspect of the present invention extracts some points where the route can be changed in the direction of the traveling route of the vehicle, and the next route change point and the vehicle position side from the route change point. A correction route search target point limiting means for extracting several route change points is provided, and one or more or more of the plurality of extracted route changeable points that should be passed next as the vehicle advances. A route search is performed for a route changeable point, and then the route search order is set so that the route search is performed in the order of the next route change point and the route closer to the route change point on the vehicle position side than the next route change point. It is characterized by having means.

[0010]

In the vehicle guiding apparatus according to the first aspect, the corrected route search means previously obtains the corrected route after the departure from the route, and the obtained corrected route is stored in the corrected route storage means in association with the departure point and the departure direction. Let The route deviation detecting means monitors the position of the vehicle and, when the vehicle deviates from the guidance route, supplies the deviation information regarding the departure point and the departure direction to the guidance route changing means. The guide route changing means retrieves the corrected route for the departure point and the departure direction from the corrected route storage means and sets a new guide route.

Since the corrected route after the departure is searched in advance, a new guide route can be set when the route deviates.
Therefore, the next guidance can be promptly performed when the vehicle deviates from the route.

A vehicle guidance system according to a second aspect of the present invention comprises a corrected route search target point limiting means in the corrected route search means, and a course changeable point within a predetermined distance from the current position of the vehicle or the current position of the vehicle. To a predetermined number of course change points along the guide route are limited as search target points, it is possible to change course within a predetermined distance or a predetermined number of points ahead of the current position of the vehicle as the vehicle progresses. It is possible to obtain a corrected route after the route deviates up to the point in advance.

Since a corrected route after departure has been searched in advance for a plurality of route changeable points ahead of the vehicle position, the vehicle travels even if the interval between intersections is narrow in an urban area or the like. On the other hand, it is possible to solve the problem that the corrected route search after the departure cannot be made in time.

Since the vehicle guidance device according to the third aspect is configured to limit the route change point in the guide route and the route changeable point in front of the route change point as search targets, there is a possibility that the route deviates. It is possible to preferentially obtain the route change point itself having a high travel distance and the corrected route after the route deviates at an intersection or the like in front of it.

A vehicle guidance system according to a fourth aspect of the present invention conducts a route search for one or more route changeable points which should be passed next as the vehicle advances, and then the next route change point and the next route. Since the route is searched in the order closer to the route change point on the vehicle position side than the change point, the corrected route after the departure of the route change point where the vehicle should pass for the time being is searched preferentially, and then the route deviation There is a high possibility that the corrected route after the departure at the turning point itself is searched. Further, there is a possibility that the route deviates at the course changing point on the front side as the vehicle approaches the next course changing point, but also for these, the corrected route after the departure is sequentially searched.

Therefore, even if the route search time of the corrected route search means is not so fast, the corrected route after the departure at the route changeable point where the vehicle may deviate according to the progress is sequentially obtained. In addition, the storage capacity of the correction path storage means for storing the correction path can be reduced.

Further, by performing a route search in the order closer to the route change point, the result of the search for the corrected route after the departure at the route changeable point on the side closer to the route change point is used, and the route on the front side than that is used. It is possible to search for a corrected route after departure at a route changeable point, and it is possible to shorten the route search time.

[0018]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is an overall functional block configuration diagram of a vehicle guidance device according to the present invention. The vehicle guidance device 1 according to the present invention includes an input unit 2, a vehicle position detection device 3, and a place name reading-
It comprises a position database 4, a road map database 5, a voice synthesis output device 6, an image display device 7, and a navigation control unit 8.

The navigation control section 8 includes a navigation control means 80 and a route setting / correction route searching means 100.
With. The navigation control unit 80 includes a request recognition unit 81, a guidance control unit 82, various image generation / synthesis units 83, and a display device I / F (interface) unit 84.
And so on. The route setting / corrected route search means 100 includes a route setting means 101, a corrected route search means 102, a corrected route storage means 103, a route deviation detection means 104, a guide route change means 105 and the like.

FIG. 2 is a block diagram showing a specific example of the input section. The input unit 2 is for inputting a destination and, if necessary, a transit point and a transit order thereof. The input section 2 includes an input operation device 10 and a voice recognition device 20, and inputs by voice in addition to the operation of various keys. Is also possible.

The input operation device 10 is in the form of a wireless remote controller, and has a pointing device 11a such as a joystick or a trackball for moving a cursor displayed on the screen of the image display device 7 and various function keys 11b. An operation unit 11 provided, an input detection / code generation unit 12 that detects an operation input of the operation unit 11 and generates a preset code according to the input operation, and a radio wave modulated by the generated code information And a transmitter 13 for transmitting sound waves, infrared rays, and the like.

The voice recognition device 20 includes a level adjusting circuit 22 having an AGC function for adjusting the output signal of the microphone 21 to a predetermined signal level, and a specific frequency component suitable for voice analysis while removing noise components. Noise removal circuit 23 for enhancing or removing unnecessary frequency components
And the voice analysis circuit 24 that analyzes and encodes the characteristics of the analysis voice signal 23a, and the analysis data 24a and the reference data 25a read from the analysis data storage circuit 25 are compared and collated. A collation circuit 26 that outputs a character code 26a related to the utterance content, and a recognition result output unit that outputs a recognition result based on the collation output of the character code 26a and the voice segmentation detection signal 24b output from the voice analysis circuit 24. 27, a registration control circuit 28 for registering a voice of a specific speaker, and a registration switch 29.

In the voice analysis circuit 24, the voice signal for analysis 2
A delimiter discriminating circuit for discriminating a series of vocal delimiters based on the envelope waveform of 4a, time variation of the power spectrum, etc. is provided, and the discriminating output 24b is used as a collating circuit 26, a recognition result output means 27, and a registration control means 28. And the like to identify the break of the voice input command.

The analysis data storage circuit 25 has a structure in which data for analyzing the utterance of an unspecified speaker and analysis data of the utterance of the specified speaker are separately stored in respective storage areas. When the registration switch 29 is operated, the registration control means 28 supplies the message information 28a regarding word registration to the navigation control unit 6 shown in FIG. 1, and uses the voice synthesis output device 7 or the image display device 8. Then, for example, guidance data such as "Speak a destination input command" is audibly or visually displayed, and analysis data 2 of the input "Destination" is input to the guidance.
4a is associated with an input command and the analysis data storage circuit 2
5 is registered in the storage area for a specific speaker.

When the registration control means 28 detects a series of vocal breaks based on the voice break detection signal 24b, the registration control means 28 issues an input command such as a waypoint input command, a cursor movement command, a cursor position determination command, and a map enlargement / reduction input command. Guidance for registering such words is sequentially performed, and a specific speaker such as a driver utters, for example, "route point", "upper", "lower",
The command words such as "right", "left", "decision", "enlarge", "reduce" are registered. Note that these command words can be registered by the user as desired.

When the registered command word is uttered,
The recognition result output means 27 outputs a corresponding command (for example, a destination input command 27a, a waypoint input command 27b, a cursor movement command 27c, a map enlargement / reduction command 27d, etc.). Further, when a place name or the like is input by voice, the recognition result is output using the character code or the like 27e. Further, when the voice input cannot be recognized, the unrecognizable signal 27f is output and the message for prompting re-input is audibly or visually displayed via the navigation control unit 8.

