JP4270104B2 - Car navigation system - Google Patents

Description

  The present invention relates to an in-vehicle navigation device.

2. Description of the Related Art Conventionally, regarding an in-vehicle navigation device having a route guidance function from a departure point to a destination, an in-vehicle navigation device that searches and guides a route via the waypoint when a route point is set is known. For example, Patent Document 1 provides a route search method that takes into account the order of passage of a plurality of waypoints so that the destination can be reached in the shortest time when a plurality of waypoints are set.
JP-A-11-94578

  The driver may be at a loss whether or not he / she is going through the transit point while traveling, for example, due to time constraints, even if the transit point is originally scheduled to pass through. In this case, in the route search method of Patent Document 1, the route point is deleted, route search is performed again, the estimated arrival time at the destination is calculated, and whether or not the route point is routed is determined. There is a problem that the operation is troublesome.

  The present invention has been made in view of the above problems. When a vehicle is traveling on a route including one or more waypoints, for example, whether or not each route point is routed due to time constraints. An object of the present invention is to provide an in-vehicle navigation device having a route guidance function that allows a driver to easily determine whether or not to go through each waypoint when he / she gets lost.

  In order to achieve the above object, the in-vehicle navigation device according to claim 1 sets a current position detecting means for detecting the current position of the host vehicle, a map data storing means for storing road map data, and a destination and a waypoint. Searching a route from the current location of the host vehicle to the destination using the setting means and the road map data, and when the setting means sets one or more waypoints, A route search means for searching for a route that passes through the ground, and for searching for a route when the host vehicle does not pass through a route that is scheduled to pass next, and a route that does not pass through the route. A time calculation unit that calculates a difference in travel time between when the vehicle travels and a route on the way through, and information on the difference in travel time calculated by the time calculation unit Characterized in that it comprises a knowledge unit.

  Thus, in the in-vehicle navigation device according to the first aspect, the shortening time when the vehicle does not pass through the next waypoint is notified. For example, the notification may be displayed on a display screen or may be notified by voice. Therefore, the driver can easily determine whether or not it is possible to go through the waypoint without performing a troublesome operation when there is a time restriction or the like. In addition, since the vehicle performs such notification only to the waypoint that is scheduled to be routed next time, the initially set route can be utilized to the maximum extent.

  The in-vehicle navigation device according to claim 2 further includes guide means for guiding the host vehicle to travel along a route passing through the waypoint, and the time calculation means performs guidance by the guide means. The difference in the travel time is continuously calculated while the information is being reported, and the notifying unit continuously updates and reports the information on the difference in the travel time while performing the guidance by the guide unit. And

  As a result, the driver can always grasp the latest shortened time even when, for example, the road conditions change and the vehicle speed changes.

  The in-vehicle navigation device according to claim 3 is characterized in that the notification means notifies information about a branch point between a route passing through the route and a route not passing through. As information about the branch point, for example, a position corresponding to the branch point on the road map on the display screen may be displayed prominently, or the name of the intersection corresponding to the branch point may be displayed. As a result, the driver only has to decide whether or not to go through the transit point before reaching the branch point, so this determination can be made with sufficient time, and the initially set route can be maximized. Limited use.

  The in-vehicle navigation device according to claim 4 is characterized in that the notifying means notifies final guidance information on both routes at a branch point between a route passing through the route and a route not passing through. As a result, the driver can determine at this branch point whether or not he / she will finally go through the waypoint, and can specifically know which road at the branch point may be entered. As this notification content, for example, voice guidance such as “If you do not go through XX can be shortened for 30 minutes. If you go through XX, turn left, if you do not pass, go straight ahead.”

  The in-vehicle navigation device according to claim 5 includes an identification unit that identifies whether or not the host vehicle passes through the waypoint, and the guide unit causes the host vehicle to pass through the waypoint by the identification unit. Then, after being identified, the route guidance via the route point is continued, and after it is identified that the route point is not routed, the route is switched to route route not via the route point, and the notification means After the vehicle is identified as passing through the waypoint, the information regarding the difference in travel time with respect to the waypoint is not notified.

