JPH087074B2 - Vehicle driving route 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 traveling route guidance device for a vehicle that guides a vehicle driver when a vehicle approaches an intersection on a predetermined scheduled traveling route.

[0002]

2. Description of the Related Art Conventionally, as a vehicle traveling route guiding device, a planned traveling route of the vehicle and the current position of the vehicle are displayed on a display device such as a CRT or a liquid crystal display together with a road map.
When a vehicle approaches an intersection on a planned traveling route, there is known a device configured to guide the vehicle driver to that effect by a display screen, voice, or the like.

[0003]

However, such a conventional travel route guiding device detects the vehicle position, obtains the separation distance between the detected position and the intersection on the planned travel route, and the separation distance is a predetermined approach distance. When the distance is less than the judgment distance, it is determined that the vehicle is approaching the intersection and the driver is guided to this. When there is a deviation between the actual vehicle position and the actual vehicle position, it may be judged that the vehicle is approaching an intersection different from the actual approaching intersection, and the user may be informed accordingly.

In such a case, the vehicle driver
In order to recognize the traveling direction of the vehicle from the planned traveling route on the display screen according to the guidance from the device, for example, turn right at an intersection where you should go straight, or go straight at an intersection that should turn right. The problem occurs.

A traveling route guidance device having a function of guiding the traveling direction (straight, right turn, left turn, etc.) of a vehicle from an approaching intersection by voice is also known.
In the case of this device, the vehicle driver causes the vehicle to travel according to the traveling direction that is guided without checking the planned traveling route from the display screen, so that it is delayed in recognizing departure from the planned traveling route from the display screen. There is a large possibility that the actual traveling route of the vehicle will be largely deviated from the planned traveling route.

Further, in these conventional travel route guidance devices, when the separation distance between the vehicle position and the intersection on the travel route is less than a certain approach determination distance, guidance that the vehicle is approaching the intersection is provided. Therefore, the time from when the vehicle is first guided until the vehicle actually reaches the intersection is too short when the vehicle is operating at high speed, and is too long when operating at low speed. It was supposed to make the driver feel uncomfortable.

The present invention has been made in view of these problems. In the vehicle travel route guiding apparatus having the function of guiding an intersection when a vehicle is approaching as described above, it is possible to detect the actual vehicle position when the vehicle position is erroneously detected. Aims to prevent the guidance of different intersections and to secure an appropriate guidance time according to the driving condition.

[0008]

DISCLOSURE OF THE INVENTION The present invention made to achieve the above object is, as illustrated in FIG. 1, display means for displaying a road map, map data representing the road map, and the road map. Map data storage means for storing the planned traveling route of the vehicle above, vehicle position detection means for detecting the vehicle position, and displaying a road map on the display means based on the map data, and on the road map, In a travel route guidance device for a vehicle, comprising: a display control unit that displays the planned travel route and the vehicle position in a distinguishable manner, the intersection to be passed next by the vehicle based on the planned travel route and the vehicle position. Based on the approach direction of the vehicle on the planned traveling route with respect to the passing intersection, a predetermined centering around the passing intersection with the predetermined approach determination distance as a radius around the passing intersection Area setting means for setting a plurality of fan-shaped guide candidate areas obtained by drawing a circular arc with the same approach determination distance and the same length of each string, and vehicle speed detecting means for detecting the vehicle speed. A vehicle position determining means for determining whether or not the vehicle has entered a predetermined range from the passing intersection based on the vehicle position; and a vehicle having entered the predetermined range from the passing intersection by the vehicle position determining means. When it is determined that the vehicle position detected by the vehicle speed detection means, the area selection means for selecting a guidance candidate area having a larger approach determination distance as an intersection guidance area as the vehicle speed increases, and the vehicle position. Is within the intersection guidance area, and if the vehicle position is within the intersection guidance area, the vehicle driver is informed that the vehicle is approaching the passing intersection. The passing intersection guidance means for the inner, that was provided is characterized.

[0009]

In the vehicle travel route guiding apparatus of the present invention configured as described above, the display control means displays the road map on the display means based on the map data stored in the map data storage means, and On the displayed road map, the planned traveling route of the vehicle stored in the map data storage means and the vehicle position detected by the vehicle position detection means are displayed in a distinguishable manner.