FIG. 3 is a block diagram showing a specific example of the vehicle position detecting device. The vehicle position detection device 3 shown in FIG. 3 outputs an azimuth signal 31a from an azimuth sensor 31 such as a gyro or a geomagnetic sensor, and a mileage sensor 32 such as a wheel rotation sensor, for example, every predetermined unit mileage. A dead reckoning device 33 that sequentially calculates the position of the vehicle based on a distance signal 32a such as a pulse signal, and a GPS position measuring device that detects the position based on signals from a plurality of GPS satellites received by a GPS receiving antenna 34. It is configured to be used in combination with 35 so that the current position can be estimated even when radio waves from GPS satellites cannot be received.

The vehicle position detection device 3 also receives a beacon radio wave or a beacon optical signal emitted from a beacon transmitter installed at a main intersection or the like, and extracts position information from the received beacon signal. A position information analysis device 37 that analyzes and outputs beacon position information 37a is provided.

Further, the own vehicle position detecting device 3 is provided with the vehicle position data 33a sequentially output from the dead reckoning device 33.
Travel locus calculation means 38 for obtaining a travel locus based on
The running locus data 38a output from the running locus calculation unit 38 is compared with the road data 5a read out from the road map database 5, and the current portion of the vehicle is focused on the characteristic part of the running locus such as an intersection or an inflection point. Map matching means 39 for correcting the position on the road is provided.

Then, the vehicle position detection control means 30 in the own vehicle position detection device 3 detects the current position (initial position) of the vehicle.
If the setting operation of is not performed, the GPS measurement device 3
The position data 35a output from No. 5 is supplied to the dead reckoning device 33 as the initial position or the provisional position data 30a and is output as the own vehicle position data 3a. Further, the vehicle position detection control means 3
0 supplies the position correction data 39a output from the map matching means 39 to the dead reckoning device 33 to correct the current position data of the vehicle, and when accurate position information 37a is obtained by receiving the beacon signal, The position detection control means 30 obtains the position information 37a from the dead reckoning device 33.
Is supplied to the vehicle to correct the current position data of the vehicle. Then, the latest vehicle position data 33a sequentially output from the dead reckoning device 33 is supplied to the navigation control unit 6 as the own vehicle position data 3a.

The place name reading-position database 4 shown in FIG. 1 is used to retrieve the position information from the place names such as destinations and transit points that are input by voice, and the place name reading and the position information on the map. And are previously recorded in association with each other.

Here, the reading data concerning the place name is not limited to one for each place name, but has a database structure in which a plurality of readings can be registered. Therefore, for a place name that is difficult to read in Kanji or a place name that is easily misread, a plurality of readings are registered in advance so that the corresponding place name can be specified by any of the registered readings. For example, the place name "Tokorozawa" is "Tokorozawa", "Tokorozawa", "Shozawa", "Shozawa"
The readings of etc. are registered. Registration of multiple readings is managed so that the official reading can be distinguished from other readings. Therefore, even when the recognition result of the place name input by voice is audibly displayed using the voice synthesis output device and the input place name is confirmed, it is possible to inform by the official reading of the place name.

The place-name reading-position database 4 may have a structure in which the place-name reading-position data is stored in advance in a non-volatile storage means M such as a ROM. In addition, for example, in the form of an IC memory card or the like,
By providing a structure that can be attached and detached and by preparing for each region and use, its position may be specified based on the main building name or facility name in addition to the place name. Further, the place name reading-position data may be stored in advance in the road map database 5.

The road map database 5 is a CD-ROM (compact disc RO in which road map information is recorded.
M) 51 and its reproducing device 52. The road map database 5 includes map data for generating maps of various scales such as wide area, middle area, and detail, and an image display device 8.
Various displays to be displayed on the road map, such as names of highways, national roads, and local roads, attributes of main buildings, railways, rivers, lakes, etc., and their display data (character data including kanji, etc.), necessary Accordingly, the place name reading data (Hiragana or Katakana character data) is stored in advance based on a predetermined database structure. The road map database 5 may be composed of a recording medium other than the CD-ROM, such as a magnetic recording medium, a magneto-optical recording medium, or a semiconductor memory, and a reading device for the recording medium.

FIG. 4 is a block diagram showing a specific example of the voice synthesis output device. The voice synthesis output device 6 audibly displays guidance guidance such as a route of the vehicle based on various voice message commands 81d and 82e supplied from the navigation control unit 8.

The guide message generating means 61 outputs the voice message command 8a output based on a preset rule.
Is analyzed, a suitable message is selected from a plurality of messages stored in advance in the message storage unit 62, and if necessary, a place name or the like supplied from the navigation control unit 8 side is inserted to provide guidance. The message data 61a is generated and output.

The voice editing unit 63 sequentially takes out necessary voice information data from the voice information storage unit 64 based on the guide message data 61a, and sequentially supplies them to the voice synthesizer 65. The voice signal 65a output from the voice synthesizer 65 is amplified by the amplifier 66, and the electric signal of the speaker or the like-
The acoustic transducer 67 is driven. As a result, for example, "20
Turn right at the intersection 0 meters ahead, ”or“ Next intersection, go straight ”. Also,
When the voice recognition device 20 shown in FIGS. 1 and 2 cannot recognize the command or place name input by voice and the unrecognizable information is supplied via the navigation control unit 8, the voice synthesis output device 7
Is configured to audibly display a message indicating that voice recognition is not possible.

FIG. 5 is a functional block configuration diagram showing a specific example of the navigation control means. Request recognition means 81
Accepts various requests from the user based on various input requests 85a supplied via the remote control receiver 85 and various requests 27a to 27f, 28f input via the voice recognition device 20. , Perform necessary processing.

For example, when the cursor movement command is received from the operation input device 10 via the remote control receiver 85, the request recognition means 81 supplies the information 81a relating to the movement of the cursor to the input image generation means 86 and the image display device. Move the cursor displayed on the 7 screen. When the cursor position determination input is given in the destination registered state, the request recognition means 8
The reference numeral 1 obtains the position data MD of the road map corresponding to the current cursor position, and stores it in the destination storage means 106 constituted by using a RAM or the like in association with the destination.

When a destination registration request such as "destination" or "Hakone" is made via the voice recognition device 20,
The request recognition means 81 uses the character string data 8 for reading "Hakone".
When the place name reading-position database 4 is searched based on 1a and the position data 4a is obtained, it is stored as destination position data MD in the destination storage means 106 in association with the destination.

The waypoint is registered in the same manner as the destination is registered. When a registration request including a transit order with numbers such as transit point 1 and transit point 2 is made, the request recognition means 8
1 is the transit point position data Kn in association with the transit order
Remember D. It is also possible to register a plurality of transit points without assigning a transit order. In this case, the route setting / correction route searching means 100 is configured to search / set the guide route including the efficient transit order.

If only the place name is input via the voice recognition device 20, or if the map display request and the place name such as "map display" or "Hakone" are input, the request recognition means 81. Supplies the character string data 81b relating to the reading of the place name to the place name reading-position database 4,
The position data 4a of the place name is taken out. Then, the position data 4a of the place name is supplied to the road map database access means 87 as a map access request 81c.

Road map database access control means 8
7 retrieves a map including the position based on the position data 4a supplied as the map access request 81c and gives a read request 87a of the corresponding map data to the road map database 5. Then, the road map database access means 87 supplies the road map data 5a read via the reproducing device 52 in the road map database 5 to the map image generating means 88 in the various image generating / synthesizing means 83.