  Thereby, even if the route is not routed through the initially set route, it is not necessary to set another route again to perform the route search, so that troublesomeness can be reduced. Further, when it is determined that the route is set via the set waypoint, the guidance is continued by the original route, and the above-described shortened time is not notified that the route is routed. Thereby, unnecessary notification can be avoided.

  In addition, the vehicle-mounted navigation device according to claim 6, wherein the identification unit is configured to pass the vehicle when the host vehicle enters a road toward the route at a branch point between the route that passes through the route and the route that does not pass. It is identified that the vehicle passes through the ground, and when the vehicle does not enter the road heading for the route, the vehicle is identified as not passing through the route. Thus, in the in-vehicle navigation device according to the sixth aspect, it is determined whether or not the vehicle is automatically routed to the waypoint.

  The on-vehicle navigation device according to claim 7, wherein the identification unit includes a selection unit that allows a user to select whether or not to go through the waypoint, and based on a selection result by the selection unit, the waypoint It is characterized by identifying whether it goes through. As a result, for example, if the driver accidentally travels in an unintended direction at the branch point, or if he / she wants to travel after changing in the direction without going through the waypoint Can be dealt with. As the selection method, for example, there is a method of providing a touch button on a liquid crystal display for displaying a road map or the like and selecting it by operating the button.

  Further, the in-vehicle navigation device according to claim 8, wherein the notification unit does not notify the information regarding the difference in travel time when the difference in travel time calculated by the time calculation unit is equal to or less than a predetermined value. Features.

  For example, there may be a case where there is almost no difference in the arrival time at the destination between when going to the destination via the waypoint and when going directly to the destination without going through the waypoint. In such a case, in the in-vehicle navigation device according to the eighth aspect, the vehicle is guided according to a route that passes through all the normal waypoints that are initially set. Thereby, unnecessary notification can be avoided.

  Embodiments of the present invention will be described below.

  FIG. 1 is a block diagram showing the overall configuration of the in-vehicle navigation device 100 according to this embodiment. As shown in the figure, the in-vehicle navigation device 100 includes a position detector 1, a map data input device 6, an operation switch group 7, an external memory 9, a display device 10, an audio output device 11, a remote control sensor 12, a remote control 13, and these. And a control circuit 8 connected to Each component will be described below.

  The control circuit 8 is configured as a normal computer, and includes a well-known CPU, ROM, RAM, I / O, and a bus line for connecting these configurations. In the ROM, a program to be executed by the control circuit 8 is written, and a CPU or the like executes various arithmetic processes according to this program. This program can also be acquired from the outside via the external memory 9. In the present embodiment, particularly when the vehicle is guided to the destination, the shortest route to the destination via the waypoint is searched using map data read from the map data input device 6 described later. Then, for this route, a shortened time when the vehicle does not pass through the next waypoint is calculated, and a process of displaying the shortened time using the display device 10 or the like is performed. Other detailed processing will be described later.

  The position detector 1 includes a known geomagnetic sensor 2, a gyroscope 3, a distance sensor 4, and a GPS receiver 5 for GPS (Global Positioning System) that detects the position of the vehicle based on radio waves from a satellite. Have. Since these have errors of different properties, they are configured to be used while being complemented by a plurality of sensors. Depending on the accuracy of each sensor, the position detector 1 may be constituted by a part of the above-described parts, and a steering rotation sensor (not shown), a vehicle speed sensor for each rolling wheel, or the like may be used. The position detector 1 detects the current location of the vehicle, and the control circuit 8 can recognize which position the vehicle is traveling on the route searched for, and the vehicle travels along the route. Can be guided to.

  The map data input device 6 is a device for inputting various data including map data, background data, landmark data, and the like. As a storage medium for storing various data, a writable storage medium such as a memory card or a hard disk can be used in addition to a read-only storage medium such as a CD-ROM or DVD-ROM.