Further, the area setting means identifies an intersection to be passed next by the vehicle on the basis of the planned traveling route of the vehicle and the vehicle position detected by the vehicle position detecting means, and on the planned traveling route for the passing intersection. Based on the approaching direction of the vehicle in, the fan-shaped guide candidate area obtained by drawing an arc around the passing intersection with a predetermined approach determination distance as a radius and a predetermined angle centered on the approaching direction A plurality of judgment distances are set and a plurality of strings are set to have the same length.

Then, the vehicle speed detection means detects the vehicle speed, and the vehicle position determination means determines whether or not the vehicle has entered a predetermined range from the passing intersection based on the vehicle position detected by the vehicle position detection means. At the same time, the area selection means, when the vehicle position determination means determines that the vehicle has entered the predetermined range from the passing intersection, depending on the vehicle speed detected by the vehicle speed detection means, the higher the vehicle speed, A guidance candidate area having a large approach determination distance is selected as an intersection guidance area.

Then, the passing intersection guidance means determines whether or not the vehicle position is within the selected intersection guidance area. If the vehicle position is within the intersection guidance area, the vehicle approaches the passing intersection. Tell the driver what you are doing. That is, according to the present invention, the area obtained by drawing a circle around the passing intersection where the vehicle should pass next as a radius with a constant approach determination distance as a radius as in the conventional case is not used as the intersection guidance area, but rather, as the intersection guiding area. Draw a circular arc around the intersection at a predetermined angle centered on the approach direction of the vehicle to the passing intersection on the planned traveling route, with different approach determination distances as radii. A plurality of fan-shaped areas that are formed are set as guidance candidate areas that are candidates for intersection guidance areas, and the higher the vehicle speed, the greater the vehicle speed depending on the vehicle speed when the vehicle enters the predetermined range from the passing intersection. , A guidance candidate area with a large approach determination distance is selected as an intersection guidance area, and when the vehicle is within this selected area, the vehicle driver is instructed to check the vehicle at the passing intersection. Chikashi to guide the effect is.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 2 is a block diagram showing the overall configuration of a vehicle navigation device of an embodiment to which the present invention is applied.

As shown in FIG. 2, the navigation system of this embodiment is equipped with a GPS antenna 2a for receiving radio waves transmitted from a GPS (Global Positioning System) artificial satellite (NAVSTAR), and the received signal is frequency-converted. Then, by demodulating, the latitude data, the longitude data, and the altitude data representing the position of the receiving point (that is, the vehicle position) are calculated, and the moving speed (that is, the vehicle speed) and the moving direction (the traveling direction of the vehicle) of the receiving point are calculated. A well-known GPS receiver 2 as a vehicle position detecting means and a vehicle speed detecting means, and various keys for inputting a planned traveling route and for switching the operation mode of the device to a traveling route input mode, a traveling route guiding mode, or the like. An input device 4 formed of a switch, and an external storage device 6 as a map data storage means in which map data is stored in advance,
An alarm device 12 for giving various alarms to a vehicle driver by voice, a display device 14 as a display means including a CRT for displaying a road map and various messages, a liquid crystal display, a GPS receiver 2, Input device 4,
It is composed of a controller 20 which reads various data from the external storage device 6 and the like and drives and controls the alarm device 12 and the display device 14 based on the data.

Here, in addition to the map data for displaying the road map, the external storage device 6 also sets / plans the planned travel route.
For display, intersection data preset for each intersection on the road map is stored. As shown in FIG. 3, the intersection data includes the intersection address Ci (i: integer from 1 to m) attached to each intersection forming the road map, the longitude (x coordinate) data representing the position of each intersection, and the latitude. (Y coordinate) data, an address Ci of an adjacent intersection adjacent to each intersection, a node list representing an inflection point Ni on the road between each intersection and the adjacent intersection, and the like. In addition, the intersection data allows the intersections on the planned traveling route to be stored as registered intersections Pi in the traveling order.

Next, the control unit 20 has a CPU 22, RO
The alarm device 12 and the display device 1 are configured as a well-known microcomputer provided with an M24, a RAM 26, an input / output port 28, and a bus line 30 connecting these parts, and via an alarm drive device 32 and a display drive device 34.
4 is driven and controlled.

When the operation mode of the device is set to the travel route input mode, the control device 20 thus configured registers the intersection on the planned travel route input by operating the input device 4. By storing it as the intersection Pi, the traveling route input process of storing the planned traveling route in the external storage device 6 is executed.