The map image generation means 88 generates and outputs map image data 88a based on the road map data 87b supplied via the road map database access means 87. When a map display request is made to set a destination or a waypoint or to confirm a map of another area, the request recognition unit 81 causes the image data 90a of the guide map including the current position of the vehicle, and , Guide image data 91
A command 81d for prohibiting the synthesis of a and synthesizing the map image data 88a and the input image data 89a is output.

As a result, the map image data 88a generated by the map image generating means 88 and the input image generating means 89 are generated.
The image synthesizing means 92 synthesizes the input image data 89a for guiding or assisting the input operation, etc., generated by the above, and the synthesized data 92a is displayed on the display device I / F section 84 by the video signal 84.
image display device 7 converted to a and using, for example, a CRT
The image is displayed on the screen.

With such a configuration, even if the user does not know the exact position of the destination or stopover, the settings can be registered by merely inputting the place name of the destination or stopover by voice. In addition, by inputting a place name such as a destination or a waypoint or a place name near the place, a corresponding map is displayed on the screen of the image display device 7, and while observing the displayed map, the destination or the waypoint is displayed. The order of can be set and registered.

When a request for returning to the guide map is input from the input unit 2, for example, a previously registered command word such as "guide map" or "map switching" is input, the request recognition means 81 is related to the guide map image display. The composite command 81d is output. Thereby, the image synthesizing means 92 causes the guide map image data 90 including the current position of the vehicle generated by the guide map generating means 90.
a and the guide image data 91a generated by the guide image generating means 91 are combined and output.

In this embodiment, means 90, 91 for generating a guide map and guide information, and means 88, 89 for generating another map image and an image for guiding / assisting input work.
And are independently provided and the image data thereof are selectively combined, it is possible to switch to the guidance map in an extremely short time. In the state where a map of another area is displayed based on a request from the user, for example, when a route deviation occurs, the route deviation detection output 105a is supplied to the request recognition means 81 (not shown),
It is possible to display the guide map without causing a time delay by adopting a configuration in which the guide map is switched.

Further, when the request recognition means 81 is provided with timer means for elapse of the elapsed time from the time when the guide map is switched to another map display, and another map display state elapses for a preset time. May be configured to automatically switch to the guide map display state based on the output of the timer means. Further, the timer means may be allowed to age only while the vehicle is running, so that the automatic switching function by the timer means may be disabled while the vehicle is stopped.

When message information 28a for assisting the work of registering a command word of a specific speaker is supplied from the voice recognition device 20, the request recognition means 81 causes the message information 28 to be transmitted.
The message output command 81e based on a is supplied to the voice synthesis output device 6 to output a voice message for assisting the registration work.

When the request recognizing means 81 completes a series of input operations for registering destinations and transit points and writes the necessary data MD and KnD in the destination storing means 106, the destination is recognized. The equal setting completion instruction 81f is supplied to the route setting / correction route searching means 100.

The guidance control means 82 includes the vehicle position detecting device 3
By recognizing the own vehicle position based on the own vehicle position data 3a supplied from the vehicle and supplying the own vehicle position data 3a to the road map database access means 87 as a map access request 82a, the road map database access means 87 is obtained. Road map data including the vehicle position via
7c is received, and the received road map data 87c is supplied to the guide map generation means 90 as map creation data 82b.

Further, the guidance control means 82 monitors which point in the map image-displayed on the basis of the road map data 87c and the vehicle position data 3a is the vehicle position. When the map display area on the traveling direction side of the vehicle becomes narrower, an access request 82a for a map adjacent in the traveling direction is generated, and the next image is acquired from the map data received earlier and the map data of the adjacent area. The map data of the area to be displayed is combined, and the combined map creation data 82b is supplied to the guide map generation means 90.

The guidance control means 82 generates a destination read command 82c at appropriate time intervals, and fetches the position data MD, KnD of the destination and transit points stored in the destination storage means 106. A destination setting completion command 81f output from the request recognition unit 81 is supplied to the guidance control unit 82, and data is fetched each time the position data MD, KnD is registered based on the completion command 81f. It may be configured to perform.

Then, the fetched position data MD, Kn
When the destination and the waypoint based on D are in the map area specified by the map creation data 82b, the guidance control means 82 displays the mark indicating the destination or the waypoint at the corresponding position. The guidance image generation command 82d is supplied to the guidance image generation means 91.

The guidance control means 82 has set route data SD supplied from the route setting / correction route searching means 100,
While comparing and collating with the road information specified by the map creation data 87c, based on the vehicle position data 3a and its traveling locus, or the direction signal 31a (not shown) from the direction sensor 31 shown in FIG. , It constantly monitors which direction of which road on the map the vehicle is running and in which direction. The guidance control means 82 supplies a command 82d for displaying a mark indicating the vehicle position and the traveling direction to the guidance image generation means 91.

As a result, the road map is displayed on the screen of the image display device 7, and the destination, the waypoint, the position of the own vehicle and the traveling direction are combined and displayed. The guidance control means 82 may display the set route specified on the basis of the set route data SD on the map.

Then, the guidance control means 82 obtains the distance to the next course change point specified by the vehicle position data 3a and the set route data SD, and when the distance reaches a preset distance, the next A guidance message command 82 that includes information about a route change point (for example, an intersection, a branch road, etc.), information about a traveling direction, and distance information to the route change point.
The e is supplied to the voice synthesis output device 6 to audibly display a guidance message such as "turn left at an intersection 200 meters ahead" or "turn 100 meters ahead, right".

The guidance control unit 82 supplies the guide image generating means 91 with a command 82d for displaying the route change points and the routes (right turn, left turn, straight line, etc.) at those points, and the route change intersections. A symbol such as an arrow indicating the traveling direction may be combined and displayed on the road map.

Further, the guidance control unit 82 supplies the route change guide image display command 82d including the route change direction at the next route change point and the distance information to the route change point to the guide image generation means 91, and the corner of the screen. An image message such as "200 meters ahead, turn right" may be displayed at a position different from the traveling direction of the vehicle or the vehicle.

Road map database access control means 8
7 indicates various map access requests 101b, 104a, 121a, 124 from the route setting / correction route searching means 100.
When receiving b, the requested road map data 5a is extracted by accessing the road map database 5, and the road map data 87d, 87e, 87f, 87g are supplied to the request source.

A plurality of map access requests 81b, 8
When 2a, 101b, 104a, 121a, and 124b compete, the road map database access control means 87.
Is configured to preferentially process the map access request 82a from the guidance control means 82. As a result, the vehicle guidance based on the set route can be preferentially performed.

FIG. 6 is a functional block configuration diagram showing a specific example of the route setting / correction route searching means. Request recognition means 8
When receiving the destination etc. setting completion instruction 81f from 1, the route setting means 101 generates a read instruction 101a and fetches the data MD, KnD of the destination, the waypoint, etc. stored in the destination storage means 106.

When only the destination M is set, the route setting means 101 supplies the road map database access control means 87 with a map access request 101b including the own vehicle position data 3a and the destination position data MD. The road map database access control means 87 refers to a map index (having data indicating the area range of each divided map) provided in the road map database 5, and the like,
It is configured such that a map of a reduced scale including the own vehicle position and the destination is retrieved, and the reduced scale of the retrieved map and the road map data 87d are supplied to the route setting means 101. When the destination is distant and there is no map including the vehicle position and the destination, the road map database access unit 87 supplies the route setting unit 101 with a signal 87z indicating that there is no map that can be displayed simultaneously.