  The map data is composed of link data and node data. This link divides each road on the map into multiple nodes such as intersections, branches, and merge points, and defines each link as a link. By connecting each link, the road is Composed. Link data includes a unique number (link ID) that identifies the link, link length indicating the link length, link start and end node coordinates (latitude / longitude), road name, road type, road width, number of lanes, right turn・ Consists of data such as the presence of the left turn lane, the number of lanes, the speed limit, etc.

  Furthermore, the node data includes a node ID, a node coordinate, a node name, and a link ID of a link connected to the node, each node having a unique number for each node where roads on the map intersect, merge and branch. It consists of data such as ID and intersection type.

  Then, when searching for a route to the waypoint and the destination, a passing cost indicating the ease of passing through each link and node is calculated. This passing cost is calculated according to the characteristics of each link (link length, road type, road width, etc.) and the type of straight travel and right / left turn at each node. A route search method such as the Dijkstra method is used for an arbitrary route from the departure point to the destination via the waypoint, and the route having the minimum added value of the passing cost of each link and each node constituting each route. It searches using etc.

  The operation switch group 7 is, for example, a touch switch or a mechanical switch integrated with the display device 10 to be described later, and is used for various inputs such as setting of a departure point, a transit point, and a destination when searching for a route. The

  The display device 10 is configured by, for example, a liquid crystal display, and the vehicle position mark corresponding to the current position of the vehicle detected by the position detector 1 and the map input from the map data input device 6 are displayed on the screen of the display device 10. A road map around the vehicle generated by data, background data, landmark data, and the like can be displayed. It is also possible to change the road map to a predetermined scale and display it by scrolling the road map by operating the operation switch group 7 or the remote controller 13 described later. Furthermore, in this embodiment, when a departure point, a waypoint, and a destination are input from the operation switch group 7, the remote controller 13, etc., an arbitrary route from the departure point to the destination via the waypoint is used using the map data described above. The route with the lowest total cost is automatically searched for the route, the guide route is calculated and displayed on the display device 10.

  The voice output device 11 is constituted by a speaker, for example, and at the time of route guidance, the voice output device 11 provides voice guidance. In this embodiment, the voice output device 11 is used to provide final guidance on both routes at a shortening time when the route is not routed or at a branch point between a route that is routed and a route that is not routed. Inform.

  The remote controller 13 is, for example, a multi-function remote controller having various functions, and instructs the in-vehicle navigation device 100 to start and end various navigation operations via the remote control sensor 12. This instruction may be performed by the operation switch group 7.

  Hereinafter, the characteristic part of the present invention, the processing for calculating and notifying the shortened time when the vehicle does not pass the next waypoint, when performing route guidance including one or more waypoints, will be described. To do.

  First, as a premise, it is assumed that the starting point, the waypoint, and the destination are input by the driver. Then, it is assumed that the input starting point, waypoint, and destination are a starting point A, waypoints B, C, D, and destination E, respectively. In the present embodiment, the departure point A is the current location of the vehicle detected by the position detector 1. These destinations and the like are set by the operation switch group 7 or the remote controller 12 described above.

  In step S10, the control circuit 8 performs a process of searching for a route from the current location A to the destination E via the transit locations B, C, and D. Specifically, as described above, the control circuit 8 reads map data from the map data input device 6. Then, for the route that reaches the destination via the transit point, the Dijkstra method is used to minimize the total cost indicating the ease of passing the link data and the node data constituting the map data. Search using a search algorithm such as When a plurality of waypoints are set, the route search may be performed so that the order of passing through the waypoints is according to the order set by the user. As a result of searching in this way, it is assumed that the route shown in FIG. 3 is searched.

  In step S20, a process for calculating the total required time when the vehicle reaches the destination through the route (A → B → C → D → E) searched in step S10 is performed. Specifically, the control circuit 8 calculates the total required time from the cost of each link and node constituting the route and the vehicle speed information. Note that a device capable of acquiring traffic jam information may be connected to the control circuit 8, and the required time may be calculated in consideration of the traffic jam information acquired there. As a result, the required time can be predicted more accurately.