When the operation mode of the device is set to the travel route guidance mode, first, the external storage device 6
The map data centering on the current vehicle position is read from the display device, and based on the read map data, a road map is displayed on the display device 14 and displayed on the displayed road map, for example, as shown by area A1 in FIG. After the processing as the display control means for highlighting the vehicle position S and the planned traveling route (routes with diagonal lines in the drawing) is executed, the traveling route guiding process shown in FIGS. 5 to 7 is executed.

The vehicle position S is highlighted by a red triangle mark indicating the traveling direction when the vehicle position and traveling direction can be detected by the GPS receiver 2, and GP
When the vehicle position cannot be detected by the S receiver 2, it is highlighted by a black circle. In addition, the planned traveling route is highlighted by displaying the road and the intersection that are the planned traveling route in a color (for example, orange) different from the color of the other roads (for example, blue).

The travel route guidance process executed by the control unit 20 will be described in detail below. As shown in FIG. 5, when the travel route guidance process is started, first, at step 100, the GPS receiver 2 is used to determine the current vehicle position, vehicle speed,
And the direction of travel is detected. And the following step 110
Then, based on the detection result, vehicle position display processing for updating the vehicle position and the traveling direction on the road map displayed on the display device 14 is executed.

In this vehicle position display processing, not only the latest vehicle position is displayed on the road map of the display device 14, but when the vehicle display position on the display screen is changed, the vehicle position is displayed on the display screen. When the vehicle position is displayed on the edge of the display screen outside the predetermined area, the vehicle position is changed from the center of the display screen to the position of the point object, for example, from the area A1 shown in FIG. 4 to the area A2. , The road map displayed on the display device 14 is changed.

Then, in the following step 120, the closest intersection Pn closest to the current vehicle position is searched from the registered intersections Pi stored in the external storage device 6, and in the following step 130, the searched proximity is found. It is determined whether or not the intersection Pn is within a predetermined range from the current vehicle position.

Here, this predetermined range has a radius of approximately 30 from the vehicle position when the vehicle speed at the time of the determination is 40 km / h or less.
As a circle of 0m, when the vehicle speed is over 40km / h and 90km / h or less, the radius is about 430m, and when the vehicle speed is over 90km / h, the radius is about 600m. It is designed to be set alternatively.

If it is determined in step 130 that the vehicle position is not within the above-mentioned predetermined range, the process returns to step 100 and the vehicle is located at any of the registered intersections Pi.
The processing of steps 100 to 130 is repeated until the above-mentioned predetermined range is reached.

On the other hand, when it is determined in step 130 that the vehicle is within the predetermined range of the close intersection Pn searched in step 120, in the following step 140, the number of the registered intersection Pi to be sequentially driven from now is indicated. Counter i
, The registered intersection number (n) corresponding to the adjacent intersection Pn
Is set as an initial value that represents an intersection that is the starting point of the planned travel route.

Then, in the following step 150, it is determined whether or not the vehicle approaches the registered intersection Pi corresponding to the value of the counter i and it is necessary to guide the vehicle driver to approach the registered intersection Pi. Candidates for areas to do 3
Set the display determination area for seeds. The three types of display determination areas correspond to the above-mentioned guide candidate areas, and the processing of step 150 functions as the above-mentioned area setting means. Then, by the processing of step 220 to be described later, a selection area corresponding to the above-mentioned intersection guidance area that actually guides the approach of the registered intersection Pi is selected from among these.

Here, the shapes of the three types of display determination areas are fan-shaped obtained by drawing arcs with preset different radii (approach determination distances) and angles, and the shape of each string The lengths are set to be the same. Then, on the road map, the essential position of each fan is registered at the intersection P
An area in which a center line that divides each fan into the left and right matches the i direction of the vehicle entering the registered intersection Pi is set as each display determination area. That is, the control device 20 stores the pattern data for setting each display determination area in advance, and in step 150, the map data is used to determine the position coordinates of the registered intersection Pi and the approaching direction of the vehicle. By converting the coordinates of the pattern data, three types of display determination areas are set.

Then, the control device 20 preliminarily uses, as the fan-shaped pattern data, pattern data for low speed when the vehicle speed is 40 km / h or less, and 90% when the vehicle speed exceeds 40 km / h.
Pattern data for medium speed when the speed is less than km / h, vehicle speed is 90
Three types of high-speed pattern data when the speed exceeds km / h are stored. In step 150, the pattern data are used to register the registered intersection Pi as shown in FIG.
3 types of display determination areas, that is, a low speed display determination area SL, a medium speed display determination area SM, and a high speed display determination area SH are set.