The route setting means 101 sets a guide route based on the supplied road map data 87d. If the supplied road map data 87d is a large scale map such as a wide area map or a mid-range map, the road information around the vehicle position may not be supplied. A route from a temporary start point to a temporary end point is set with an intersection or the like of a certain main road as a temporary start point and an intersection or the like of a main road near a destination as a temporary end point.

FIG. 7 is an explanatory diagram showing a specific example of a method of setting a route from the vicinity of the own vehicle position to the vicinity of the destination. The route setting means 101 draws a virtual line KJ-KM from a temporary start point KJ near the position of the own vehicle to a temporary end point KM, or a virtual line JM from the own vehicle position J to a destination M, and draws a virtual line. KJ
-Information on roads located on both sides of KM and J-M (KJ-S
2-S4, S1-S3-KM) and virtual line KJ
-Road information (KJ-S1, S2) that intersects with KM and J-M
-S3, S4-KM). Note that points S1 to Sn indicated by circles in FIG. 7 are connection points of each road.

In the automatic setting of the guide route, when the condition for preferentially using the expressway or the like is set, the route setting means 101 determines that there is a general road near the virtual lines KJ-KM and J-M. If there is a highway or the like at a position further away than that, information on the highway or the like is extracted. In addition, when the condition for preferentially using the general road is set, the route setting means 101 also extracts the information of the highway and the like if there is a virtual road near the virtual lines KJ-KM and J-M, Information on general roads located farther than the road is extracted.

When the road information is extracted, the route setting means 101 causes all routes (KJ-S1-S3-KM, KJ-S2-S3-K) from the temporary start point KJ to the temporary end point KM.
M, KJ-S2-S4-KM, KJ-S1-S5-S6
-KM), add up the distance between each road connection point.
Here, in the section of the vehicle-dedicated road such as a highway or a toll road, the actual distance is reduced by a predetermined ratio (for example, 1/2) and the distance is integrated. Then, a route having the shortest distance from the provisional start point KJ to the provisional end point KM (for example, KJ-S1-
S5-S6-KM) is provisionally routed.

When the destination is distant and the map including the vehicle position and the destination is not in the road map database 5 and the signal 87z indicating that there is no map that can be displayed simultaneously is supplied,
The route setting means 101 sets a provisional route using the road information stored in the road information database 110.

This road information database 110 includes road names such as major expressways, major toll roads, major national roads, major rural roads, etc., position data of base points, end points and major waypoints, distance data between each point, and others. The road connection data is stored in a preset database format.

The route setting means 101 accesses the road information database 110 to obtain road position data (base point, end point, waypoint) close to the own vehicle position and road name data,
While using it as a temporary start point, road position data (base point, end point, waypoint) and road name data close to the destination position are obtained and used as a temporary end point. If the road name on the vehicle position side and the road name on the destination side do not match, the name of the road and the waypoint data are obtained based on the connection data with other roads. When the waypoint is registered, road position data (base point, end point, waypoint) and road name data near the waypoint are obtained. In this way, a provisional route from the vicinity of the own vehicle position to the vicinity of the destination or the vicinity of the stopover is set.

When the provisional route is set, the route setting means 10
1 supplies a detailed map access request 101b including the vehicle position data 3a to the road map database access means 87. When the provisional starting point KJ does not exist in the detailed map supplied from the road map database access means 87, the route setting means 101 issues an access request 101b for the adjacent detailed map to the road map database access means 8
7, and a map including the own vehicle position and an adjacent map are combined to synthesize a detailed map including both positions.

FIG. 8 is an explanatory diagram showing a specific example of route setting using a detailed map. When the map including the own vehicle position J and the temporary starting point KJ is obtained, the route setting means 101 causes the temporary starting point KJ from the own vehicle position J and the road KJ− from the temporary starting point to the road connection point S1 shown in FIG. Search for a route to S1. Then, the route with the shortest travel distance is set. When setting the route here, the current direction of travel of the vehicle is referred to and the route to the temporary starting point KJ or the road KJ-S1 is set without making a U-turn at that point.

In the example shown in FIG. 8, the route setting means 101,
From the vehicle position mark JM and the mark HM indicating the traveling direction, the road from the temporary elementary point KJ to the road connection point S1 is passed through the node N2 because the road in front of the elementary school cannot enter in one way through the node N1. The distances are calculated for a plurality of routes to, and the route from the provisional start point KJ to the midpoint N5 of the road from the provisional start point KJ to the road connection point S1 is set via the nodes N3 and N4 having the shortest distance.

When the route on the side of the starting point is set, the route setting means 101 supplies the access request 101b of the detailed map including the position data of the temporary end point KM to the road map database access means 87. Destination M in the supplied detailed map
Is included, a plurality of routes from the temporary end point KM to the destination M are searched based on the map data, and the route with the shortest distance is selected as the set route. When the destination M is not included in the supplied detailed map, the route setting means 101 generates an access request for the adjacent detailed map, and synthesizes a map including the temporary end point KM and the destination M, The destination side route is set based on the combined map.

When setting the route on the destination side, the route setting means 101 generates a map access request 101b including position data of the temporary end point KM and the destination M, and obtains a map including both. Good. When the mid-range map is provided because the detailed map is divided between the temporary end point KM and the destination M, the route setting means 101 sets the route to the vicinity of the destination using the mid-range map. After that, the detailed map around the destination may be accessed to set the route to the destination.

Further, in the case of route setting using a highway or the like, a map access request including the connection point S6 with the highway or the like and the destination M is generated, and the highway or the like is determined based on the obtained map data. The shortest route from the connection point S6 to the target value M may be obtained. By performing such processing, it is possible to set a suitable route on the destination side based on road data that is not supplied in the wide area map shown in FIG.

Also when setting the route on the starting point side, the route setting means 101 uses the position data of the own vehicle position J and the temporary starting point KJ and the road connection point S2, or the own vehicle position J when passing through a highway or the like. Generates a map access request 101b including the position data of the connection point S5 between the vehicle and the expressway, and searches for the shortest route from the own vehicle position to the connection point S5 with the expressway based on the supplied map data. It may be set. By performing such processing, it is possible to set a suitable route even when the setting of the temporary starting point KJ is not appropriate.

When all the routes from the vehicle position J to the destination M are set including the correction of the provisional route, the route setting means 101 stores the data relating to the set routes in the set route storage means 107. .

When a plurality of transit points including the transit order are registered, the route setting means 101 determines from the vehicle position J to the first route.
The route from the second stop to the next stop is set, and this is repeated to set the route from the final stop to the destination M.

When a plurality of transit points are set without designating the transit order, the route setting means 101 generates a map access request 101b including the own vehicle position data and the position data KnD of each transit point, and their positions. , The route point closest to the vehicle position is the first route point, the route point closest to the destination position data is the final route point, and the remaining route points are Consider the order in which the travel distance is short, and set the transit order so that the travel distance is the shortest.

When the route order is set, the route setting means 101
Generates a map access request including the vehicle position and position data of the first waypoint, sets a route to the first waypoint based on the obtained road map data, and then sets the first waypoint and the second waypoint. A map access request including the location data of the waypoint is generated, and the first to second waypoints are generated based on the obtained map data.
Set the route to the waypoint. By repeating such processing in sequence, all routes to the destination are set,
The set route data is stored in the set route storage means 107. It should be noted that each time a route for each waypoint is set, the route may be stored in the set route storage means 107.