  In step S30, the control circuit 8 performs a process of searching for the shortest route that directly reaches the destination (E) without passing through the waypoints (B, C, D) in the same manner as described above. At this time, the required time for this route is also calculated (step S40).

  In step S50, the required time when traveling on the route (A → B → C → D → E) to the destination via the route calculated in step S20 and the route calculated in step S40 are determined. A process of comparing the difference with the required time when traveling on the route (A → E) directly to the destination without passing through is performed. If the difference is less than or equal to a predetermined value determined in advance, it is considered that there is not much time loss even if the route is routed, so no notification is made regarding whether or not the route is routed as shown in FIG. . That is, guidance is provided so that the vehicle travels along a normal route (A → B → C → D → E). In addition, you may alert | report a determination result in step S50 to a driver using the display apparatus 10 or the audio | voice output apparatus 11. FIG.

  On the other hand, if the difference is greater than or equal to a predetermined value, it is considered that there is a large time loss when the route is routed. Hereinafter, this process will be described with reference to the flowchart of FIG.

  In step S <b> 101, the control circuit 8 calculates a required time when the vehicle arrives at the next via-route point C via the next via-route point B. This required time is calculated from the speed of the vehicle and the cost of the route, as in the processes in steps S20 and S40. Note that this route (A → B → C) uses the same route as the route searched in step S10 (A → B → C route among the routes of A → B → C → D → E).

  In step S102, the shortest route (A → C) that directly passes through the stop point B is searched without passing through the stop point B. As a result, assume that the route shown in FIG. 5 is searched. In step S103, the time required for traveling along this route (A → C) is calculated.

  After that, in step S104, the time required for traveling along the route via route B calculated in step 101 (A → B → C) and the route not routed via route B calculated in step 103 (A → The difference with the required time when driving C) is notified. For example, the notification is displayed together with a road map on the display screen of the display device 10 or is notified by voice using the voice output device 11. As a result, the driver can grasp the time loss due to the route B.

  In step S105, the control circuit 8 detects a branch point (intersection) between a route passing through the route B (A → B → C) and a route not passing through (A → C). At this time, the position information of the branch point may be displayed on the display screen or notified by voice.

  In step S106, the control circuit 8 determines whether or not the vehicle has arrived at this branch point. Specifically, by detecting the position of the vehicle using the position detector 1, it is possible to detect where the vehicle is currently traveling. Here, when it is determined that the vehicle has not yet reached the branch point (negative determination), the processing from steps S101 to S105 is performed again. In other words, until the vehicle reaches the branch point, the shortening time when the vehicle does not pass through the waypoint B is continuously notified. Thus, the driver has only to decide whether or not the route B is to be reached before reaching the branch point. In addition, by constantly updating and displaying, it is possible to notify an accurate shortening time reflecting a change in road conditions up to a branch point.

  When the vehicle reaches immediately before the branch point (affirmative determination), the control circuit 8 performs a process of notifying the driver of final guidance information regarding both routes. For example, using the display device 10 and the audio output device 11, “turn left when passing via the route B. Go straight when not passing.” Or “If not via the route B, 30 "Minute time can be shortened."

  Accordingly, the driver finally determines whether or not the route B is to be routed, and the control circuit 8 determines which route the driver has selected (step S108). Whether or not the driver passes through the route B is determined by the road on which the vehicle enters at the branch point. That is, as shown in FIG. 5, when the position detector 1 detects that the road where the vehicle entered from the branch point is a road left at the branch point, the control circuit 8 judge. On the other hand, if the road on which the vehicle has entered from the branch point is a road that has traveled straight through the branch point, the control circuit 8 determines that the driver does not pass through the waypoint.