Further, in this embodiment, the distance from the registered intersection Pi of the low speed display determination area SL to the circular arc (approach determination distance) is approximately 160 m, and the medium speed display determination area SM.
The approach determination distance is set to approximately 200 m, and the high-speed display determination area SH is set to approximately 250 m, and the angle with respect to the approaching direction of the vehicle is a straight line distance W (string) to both ends of each arc. However, it is set to about 200 m according to the positioning accuracy of GPS (about 100 m in this embodiment).

Further, in the present embodiment, as shown in FIG. 8, the respective display determination areas SL, SM, SH are respectively directed to the first zone ZL1, from the respective arc sides toward the registered intersection Pi. ZM1, ZH1 and second zone ZL2
It is divided into ZM2 and ZH2, and the boundary is formed by an arc having a radius of about half of each approach determination distance.

In step 150, the second zones ZH2 and ZM of the display determination areas SL, SM and SH are also used.
2, the vehicle has a circular area with a radius of about 30 m centering on the close intersection Pi including a partial area of ZL2.
Passage determination zone SO for determining whether or not the vehicle has passed
Set as.

The approaching direction of the vehicle to the registered intersection Pi is the adjoining intersection Pi-1 connected to the registered intersection Pi via the road on which the vehicle is traveling, or the adjacent intersection Pi-1 and the registered intersection Pi. If there is an inflection point (node) between and, the node closest to the registered intersection Pi and the registered intersection Pi
Are connected by a straight line.

As described above, at step 150, the three display determination areas SL, SM, S for the registered intersection Pi are shown.
When H is set, this time shifts to step 160,
A path deviation determination circle centered on the registered intersection Pi for detecting that the vehicle has moved without passing through the registered intersection Pi, that is, a deviation of the traveling route, is set.

That is, in this step 160, as in the case of the three types of display determination areas SL, SM and SH, coordinate conversion using preset pattern data is performed, as shown in FIG. Low speed route deviation determination circle CL slightly larger than the approach determination distance of the determination area SL, medium speed route deviation determination circle CM whose radius is slightly larger than the approach determination distance of the medium speed display determination area SM, and high speed display determination area Three types of route deviation determination circles, that is, a high-speed route deviation determination circle CH that is slightly larger than the approach determination distance of SH are set.

Next, at the following step 170, when the vehicle moves outside the route deviation determination circles CL, CM, CH set at step 160, the registered intersection to be run next by the route deviation determination processing described later. A direction (hereinafter, this direction is referred to as a route deviation determination direction) for determining whether or not the vehicle has properly traveled toward Pi + 1 without deviating from the path is set.

Incidentally, the setting of the direction for judging the deviation of the route is as shown in FIG.
As shown in FIG. 5, if there is an inflection point (node) between the next registered intersection Pi + 1 connected to the registered intersection Pi or between the adjacent intersection Pi + 1 and the registered intersection Pi, the registered intersection Ranges of angles θH, θM, and θL, which are the same as the fan angles of the display determination areas SL, SM, and SH set in step 150, with respect to the linear direction connecting the node closest to Pi and the registered intersection Pi. Set in the direction.

After such settings are made, in the following step 180, the latest vehicle position, vehicle speed, and traveling direction are detected in the same manner as in step 100, and the following step 190 is performed.
In the same manner as in step 110, vehicle position display processing for updating the vehicle position and the traveling direction on the road map displayed on the display device 14 is executed based on the detection result of step 180.

Next, in the following step 200, the above-mentioned three types of display determination areas S are processed in step 220, which will be described later.
From L, SM, and SH, it is determined whether or not the display determination area actually used for guiding the registered intersection Pi is already selected. If the display determination area is not selected, the following step 210 is performed. Based on the latest vehicle position detected in 180, the vehicle is in any display determination area S
Processing as a vehicle position determination means for determining whether or not the vehicle has entered L, SM, SH is performed. That is, in this embodiment, one of the display determination areas SL, SM, SH is
It is set within a predetermined range from the registered intersection Pi determined by the vehicle position determination means.