The set route data SD stored in the set route storage means 107 is the guidance control means 82 in the navigation means 80, the corrected route search target point limiting means 121 in the corrected route search means 102, and the corrected route search calculation. It is configured to be supplied to the means 124, the route deviation detecting means 104, and the guide route changing means 105.

The corrected route search target point limiting means 121 is
Access request 12 for detailed map including vehicle position data 3a
When 1a is supplied to the road map database access control means 87 and the detailed map data 87e including the own vehicle position is supplied, the own vehicle position and the set route (guide route) SD are recognized based on the map data. When the own vehicle position is at the end of the map and the distance of the set route in the traveling direction of the own vehicle is short, the corrected route search target point limiting means 121 generates an access request 121a for adjacent map data, and the adjacent 2 By combining the map data of the sections, a composite map in which a sufficient distance is secured in the traveling route direction of the vehicle position is obtained.

FIG. 9 is an explanatory diagram showing the operation of extracting the corrected route search target point when there is no route change point. When the own vehicle position and the set route (guided route) are recognized on the map, the corrected route search target point limiting means 121 causes the detailed map data and the set route data in which the traveling route direction of the own vehicle position is sufficiently secured. In contrast to SD, check if there is a diversion point on the map.

As shown in FIG. 9 (a), when there is no route change point in the map to be examined (when traveling on the road currently running), the corrected route search target point limiting means 121 is From the vehicle position J toward the traveling route direction, intersections and branch roads within a predetermined distance (for example, 5 kilometers) that can be changed are sequentially extracted, and the route deviation direction at each route changeable point is determined. Determine how many types there are.

The corrected route search target point limiting means 12
1 may be configured to extract a predetermined number (for example, 2 to 5) of course changeable points set in advance from the vehicle position J in the traveling route direction.

Further, the corrected route search target point limiting means 12
When 1 recognizes that the road on which the vehicle is traveling is a vehicle-only road such as an expressway, the vehicle is traveling in an urban area, etc., with a search target up to a predetermined number of course changeable points. When it is recognized, a course changeable point up to a predetermined distance may be extracted.

Then, the corrected route search target point limiting means 1
Reference numeral 21 indicates these target point information 121b by associating the extracted order, the extracted symbol or position data identifying each route changeable point, and the data related to the set route deviation direction at each route changeable point. The data is written in the target point / departure direction storage means 122 configured by using a RAM or the like. At this time, even at the same course changeable point, when there are two types of departure directions, for example, a right turn and a left turn, each of the right turn and the left turn is registered as one item. One departure direction is registered for the two-way junction, and four departure directions are registered for the five-way intersection.

The corrected route search target point limiting means 12
1 is the amount of change in the vehicle position data 3a per unit time,
Alternatively, the extraction range may be varied based on the average vehicle speed and the like. By changing the search target range based on the vehicle speed, etc., it is possible to obtain in advance a corrected route for a distant interchange such as an expressway when it deviates from the course due to the interchange. Become.

In FIG. 9A, reference symbol JM is a vehicle position mark, reference symbol HM is a traveling direction mark, reference symbol SDM is a set route (guidance route), reference symbols C101 to C103 are branch routes, intersections, and five-way routes. Changeable point, code C101L,
C102L, C102R, etc. indicate the departure direction at each route changeable point.

As a result, the target point / departure direction storage means 1
As shown in FIG. 9 (b), the data on the extraction order, the route changeable point, and the departure direction are associated and stored in the column 22. In FIG. 9B, the extraction order corresponds to the order of passage of the course changeable points that are going to pass. Since the next turning point is quite ahead, the distance to the next turning point and the data of the turning direction at the next turning point are not written at the present time. In addition,
The searched flag is set to, for example, 1 when the calculation of the corrected route after the departure is completed.

FIG. 10 is an explanatory diagram showing the operation of extracting the corrected route search target point when there is a route change point. If there is a route change point, the corrected route search target point limiting means 12
1 checks whether or not there are second and subsequent course changing points H306 after the first course changing point H304. Two
When there is a route change point H306 after the th, the corrected route search target point limiting means 121 obtains the distance between the route change points.

The corrected route search target point limiting means 121 is
Although the extraction target is within a predetermined distance (for example, 5 kilometers) from the own vehicle position, the course change point H30 is within this range.
4 exists, even if the next course changing point H306 does not exist, the two course changing points H304 and H3 are present.
When the inter-06 distance is within a predetermined distance (for example, 1 kilometer) set in advance, it is configured to extract up to the next course change point H306.

A predetermined distance (for example, 1 km)
When a plurality of course changing points are consecutive within the interval, all of them may be extracted. Frequent course changes at short distance intervals often occur in urban driving or near the starting point or destination, so multiple route changing points and the route changeable points in front of them are to be searched. By doing so, it becomes possible to previously search for a corrected route when the route deviates.

The corrected route search target point limiting means 121
A route changeable point (C30n) within a predetermined distance (for example, 2 kilometers) preset on the vehicle position side from the extracted route change point is sequentially extracted, and the next route changeable from each route changeable point C30n Point (C30
For 1 to C303, find the distance to H304),
The target point information 12 including the obtained distance data and the course change direction data at the next course change point
1b is written in the target point / departure direction storage means 122.
Then, the course changing point H304 itself is also extracted as a course changing point, and the next course changing point H30 is extracted.
Route changeable point C305 up to and including 6
To extract.

The corrected route search target point limiting means 12
1 may be configured to extract a predetermined number (for example, 3 to 5) of course changeable points set in advance on the vehicle position side from the extracted course change points.

As a result, the target point / departure direction storage means 1
As shown in FIG. 10B, the extraction result is stored in the area 22 including the distance data to the next course change point and the course change direction data.

As shown in FIG. 9, there are already route-changeable points that have already been extracted, the map is scrolled as the vehicle travels, and the next route-change point is identified. When the distance to the route change point is calculated, the corrected route search target point limiting means 121
The distance data to the next course changing point and the data of the course changing direction at the next course changing point are additionally stored in the items already stored.

For the route change point itself, the data for specifying the route changeable point is, for example, H304, H306.
It is made to be different from the other course changeable points such as, and it is made clear from the data that it is the course change point. A configuration may be adopted in which a flag or the like indicating that the route is to be changed is provided.

The corrected route search target point limiting means 121
Each time the vehicle position data is updated, the data (for example, C301) 121c for specifying the next course changeable point is supplied to the search order setting means 123.
The data for specifying the next course changeable point may be supplied from the course deviation detecting means 104 described later.

The search order setting means 123 specifies data for the next course changeable point (for example, C30 shown in FIG. 10).
When 1) is received, a search target point / departure direction storage means 1
22 is accessed to check the searched flag whether the corrected route (return route) for the next course changeable point has been searched. If the route has not been searched and there are multiple departure directions at the possible course change points, and the course change direction at the next course change point is known, the case where the vehicle deviates in the same direction as the next course change direction is determined. The search order is set to No. 1, and the case deviating in the opposite direction to the next course change direction is set to the search order No. 2.

Next, the search order setting means 123 searches the departure directions of left turn and right turn at the second course changeable point (for example, C302 shown in FIG. 10) along the traveling route direction from the own vehicle position in the search order 3 Set to No.4.