  Here, when the driver selects a route that passes through the route point B (Yes determination in step S108), the control circuit 8 continues the route guidance to the route point B (step S110). At this time, since the route via the waypoint B is selected, the shortened time when not going through the waypoint B is not displayed. In step S111, based on the detection result of the position detector 1, it is determined whether or not the vehicle has arrived at the transit point B, and normal route guidance is performed until the vehicle arrives at the transit point B.

  Thereafter, when the vehicle arrives at the waypoint B (Yes determination at step S111), the process returns to step S101, and the same process as described above is performed on the waypoint that is scheduled to be routed next. That is, this time, the route C is calculated and notified of the shortening time when the route is not routed, and the route point C is determined in the same manner as described above at the branch point between the route passing the route point C and the route not routed. Final guidance on whether or not to go through. The same process is performed for the waypoint D.

  On the other hand, when the driver selects a route that does not pass through the waypoint B in Step S108 (No determination), the driver switches to guidance for a route that directly reaches the waypoint C (Step S109). Thereafter, the process returns to step S101, and the same process as described above is performed on the waypoint C. Further, the same processing as described above is performed for the waypoint D.

  As described above, when the vehicle-mounted navigation device 100 according to the present embodiment guides a vehicle to a route in which one or more waypoints are set, the vehicle does not pass the next waypoint. In this case, the shortening time is calculated and notified to the driver. Then, final guidance information regarding both routes is notified at a branch point between the route passing through the route and the route not passing through. Therefore, the driver only has to decide whether or not to go through the transit point before reaching the branch point, so there is less time to go through the transit point than the originally planned driving plan due to road conditions etc. Even if it becomes, time adjustment can be performed easily. In addition, since the driver can determine whether or not the vehicle passes through the waypoint in order from the next waypoint, the route set initially can be utilized to the maximum extent.

  In the present embodiment, route guidance when three waypoints B, C, and D are set has been described. However, the same processing as described above is performed regardless of how many waypoints are set.

  If the vehicle deviates from the route searched for by the control circuit 8 for some reason (for example, if the vehicle accidentally enters another road), the processing is performed again from step S10.

(Modification 1)
In the present embodiment, in the process of step S50, depending on whether or not the difference between the expected required time between the route passing all the waypoints and the route directly reaching the destination is greater than a predetermined value determined in advance. It is determined whether or not to perform the process shown in FIG. However, the time constraints are different for each driving, and it is considered that this criterion is different for each driver. Therefore, in view of the above, the driver may be allowed to set the predetermined value via the operation switch group 7. Further, without setting the predetermined value, in step S50, for example, the required time for passing through and the required time for not passing through are displayed on the display screen of the display device 10 and shown in FIG. The driver may select whether or not to perform the process. As for this selection switch, for example, a touch switch is provided on the display screen of the display device 10. Thereby, route guidance suitable for each driving situation and each driver's preference can be performed.

(Modification 2)
In the present embodiment, in step S108, as to whether or not the driver has selected a route that passes through the waypoint, a road on which the vehicle has entered is detected by the position detector 1, and the road heading for the waypoint It is determined by whether or not. Then, after determining whether or not the route is routed, the route guidance is switched to route guidance via the route point or route guidance not routed. In addition to such a determination method, from the viewpoint of selecting whether or not the driver himself / herself passes through the transit point, a switch for selecting one of the routes by the driver's operation may be provided. For example, this switch is provided with a touch switch on the display screen of the display device 10. In step S107, guidance such as “Please select a route that passes through route B or a route that does not pass.” Is selected, and either route is selected by operating the touch switch. To do. Also, on the assumption that the route that was initially set is to be guided, in step S107, a guidance such as “Please press the switch if you do not pass via B” is used, and only when that switch is pressed, that route You may switch to route guidance that does not go through.