When it is determined in step 210 that the vehicle has not entered any of the display determination areas SL, SM, SH, the process returns to step 180 and the vehicle is in any of the display determination areas SL, SM, SH. The processing from step 180 to step 210 is repeated until it is determined that the vehicle has entered SH.

On the other hand, when it is determined in step 210 that the vehicle has entered any of the display determination areas SL, SM, SH, the process proceeds to the following step 220, and the above three types of display determination areas SL, SM. , SH, Step 1
Processing as area selection means for selecting a display determination area corresponding to the latest vehicle speed detected in 80 is performed. That is,
If the vehicle speed is 40 km / h or less, low speed display determination area SL
If the vehicle speed exceeds 40 km / h and 90 km / h or less, the medium speed display determination area SM is selected, and if the vehicle speed exceeds 90 km / h, the high speed display determination area SH is selected.

Then, in the following step 230, the route deviation determination circle corresponding to the latest vehicle speed detected in step 180 is selected from the route deviation determination circles CL, CM and CH set in step 160. In other words, this step 2
The route deviation determination circle selected in 30 (hereinafter, this selected route deviation determination circle is referred to as a selection determination circle) is, for example, when the medium speed display determination area SM is selected in step 220. For example, the medium speed route deviation determination circle CM is selected, which corresponds to the display determination area selected in step 220.

Next, when the display determination area and the route deviation determination circle are selected in steps 220 and 230, or when it is determined in step 200 that the display determination area is already selected, , Step 240
Then, the vehicle is selected from the latest vehicle position detected in step 180 and the selected display determination area (hereinafter, the selected display determination area is referred to as a selection area), and the vehicle is the selection area or the passage determination zone. Judge whether or not it is in SO. Then, when the vehicle is in the selected area or the passage determination zone SO, the process proceeds to the following step 250 to perform processing as passage intersection guidance means for performing blinking display of the registered intersection Pi and voice guidance (intersection). Guidance processing).

On the other hand, if it is determined in step 240 that the vehicle is not in the selected area or the passage determination zone SO, the process proceeds to step 260, and the route deviation for determining the deviation from the planned travel route of the vehicle is determined. Execute the judgment process.
When the intersection guidance process is completed in step 250 or the route deviation determination process is completed in step 260, the process proceeds to step 270, and the route deviation of the vehicle is determined by the route deviation determination process. It is determined whether or not the counter i representing the registered intersection Pi to be driven has been cleared,
When it is determined that the counter i has been cleared, the process returns to step 100 and the above-mentioned processing is started from the beginning.

If it is determined in step 270 that the counter i has not been cleared, then step 2
Proceeding to 80, the intersection guidance process determines that the vehicle has passed the registered intersection Pi, or the route deviation determination process determines that the selection determination circle has escaped in the route deviation determination direction, and the value of the counter i is updated. Whether or not the counter i
If the value of is updated, the process proceeds to step 150, and if the value of the counter i is not updated, the process proceeds to step 180.

That is, when it is determined by the route deviation determination process that the vehicle has deviated from the planned traveling route, the process is restarted from step 100, and when the value of the counter i is updated, the process is repeated from step 150. , The next registered intersection Pi + 1 is targeted so that the travel route is guided.

Next, in the intersection guidance processing executed in the above step 250, as shown in FIG. 6, first, in step 300, the vehicle is in the first zone, the second zone, or the selected area.
When entering the zone and the passage determination zone SO, a guidance pattern such as voice data for guiding the driver of this fact is read from the ROM 24.

Then, in the following step 310, at present,
It is determined whether or not the vehicle has just entered the selected area, that is, the first zone of the selected area. If it is immediately after the vehicle has entered the first zone of the selected area, the display device 14 is displayed in step 320. The blinking display for blinking the registered intersection Pi is started on the displayed road map, and the following step 3
At 30, the traveling direction (straight, right turn, left turn, etc.) of the vehicle from the registered intersection Pi to the next registered intersection Pi + 1 is calculated.