When the search order is set for the first and second route changeable points with respect to the traveling direction of the vehicle, the search order setting means 123 causes the route changeable point C301 of the search order 1 and the departure direction L ( Turn left), and supply the corrected route search command 123a to the corrected route search calculation means 124 including the distance to the next route change point and the data relating to the route change direction at the next route change point.

Upon receiving the corrected route search command 123a, the corrected route search calculating means 124 searches for the corrected route by the procedure described later, and deviates from the searched corrected route data HD via the corrected route information writing / reading control means 108. Corresponding points and departure directions are stored in the corrected route storage means 103, and the search end notification 124a is sent to the search order setting means 12.
Supply to 3.

Upon receiving the search end notification 123a, the search order setting means 123 sets the searched flag for the corresponding item in the search target point / departure direction storage means 122. Next, the search order setting means 123 supplies the corrected route search instruction means 123 with the corrected route search command 123a including the data relating to the second route changeable point C301 and the departure direction L (right turn). Search end notification 124a
In response to this, the search order setting means 123 performs the same processing for the third and fourth search orders.

Up to a preset number (for example, the second) of course changeable points (for example, C3) in the traveling direction of the vehicle.
01, C302) when the corrected route upon departure from the route is already searched, or when the searched route has already been searched and the searched flag is set, the search order setting means 123 causes the next route change point (for example, H304). Let's search for a corrected route when going straight without turning left. At the time when the corrected route search is completed, the search order setting means 123 checks whether or not the corrected route search to the route change point two ahead in the traveling direction of the vehicle has been completed.

If the search has been completed, the search order setting means 123 causes the next route change point (for example, H304) to search for a corrected route when the vehicle turns right without turning left. The vehicle passes, for example, the route changeable point C301 shown in FIG.
As a result, when the corrected route of the course changeable point to the next two places is in the unsearched state, the search order setting means 123 refers to the course change direction at the course changeable point and the course change direction at the next course changeable point. And set the search order.

When the correction route search from the own vehicle position to the next two course changeable points is always completed as the own vehicle advances, the search order setting means 123 causes the respective deviation directions at the next course change point H304. If it is confirmed that the corrected route has been searched for and the route has been searched, the next route changing direction side of the route changeable point C303 on the vehicle position side (front side) of the route change point H304 is The search order is set in the order of (right turn) and the opposite side (left turn).

In the example of the road map shown in FIG. 10, when the vehicle passes through the route changeable point C301, the corrected route is searched up to the route change point C303 which is two ahead of the route changeable point C301. It is not necessary to newly search for the route changeable point C303 on the vehicle position side of the point H304, but if there are many route changeable points between the vehicle position and the next route change point H304. For the plurality of route changeable points extracted toward the vehicle position side from the route change point H304, the corrected route search after the route deviation is sequentially performed from the side closer to the route change point H304.

By repeating such a search order setting, the search order setting means 123 gives priority to the corrected route search from the position of the own vehicle to the next course changeable point (intersection not requiring the course change). While searching for a corrected route at the first route change point itself, which is highly likely to deviate from the route, then, regarding the route changeable point on the front side (vehicle position side) from the first route change point, The corrected route search is performed in ascending order of the distance data to the course change point.

When the search for the corrected route is completed for all the route changeable points from the vehicle position to the first route change point (H304), the search order setting means 123.
Searches for a corrected route at the second turning point (H306), and then searches for the second turning point (H30).
6) The route search is sequentially performed for the route changeable points on the front side of 6).

Upon receiving the return route search command 123a, the corrected route search calculation means 124 generates a map access request 124b including data of a course changeable point (for example, C301) which is a corrected route search target, and the road map database access means. The detailed map data 87f of the corrected route search target area is obtained via 87, and the destination read command 124c is generated to store the destinations, transit points and their transit order stored in the destination storage means 106. The data MD and KnD relating to are obtained.

When the data MD and KnD relating to the destination and the like are obtained, the corrected route search calculation means 124 sets the next target point. If only the destination is registered, use it as the target point. If a transit point is registered, including the transit order, the next transit point is set as the target point. When a plurality of transit points are registered without specifying the transit order, the transit point closest to the route changeable point (for example, C301) is selected and set as the target point.

Return route searching means 1 when the target point is set
24 checks whether or not the target point is within a preset straight line distance (for example, 3 kilometers) from the course changeable point C101. In addition to the determination based on the distance, it may be possible to check whether or not the target point is present in the currently read map and the adjacent map.

When the target point is near the course changeable point (for example, C301), the return route searching means 124
A corrected route from the state deviating from the route at the route changeable point (for example, C301) to the target point is searched, the searched route is temporarily stored, and the distance of the searched route is obtained.

When the target point is the same as the initially set point, the distance from the route changeable point (for example, C301) to the target point in the initially set route SDM is compared with the distance of the searched route. When the distance of the searched route is shorter than the distance obtained by adding the preset distance (for example, 2 kilometers) to the distance of the initially set route, or the magnification set in advance for the distance of the initially set route (for example, 1.2). Times)
When the distance of the searched route is shorter than the distance multiplied by, the corrected route search calculation unit 124 uses the corrected route obtained by the search as the departure point (route changeable point, for example, C301) and the departure direction (for example, left turn). Is written to the corrected route storage means 103. By performing two types of distance comparison, it is possible to eliminate the adverse effect that only the route that returns to the original route is set when the vehicle deviates from the target point with a slight remaining distance.

11 and 12 are explanatory views showing an example of a corrected route search for returning to the set route. When there is no target point near the route changeable point (for example, C301), the corrected route search calculation means 124 searches for a route that returns from the state where the route changeable point (for example, C301) deviates to the original set route SD. . Corrected route search command 12
3a, the distance to the next diversion point, and
When the data relating to the course change direction at the next course change point is supplied, the return route search means 124 determines whether the route deviation direction and the course change direction at the next course change point match. Make a decision.

When the departure direction is in agreement with the course changing direction at the next course changing point, the corrected route search calculating means 12
4 searches for a route to the route changeable points C305 and H306 that are ahead of the next route change point H304. When a plurality of routes are searched, the one with the shortest travel distance is selected.

For example, as shown in FIG. 11A, after making a left turn at a course changeable point C301 to deviate from the set route, make a right turn at the course changeable point C401 and go straight or change the course changeable point C402. Go straight on at point C403,
When a route capable of returning to the initially set route SDM is selected by turning left at the route changeable point C305, the corrected route search calculation means 124 causes the corrected route HD.
While calculating the road distance of M, the course departure point C30
The road distance on the initially set route SDM from 1 to the return point C305 is calculated, and the ratio of the road distance on the corrected route HDM and the road distance on the initially set route SDM is obtained.

When the road distance of the corrected route is within 1.2 times the initially set distance, for example, the corrected route search calculation means 124.
Stores the data of the corrected route HDM obtained by the search in the corrected route storage means 103. At this time, the corrected route data is stored in association with the departure point and the departure direction, and the degree of ease of return is stored as rank A (easy return). The road distance of the corrected route is, for example, 1.
If more than twice and less than twice, the degree of easy recovery is ranked B
Store as (Restorable). If the number exceeds twice, the degree of easy recovery is stored as rank C (hard to recover).