  In addition, for example, it is expected that the driver will change his mind after selecting a route that does not go through the waypoint, and want to go through the waypoint. In such a case, in the present embodiment, since the route guidance has already been switched to a route that does not pass through, it is troublesome because it is necessary to set the route again and perform a route search. In view of the above, the method of determining whether or not to pass through a route by detecting the road on which the vehicle has entered and the operation of a selection switch that allows the driver himself to select a route You may use together with the method to determine. In this case, usually the road on which the vehicle has entered is detected and it is automatically determined whether or not the route will be routed. However, considering the driver's change after selecting either route, A route can also be selected by operating a selection switch. This switch is also realized as a touch switch on the display screen of the display device 10, for example. Thereby, even when the driver enters a route that does not pass through the transit point, the driver can switch to the route that passes through the transit point by pressing the selection switch thereafter, and can pass through the transit point.

It is a block diagram which shows the whole structure of the vehicle-mounted navigation apparatus 100 based on this embodiment. The flowchart which shows the process which determines whether to perform the process which calculates the shortening time when not via a route point, and performs alerting | reporting, when performing route guidance by one or more waypoints based on this embodiment is there. It is a figure which shows the path | route from the departure place A to the destination E via the waypoints B, C, and D based on this embodiment. It is a flowchart which shows the process which calculates and alert | reports the shortening time when not via a route point, when performing route guidance by one or more way points based on this embodiment. It is a figure which shows the path | route when not passing through the path | route when passing via the waypoint B, and these branch points based on this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Car-mounted navigation apparatus 1 Position detector 2 Geomagnetic sensor 3 Gyroscope 4 Distance sensor 5 GPS receiver 6 Map data input device 7 Operation switch group 8 Control circuit 9 External memory 10 Display apparatus 11 Voice output device 12 Remote control sensor 13 Remote control

Claims (8)

Current location detection means for detecting the current location of the vehicle;
Map data storage means for storing road map data;
Setting means for setting the destination and waypoint;
The route map data is used to search for a route from the current location of the host vehicle to the destination, and when one or more waypoints are set by the setting means, A route search means for searching for a route, and for searching for a route when the host vehicle does not pass through a route that is scheduled to be routed next, for the route,
A time calculating means for calculating a difference in travel time between when traveling on a route not passing through the route and when traveling on a route passing through;
An in-vehicle navigation device comprising: notifying means for notifying information relating to the difference in travel time calculated by the time calculating means. Comprising guidance means for guiding the host vehicle to travel along a route passing through the waypoint,
The time calculation means continuously calculates the difference in travel time while performing the guidance by the guidance means,
The in-vehicle navigation device according to claim 1, wherein the notification unit continuously updates and reports information on the difference in travel time while performing the guidance by the guidance unit.   The in-vehicle navigation device according to claim 1, wherein the notification unit notifies information about a branch point between a route passing through the route and a route not passing through the route.   The in-vehicle navigation device according to claim 2 or 3, wherein the notification unit notifies final guidance information regarding both routes at a branch point between a route passing through the route and a route not passing through the route. Comprising identifying means for identifying whether the host vehicle passes through the waypoint,
The guidance means continues the route guidance via the waypoint after the vehicle is identified by the identification means to pass through the waypoint, and after being identified as not going through the waypoint, Switch to route guidance that does not go through the route,
5. The information according to claim 2, wherein the notification means does not notify information relating to the difference in travel time with respect to the transit point after the identification unit has identified that the host vehicle passes through the transit point. The in-vehicle navigation device according to any one of the above.   The identification means identifies that the vehicle passes through the waypoint when the host vehicle enters the road toward the waypoint at a branch point between the route that passes through the route and a route that does not pass. The in-vehicle navigation device according to claim 5, wherein when the vehicle does not enter the road, the vehicle-mounted navigation device is identified as not passing through the route.   The identification means includes a selection means that allows a user to select whether or not to go through the waypoint, and identifies whether or not to go through the waypoint based on a selection result by the selection means. The in-vehicle navigation device according to claim 5 or 6, characterized in that   The said notification means does not alert | report the information regarding the difference of the said driving time, when the difference of the said driving time calculated by the said time calculation means is below a predetermined value. The in-vehicle navigation device described in 1.

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