The blinking display of the registered intersection Pi is performed by alternately displaying the registered intersection Pi in yellow and blue. Further, from the registered intersection Pi to the next registered intersection Pi + 1
The traveling direction of the vehicle is to connect the registered intersection Pi and the next registered intersection Pi + 1 or the node closest to the registered intersection Pi existing between the registered intersections Pi to Pi + 1 by a straight line, thereby The escape direction from the registered intersection Pi of the vehicle above is obtained, and the escape direction is, for example, 60 degrees or more to the right of the approach direction of the vehicle obtained when the display determination area is set in step 150. If it deviates to "right turn", the exit direction is, for example, 60 with respect to the approach direction.
If the vehicle is displaced to the left by more than 60 degrees, it is a "left turn". If the escape direction is more than 30 degrees and less than 60 degrees to the right, it is a "right diagonal bend". If it is shifted to the left by 30 degrees or more and less than 60 degrees, "left diagonal fold" is set, and if not, "straight ahead" is set.

Then, in the following step 340, the calculated traveling direction of the vehicle is output via the alarm device 12 with an electronic sound and voice such as "turn left at the next intersection""Pingpong"." The first guidance in the direction of travel, such as guidance in. Next, when it is determined in step 310 that the vehicle has not just entered the selected area,
Alternatively, when the processes of steps 320 to 340 are completed, the process proceeds to step 350, and it is determined whether the vehicle has entered the passage determination zone SO shown in FIG.

When it is determined that the vehicle has not entered the passage determination zone SO, the following step 360
At, it is determined whether or not the vehicle has just entered the second zone of the selected area. If it is immediately after the vehicle has entered the second zone of the selected area, at step 370 the vehicle is registered at the intersection Pi. In order to inform the driver that the vehicle is approaching further, an electronic sound and voice guidance such as "turn left at the next intersection""Pawn""are provided via the alarm device 12. Providing direction 2 guidance. Then, after performing this processing, or when it is determined in step 360 that the vehicle has not just entered the second zone of the selected area, the intersection guidance processing is ended.

On the other hand, if it is determined in step 350 that the vehicle is entering the passage determination zone SO, the process proceeds to step 380 to notify the driver that the vehicle has passed the registered intersection Pi. In addition, through the alarm device 12, for example, an electronic sound such as "" Pong "" is provided to guide the passage of the registered intersection Pi, and
In the following step 390, the blinking display of the registered intersection Pi, which has been blinking on the road map displayed on the display device 14, is terminated.

Then, in the following step 400, it is determined that the route guidance at the registered intersection Pi is no longer necessary, and the value of the counter i is incremented, and the intersection guidance process is completed. That is, in the intersection guidance process, when the vehicle approaches the registered intersection Pi and first enters the first zone of the selected area, the first traveling direction guidance is performed, and the vehicle further approaches the registered intersection. Then, when the vehicle enters the second zone of the selected area, the second traveling direction guidance is provided. Then, when the vehicle finally enters the passage determination zone SO, the passage guidance for guiding the fact that the vehicle has passed the registered intersection Pi is provided, and the blinking display of the registered intersection Pi is terminated.

Next, in the route deviation determination process executed in step 260, as shown in FIG. 7, first, in step 500, the blinking display of the registered intersection Pi is terminated. Then, in the following step 510, it is determined whether or not the vehicle has moved outside the selected circle selected in step 160, and when it is determined that the vehicle has not moved outside the selected circle, the route deviation determination processing concerned. To finish.

On the other hand, when it is determined in step 510 that the vehicle has moved outside the selected circle, step 52
The process proceeds to 0 and it is determined whether or not the escape direction from the selected circle is the route deviation determination direction set in step 170. That is,
In this step 520, as shown in FIG. 8, the vehicle is viewed from the registered intersection Pi in the circumference of the selected circle in step 17
The deviation of the route is determined by whether or not it has passed on the circular arc of the direction (angle) set by 0.

When it is determined in step 520 that the vehicle has exited the selected circle in the route deviation determination direction,
In subsequent step 530, thereafter, it is assumed that the route guidance at the registered intersection Pi is no longer necessary, the value of the counter i is incremented, and the route deviation determination process is ended.

On the other hand, when it is determined in step 520 that the direction in which the vehicle escapes from the selected circle is not the route deviation determination direction, the process proceeds to step 540 to notify the vehicle driver that the route deviation has occurred. Guide the deviation.
In the present embodiment, this route deviation guidance generates a voice message indicating a route deviation, such as "a route deviation has occurred.", Three times in succession, and displays it on the display device 14 during that time. It is performed by blinking the registered intersection Pi on the road map for a predetermined time.

Then, in the following step 550, thereafter, it is necessary to search for the registered intersection closest to the vehicle position and guide the route starting from this adjacent intersection. After clearing the counter i so that the route guidance process is executed, the route deviation determination process is ended.