As shown in FIG. 11 (b), when there is no route to return to a route ahead of the next course change point,
The corrected route search calculation unit 124 stores the degree of easy return as rank D (return impossible). In this case, the corrected route search calculation means 124 stores a flag or the like indicating that the return route is a U-turn if the road entered due to the departure is not one-way. A U-turn may be designated with the return degree rank being DU. When the approaching road is one-way, the corrected route search calculation means 124
A route to a route changeable point ahead or behind the departure point is searched for and stored in the corrected route storage means 103 including the degree of return.

As shown in FIG. 12 (a), when a route reaching a route ahead of the next course changing point cannot be searched, and as shown in FIG. 12 (b), at the next course changing point. When the route change direction and the departure direction do not match, the corrected route search calculation unit 124 searches for a route to a route changeable point earlier than the departure point, and searches the corrected route data and the data related to the degree of return that are found at the departure point. And the deviation direction are associated with each other and stored in the corrected route storage means 103. The corrected route search calculation unit 124 stores the requested route and the corrected route in the departure direction, then generates a search end notification 124a, and notifies the search order setting unit 123 that the search is completed.

The corrected route searching means 102, after obtaining the corrected route when the route deviates at the next route changing point H304, the route changing points C303, C on the front side thereof.
Since the corrected route after the departure at 302 or the like is sequentially obtained, when the corrected route after the route is deviated at the course changing point C302, the corrected route searching means 102 is used when the route deviates at the course changing point C303. The correction route may be searched by reading out the corrected route data and searching for a route to the course change point (road connection point) in the middle of the corrected route. The search time can be shortened by using the already-corrected route.

The route deviation detecting means 104 generates the map access request 104a including the own vehicle position data 3a, receives and supplies the detailed road map data 87g including the own vehicle position, and receives the map data and the route setting data SD. The set route is recognized on the basis of the target vehicle position data 3a, the traveling locus is obtained based on the own vehicle position data 3a, and the route changeable point and its point are determined based on the target point information 121b output from the corrected route search target point limiting means 121. It is configured to store the correspondence relation of the specified data (for example, C301).

The route deviation detecting means 104 specifies data (for example, C
301 etc.) 104b is corrected route information writing / reading control means 1
08, and from the corrected route storage means 103 via the corrected route information read control means 108, information 108a relating to the degree of easy recovery when the route deviates at a route changeable point to be passed next for each departure direction. Get to.

The route deviation detecting means 104 is configured to supply the route guidance command 104c to the navigation control means 80 side when the read-out ease degree for each read-out deviation direction is other than rank A (easy return). . Then, the guidance control means 82 in the navigation control means 80 does not easily return after the deviation from the route by the route guidance command 104a, even if the route can be changed to a straight path and is a point where no guidance should be given. When this is notified, a voice message such as "Next is straight ahead" is output. In addition, by using the input operation device 10 or the like, it is possible to select a return degree that calls attention,
It may be possible to set a mode in which guidance is not provided other than the route change point.

Further, the route deviation detecting means 104 obtains the distance between the vehicle position and the next course changing point, and the distance to the next course changing point is a preset distance (for example, 5).
After 0 m), the signal 104d relating to the direction instruction operation for displaying a right turn, a left turn, etc. is monitored, and when it is detected that the direction instruction operation in the departure direction is detected,
The route attention information 104e is configured to be supplied to the guidance control means 82 in the navigation control means 80. Upon receiving the route caution information 104e, the guidance control unit 82 outputs a voice message such as "The next intersection is straight ahead."

The route deviation detecting means 104 monitors the change in the traveling direction of the vehicle based on the signal 104f relating to the steering angle of the steered wheels (steering wheel) and, for example, the front side of the course changeable point where the vehicle should turn left. If, for example, the steering wheel is operated to change to the right lane, the route caution information 10
4e may be generated.

On the other hand, although the driver is aware of the correct route, other vehicles often change lanes or the like because they are obstructing the route, so voice messages etc. are generated for all operations leading to route deviation. If this is done, the occurrence thereof may become too frequent and the driver or the like may feel annoyed. Therefore, the message may be generated only when the route is changed to make a U-turn when the route deviates.

When the route deviation detection means 104 detects that the vehicle has passed the route changeable point, it supplies the corrected route search target point limiting means 121 with data 104g relating to the passed route changeable point. When the corrected route search target point limiting means 121 receives the data 104g relating to the passing points, it deletes the data items relating to the passing points stored in the search target point / departure direction storage means 122.

The route deviation detecting means 104 generates a destination etc. reading command 104h, and the destination etc. storing means 106.
The position data MD, KnD relating to the destination, the transit point, etc. are read from, and when passing through those points, the write command 104i is generated, and the passing flag etc. is set to the passing point. The data is written in the storage means 106. The corrected route search calculation means 124 can determine the next waypoint or destination by determining whether or not the passage flag or the like is set for the waypoint or the like, and can search the corrected route. Become.

The route deviation detecting means 104 detects that the own vehicle has deviated from the set route SD on the basis of the traveling locus based on the own vehicle position data 3a or the direction signal 31a from the direction sensor 31 shown in FIG. When it is detected, the deviation information 104j including the data for specifying the deviated course changeable point and the data for the deviation direction is generated.

Upon receiving the deviation information 104j, the guide route changing means 105 supplies the corrected route read command 105a to the corrected route information read control means 108, and the corrected route information read control means 108 is used to store the corrected route information in the corrected route storage means 103. The corrected route information 108b for the departure direction at the departure point stored in is obtained. The route deviation information 104j is stored in the corrected route information read control unit 108 or the corrected route storage unit 1.
03 directly, and based on that, the corrected route storage means 1
The configuration may be such that the corrected route information 108b is obtained from 03.

When the corrected route information 108b for the departure direction at the departure point is obtained, the guide route changing means 105 compares and contrasts the information 108b with the set route data SD to grasp which part has been changed. Then, a new guide route after the route deviation point is set, and the set guide route data 105b is supplied to the set route storage means 107 to update the stored contents. The set route data SD
Depending on the data format of
Not only the route data after the route deviation point but also all route data from the departure point to the destination may be updated.

A new guide route is set up. Route storage means 107
When written to, the guide route change means 105 corrects the route change notification 105c including the departure point and the route change point data for returning to the initially set guide route (setting route). It is supplied to the route information write / read control means 108.

The corrected route search target point limiting means 121
When the route change notification 105c is received, the data relating to the target point located between the departure point and the route change point for returning to the initially set guide route (setting route) is searched for, and the departure direction storage means 122. If they are inside, after deleting them all, a new guide route (setting route) S
Based on D, the extraction of the search target point / departure direction is restarted. Since only the changed section is deleted, for example, in FIG.
When the route from the departure point to the next course changeable point as shown in 2 is changed, the extracted data for the next course change point and the course change points before and after the next course change point can be used as they are.

The corrected route information writing / reading control means 108 is
It also has a function of writing to the corrected route storage means 103,
Upon receiving the route change notification 105c, the corrected route data after the departure relating to the target point located between the departure point and the route change point for returning to the initially set guide route (set route) is deleted. Since only the changed section is deleted, when changing the route from the departure point to the next course changeable point as shown in FIG. 12, for example,
The corrected route data after deviation from the next route change point and the route change points before and after the next route change point can be used as they are.

Note that, based on the route change notification 105c,
Alternatively, all data in the search target point / departure direction storage unit 122 and the corrected route storage unit 103 may be deleted, and the route search after the departure may be performed based on the new guide route.

The corrected route searching means 102 in the route setting / corrected route searching means 100 is a new guide route (set route).
Based on the above, the search target point is extracted and the route is searched.