That is, in the route deviation determining process, the step 530 is performed so that the traveling route is guided with the next registered intersection Pi + 1 as a target only when the vehicle exits the selected circle in the direction of the route deviation determining. When the vehicle escapes the selected circle in a direction other than the route deviation determination direction, it is determined that a route deviation has occurred, and the counter i is cleared in step 550 to drive the vehicle. The route guidance process is started from the process of step 100.

As described above, in the vehicular navigation system of this embodiment, the radii of the vehicle are different from the registered intersection Pi at which the vehicle should next pass, along the approach direction of the vehicle on the planned travel route. Three types of different fan-shaped areas for low speed, medium speed, and high speed are set as display determination areas, and the display determination area (selection area) to be actually used for control is selected from these areas according to the vehicle speed. . And
When the vehicle enters the selected area, it is determined that the vehicle has approached the registered intersection Pi, the vehicle is guided by voice in the traveling direction at the registered intersection Pi, and the vehicle enters the passage determination zone SO. The registered intersection Pi is blinked on the road map displayed on the display device 14 until the user exits or exits the selected area.

Therefore, according to the vehicular navigation device of the present embodiment, the conventional device for determining the approach of the vehicle to the intersection when the separation distance between the vehicle and the intersection on the planned traveling route becomes a predetermined distance. On the other hand, when the vehicle position is erroneously detected due to poor reception of the GPS receiver 2, poor accuracy, or the like, it is possible to prevent erroneous determination of the approach of the vehicle to the registered intersection Pi, and it is possible to suppress the vehicle from the registered intersection Pi It becomes possible to guide the traveling direction more accurately. On top of that,
The distance from the start of approach guidance to the registered intersection Pi after the vehicle is determined to have entered the selected area along the planned travel route until the vehicle actually enters the registered intersection Pi is the high-speed travel of the vehicle. Since the time can be set longer, the vehicle driver can easily change the lane after receiving the guidance without being influenced by the vehicle speed, and the safety can be improved.

That is, when the display determination area is constant regardless of the vehicle speed, the higher the vehicle speed, the shorter the time until the vehicle reaches the registered intersection Pi after guiding the traveling direction at the registered intersection Pi. In order to change the lane before the registered intersection Pi when the vehicle is traveling at high speed, rapid deceleration of the vehicle or the like is required, but according to the present embodiment, such a problem can be solved.

Further, in this embodiment, each display determination area is divided into a first zone and a second zone, and the fact that the vehicle is approaching the registered intersection Pi each time the vehicle sequentially enters each zone,
The vehicle driver is informed by different guides. Therefore, the vehicle driver can gradually know the approach to the registered intersection Pi.

Furthermore, since the lengths of the strings in the display determination areas in this embodiment are all set to be the same,
Regardless of which display determination area is selected, the area width for the planned travel route of the first zone is the same for first determining and guiding that the vehicle is approaching the passing intersection Pi. Therefore, it is possible to uniformly determine that the vehicle has entered the selected area regardless of the vehicle speed. Further, the length of each string in each display determination area in this embodiment is set to approximately 200 m in accordance with the positioning accuracy of GPS (100 m is assumed in this embodiment), so that the vehicle is Even if there is a position detection error, as long as the vehicle is traveling on the planned traveling route, it can be determined that the vehicle has entered the selected area, and the vehicle driver can be guided to approach the registered intersection Pi.

On the other hand, in the vehicular navigation system of this embodiment, the route deviation judgment circle centered on the registered intersection Pi to be passed next is set, and at the same time from this registered intersection Pi to the next registered intersection Pi + 1. The same angle direction as the fan angle in each display determination area is set as the route deviation determination direction with respect to the straight line direction toward which the vehicle exits the route deviation determination circle in a direction other than this route deviation determination direction. In this case, the deviation of the traveling route is determined and the vehicle driver is informed by voice. For this reason, the vehicle driver can recognize the deviation of the route and change the course, and can suppress the deviation from the planned traveling route.

[0065]

As described above in detail, in the traveling route guiding apparatus of the present invention, different radii (approach determination distances) are set along the direction in which the vehicle enters the passing intersection where the vehicle should pass next. A plurality of fan-shaped guide candidate areas are set, and the guide candidate area having a larger radius is set as the vehicle speed increases when the vehicle enters a predetermined range from the passing intersection from these areas. Choose as
Only when the vehicle position is within the selected intersection guidance area is the vehicle driver informed that the vehicle is approaching the passing intersection.