Next, the vehicle guiding device 1 having the above-mentioned configuration.
The operation of will be described. When a destination or a waypoint is input from the input unit 2, the route setting unit 101 automatically sets a route to the destination. Corrected route search means 102
Always prioritizes a corrected route (return route) after a route deviation to a route changeable point that is always a predetermined number (for example, two) ahead of the own vehicle position, and then to the next route change point. The corrected route (returning route) after the deviation from the route is searched, and then the corrected route (returning route) is sequentially searched for the route changeable point on the vehicle position side (front side) of the route changing point. The searched corrected route (return route) is associated with the departure point and the departure direction, and the corrected route storage means 1 is provided.
It is stored in 03.

When the route to which the route can be changed to the next route change point among the target points extracted by the corrected route search target point limiting means 121 has been searched for the corrected route after the deviation from the route, the search order is completed. The setting means 123 is 2
The correction route is sequentially searched for the second route changeable point and the route changeable point in front of it.

When the vehicle deviates from the set route, the deviation information 1 including the deviation point and the deviation direction from the path deviation detecting means 104.
04j is output. The guide route changing unit 105 reads the corrected route for the departure point and the departure direction from the corrected route storage unit 103 based on the deviation information 104j, and sets a new guide route. The guidance control means 82 in the navigation control unit 80 continues voice guidance and screen display based on the new guidance route.

Since the correction route (return route) is searched in advance on the assumption that the route deviates, the next guiding route can be performed immediately after the route deviance occurs.

[0145]

As described above, in the vehicle guiding apparatus according to the first aspect, the corrected route search means obtains the corrected route after the departure from the route in advance, and the corrected route storage means associates the departure point with the departure direction. In this configuration, the corrected route obtained in advance is taken out when the route deviates, and a new guide route is set. Therefore, the next guide can be promptly performed.

A vehicle guidance system according to a second aspect of the present invention includes a corrected route search target point limiting means in the corrected route search means, and a course changeable point within a predetermined distance from the current position of the vehicle or the current position of the vehicle. To a predetermined number of course change points along the guide route are limited as search target points, so as the vehicle progresses, the course change points within a predetermined distance or a predetermined number of points ahead of the current position of the vehicle Up to, the corrected route after deviation from the route is required.
Even if the distance between intersections is narrow in urban areas, etc. It is possible to solve the problem that the corrected route search after the departure cannot be made in time.

Since the vehicle guidance device according to claim 3 is configured to limit the route change point in the guide route and the route changeable point in front of the route change point as search targets, there is a possibility that the route deviates. It is possible to preferentially obtain the route change point itself having a high travel distance and the corrected route after the route deviates at an intersection or the like in front of it.

A vehicle guidance system according to a fourth aspect of the present invention conducts a route search for one or more route changeable points that should pass next as the vehicle advances, and then searches for the next route change point and the next route. Since the route is searched in the order closer to the route change point on the vehicle position side than the change point, the corrected route after the departure is preferentially searched for the route change point where the vehicle should pass for the time being, and then the route departure There is a high possibility that the corrected route after the departure at the turning point itself is searched. Further, there is a possibility that the route deviates at the course changing point on the front side as the vehicle approaches the next course changing point, but also for these, the corrected route after the departure is sequentially searched.

Therefore, even if the route search time of the corrected route search means is not very fast, the corrected route after the departure at the route changeable point where the route may deviate according to the progress of the vehicle is sequentially obtained. In addition, the storage capacity of the correction path storage means for storing the correction path can be reduced.

Further, by performing a route search in the order closer to the route change point, the search result of the corrected route after departure at the route changeable point on the side closer to the route change point is used, and the route on the front side than that is used. It is possible to search for a corrected route after departure at a route changeable point, and it is possible to shorten the route search time.

[Brief description of drawings]

FIG. 1 is an overall functional block configuration diagram of a vehicle guidance device according to the present invention.

FIG. 2 is a block configuration diagram showing a specific example of an input unit.

FIG. 3 is a block configuration diagram showing a specific example of a vehicle position detection device.

FIG. 4 is a block configuration diagram showing another specific example of the destination setting means and the place name input means.

FIG. 5 is a block configuration diagram showing a specific example of navigation control means.

FIG. 6 is a functional block configuration diagram showing a specific example of route setting / correction route searching means.

FIG. 7 is an explanatory diagram showing a specific example of a method for setting a route from the vicinity of the own vehicle position to the vicinity of the destination.

FIG. 8 is an explanatory diagram showing a specific example of route setting using a detailed map.

FIG. 9 is an explanatory diagram showing an operation of extracting a corrected route search target point when there is no route change point.

FIG. 10 is an explanatory diagram showing an operation of extracting a corrected route search target point when there is a route change point.

FIG. 11 is an explanatory diagram showing an example of a corrected route search for returning to a set route.

FIG. 12 is an explanatory diagram showing another example of a corrected route search for returning to the set route.

[Explanation of symbols]

1 Vehicle guidance device 2 Input section 3 Vehicle position detection device 5 Road map database 6 voice synthesis output means 7 Image display device 8 Navigation controller 80 Navigation control means 81 Request recognition means 82 guidance control means 100 Route setting / correction route searching means 101 Route setting means 102 Corrected route searching means 103 correction route storage means 104 Route deviation detection means 105 Guide route change means 106 destination etc. storage means 107 set route storage means 121 Corrected route search target point limiting means 122 target point / departure direction storage means 123 Search Order Setting Means 124 Corrected route search calculation means

Claims (4)

(57) [Claims] 1. A route setting means for setting a guide route on the basis of a destination, a stopover input if necessary, and the order of the stopovers, and a visible or audible display of information about the guide route according to the current position of the vehicle. In a vehicle guidance device equipped with a guidance control means for controlling the route, a correction route after the departure is obtained in advance assuming a route deviation at a route changeable point such as an intersection or a branching point, and the calculated correction route is set.
Corrected route searching means that ranks the degree of ease of return and associates the departure point and the departure direction with each other and stores the corrected route in the corrected route storage means; A route deviation detection unit that outputs deviation information including a predetermined message regarding a deviation point and a departure direction when a deviation from the route is detected, and a corrected route extracted from the corrected route storage unit based on the deviation information. And a guide route changing means for setting a new guide route based on the guide route. 2. The corrected route search means is a route changeable point for searching a corrected route in advance, which is within a predetermined distance along the guide route from the current position of the vehicle, or the vehicle. 2. The vehicle guidance device according to claim 1, further comprising: corrected route search target point limiting means for limiting the route changeable points from the current position to a predetermined number along the guide route. 3. The corrected route search means has a route changeable point for which a corrected route is searched in advance, within a predetermined distance from the next route changed point to the own vehicle position side from the next changed route point. 2. The vehicle according to claim 1, further comprising: corrected route search target point limiting means for limiting the number of route changeable points or a predetermined number of route changeable points from the next route change point to the vehicle position side. Guidance device. 4. The corrected route search means includes the corrected route search target point limiting means according to claim 2 and claim 3, and is adapted to advance a vehicle to a limited plurality of route changeable points. Along with this, a route search is performed for one or more route changeable points that should be passed next, and then a route search is performed in the order of the next route change point and the vehicle position closer to the route change point than the next route change point. 2. The vehicle guidance device according to claim 1, further comprising search order setting means for setting the order of route search to be performed.