Therefore, according to the travel route guiding apparatus of the present invention, the area for guiding the approach of the vehicle to the passing intersection is along the approaching direction of the vehicle to the passing intersection where the vehicle should pass next. Since it becomes a fan shape, compared to the conventional device that guides the approach of the vehicle to the passing intersection when the separation distance between the vehicle and the intersection on the planned traveling route becomes a predetermined distance,
It is possible to improve the determination accuracy for guiding the approach of a vehicle to a passing intersection, and when the vehicle position recognized by the device is deviated from the actual vehicle position due to erroneous detection of the vehicle position, etc. It is possible to prevent that the vehicle is judged to be approaching an intersection different from the intersection which is actually approaching and to inform that effect.

Further, since the radius of the intersection guidance region for judging and approaching the passing intersection is guided by the moving speed of the vehicle, the guidance time becomes extremely long depending on the driving condition of the vehicle, that is, the vehicle speed. It doesn't become short,
It is possible to guide the approach of the passing intersection without making the vehicle driver feel uncomfortable.

Further, in the traveling route guiding apparatus of the present invention, the lengths of the chords of the respective guide candidate areas are set to be equal to each other, so that no matter which guide candidate area is selected as the intersection guide area, the vehicle passes through. The area widths for the planned travel route for first determining that the vehicle approaches the intersection are set to be equal. Therefore, regardless of the vehicle speed, it is possible to evenly determine the entry of the vehicle into the intersection guidance area and guide the vehicle driver to approach the passing intersection that should pass next.

[Brief description of drawings]

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

FIG. 2 is a block diagram showing the overall configuration of the vehicle navigation device of the embodiment.

FIG. 3 is an explanatory diagram showing intersection data stored in an external storage device.

FIG. 4 is an explanatory diagram illustrating a display state of a road map on a display device.

FIG. 5 is a flowchart illustrating a traveling route guidance process executed by the control device.

FIG. 6 is a flowchart showing an intersection guidance process executed in step 250 of the travel route guidance process.

FIG. 7 is a flowchart showing a route deviation determination process executed in step 260 of the travel route guidance process.

FIG. 8 is an explanatory diagram illustrating a display determination area and a route shift determination circle set for a registered intersection Pi.

[Explanation of symbols]

2 ... GPS receiver 2a ... GPS antenna 4 ...
Input device 6 ... External storage device 12 ... Alarm device 14 ... Display device 20 ... Control device

 ─────────────────────────────────────────────────── --- Continuation of the front page (56) References JP-A-6-150192 (JP, A) JP-A-2-140615 (JP, A) JP-A-58-204307 (JP, A) JP-A-2- 32213 (JP, A) JP-A 2-141613 (JP, A) JP-B 4-14400 (JP, B2)

Claims (1)

[Claims] 1. Display means for displaying a road map, map data storage means for storing map data representing the road map and a planned travel route of the vehicle on the road map, and vehicle position for detecting the vehicle position. A detection means; and a display control means for displaying a road map on the display means based on the map data, and displaying the planned traveling route and the vehicle position on the road map in a distinguishable manner. In the travel route guidance device, an intersection to be passed next by the vehicle is identified based on the planned travel route and the vehicle position, and the passage intersection is based on the approach direction of the vehicle on the planned travel route with respect to the passage intersection. With a predetermined approach determination distance as a radius, and a fan-shaped guide candidate area obtained by drawing an arc at a predetermined angle centered on the approach direction, where the approach determination distance is Area setting means for setting a plurality of strings having the same length and different string lengths, vehicle speed detecting means for detecting a vehicle speed, and whether or not the vehicle has entered a predetermined range from the passing intersection based on the vehicle position. Vehicle position determining means for determining whether or not the vehicle position determining means determines that the vehicle has entered a predetermined range from the passing intersection, in accordance with the vehicle speed detected by the vehicle speed detecting means, Region selection means for selecting a guidance candidate region having a larger approach determination distance as an intersection guidance region as the vehicle speed increases, and determining whether or not the vehicle position is within the intersection guidance region, and the vehicle position is the intersection. When the vehicle is in the guidance area, there is provided a passage intersection guide means for guiding the vehicle driver that the vehicle is approaching the passage intersection. Place