JP3898872B2 - Navigation device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation device that guides the route direction of an intersection existing on a guidance route, and more particularly, to a navigation device that guides the route direction of a roundabout that exists frequently in Europe.
[0002]
[Prior art]
The route guidance system of navigation devices at roundabouts that are particularly common in European countries can be broadly classified as follows: 1) The first system that guides the target exit based on the direction seen from the approach road,
2) A second method for guiding the target exit based on distance,
3) There are three types of the third method for guiding the target exit based on the number of roads.
[0003]
The first method is a guidance method frequently used at a roundabout having a relatively small turning radius, that is, a small scale. As shown in FIG. 6A, when the approach road to the roundabout RDA is A and the exits are B, C, and D, the guidance voice of the navigation device in each is generated as follows.
・ In the case of B, “Turn left at the roundabout.”
・ In the case of C “Go straight at the roundabout.”
・ In the case of D, “Roundabout is in the right direction.”
This guidance method is easy to understand, and most manufacturers that currently develop, design and sell navigation devices use this method.
[0004]
The second method is a guidance method used at a roundabout having a relatively large turning radius. As shown in FIG. 6 (b), the distance from the point IN entering the roundabout RDA to the target exit point OUT is calculated in advance before entering the intersection, and the remaining distance to the exit while traveling in the roundabout. It is a method to announce. For example, at the point E, “about 300m ahead, exit”, and at the next point F, “soon exit”. The third method is to guide the target exit point or exit road using the number of roads from the vehicle entry point to the exit counted in the clockwise direction (it is assumed that the vehicle travels in accordance with traffic rules for left-hand travel). It is. For example, in the example shown in FIG. 6D, an announcement is made that “the sixth exit is in the left direction”.
[0005]
[Problems to be solved by the invention]
The first method is a relatively easy-to-understand guidance method at a roundabout having a small turning radius. However, it is not easy to grasp an escape road at a roundabout with a large turning radius, and there is a problem that it is more difficult to grasp an escape road when the number of roads radiating from the roundabout increases. The second method indicates the remaining distance to the exit point. However, even if the remaining distance to the exit point is announced while driving in the roundabout, the general driver's sense of distance is vague and difficult to grasp. In the first place, the sense of distance of a person is vague even in a straight line, and moreover, the sense of distance of a driver who is traveling at a roundabout must pay more attention to other traveling vehicles.
[0006]
In addition, the distance error when traveling inside and outside the roundabout is large, which causes incorrect guidance. For example, as shown in FIG. 6C, when a route Tin when passing through the inside of the roundabout RDA and a route Tout when passing through the outside are compared, the difference becomes larger as the road width becomes wider. turn into. For example, if the radius of rotation of the inner route is r1 and the outer radius is r2, and this relationship is assumed to be r1: r2 = 1: 2, the relationship of the total distance actually traveling in the roundabout is also d1: d2 = 1: 2. Become. In other words, when running on the outer route, it is calculated that the vehicle runs twice as far as the inner route. The above is an extreme example, but it is not uncommon for the ratio of r1 and r2 to be about 1: 1.5 at actual roundabouts in Europe.The longer the distance traveled within the intersection, that is, from the direction of entry of the vehicle As seen, the more the exit point at the destination is in the direction of 4 o'clock or 5 o'clock (in the traffic rule for left-hand travel), the more likely it is to cause incorrect guidance.
[0007]
The third method indicates the number of roads to the exit. However, in this method, the number of passing roads from entering the roundabout to exiting must be counted and stored until reaching the exit point. It is not uncommon for the number of roads extending radially from 7 to 8 at a roundabout in Europe, especially in France. For example, the number of roads surrounding the famous Arc de Triomphe reaches 12. In addition, a significant number of vehicles are traveling in these roundabouts, and it is difficult to count the number of passing roads while paying attention to the vehicles entering or leaving here. .
[0008]
There is also a problem that there is a one-way road among the roads connected to the roundabout, and it is not clear whether the designated road number includes the one-way road. If the number of roads instructed does not include a one-way road in the direction of entering the intersection, (1) one-way road and other roads are identified, and (2) the identified one-way road is an entry-prohibited road. It is necessary to identify the roads that are prohibited from escaping, and it is increasingly difficult to count the number of passing roads while identifying these roads. As described above, in the third method, there are frequent problems in counting passing roads, and there is a problem of escaping from the wrong road or accidentally escaping from the escape prohibited road. Accordingly, an object of the present invention is to provide a navigation device that can be applied to a roundabout of any size regardless of the size of the turning radius, and that is simple, easy to understand, and can accurately guide an escape road at the roundabout. It is.
[0009]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the present invention provides a position detection means for detecting a current position of a host vehicle in a navigation device having a route search function and guiding an escape road at a roundabout existing on a searched route. When the vehicle storage position detected by the data storage means for storing the map data and the position detection means approaches within a predetermined distance of the roundabout, according to the information of the roundabout stored in the data storage means Te and enlargement display means for displaying an enlarged view of the annular intersection, Te enlarged view odor of the roundabout, the arrow indicator for guiding the traveling direction, as well as divided for each road that is connected to the approach road to the exit road and arrow display means displays include a shape indicating the location of a road that is the connection, and to display control該矢indicia displayed based on the vehicle position detected from the position detecting means It is characterized in that it comprises. That is, since the arrow display is controlled based on the position of the traveling vehicle, it is possible to know the position of each road to be connected and easily confirm the current position of the vehicle at the roundabout.
[0010]
Moreover, in order to solve the said subject, the said arrow display means divides and displays an arrow display for every branch point with each road connected to a roundabout, and the own vehicle position detected by the said position detection means is It is characterized in that the corresponding arrow display is deleted when the branch point is passed.
That is, every time a branch point with each road connected to the roundabout is passed, the corresponding arrow display is erased, so that the current position of the vehicle can be easily confirmed at the roundabout.
[0011]
Furthermore, in order to solve the above problem, the arrow display means changes the color of the arrow display based on the vehicle position detected by the position detection means.
That is, for example, by displaying the arrow display indicating the exit point or the escape road in a color different from the other arrow displays, the exit point or the escape road can be guided more reliably.
[0012]
Furthermore, in order to solve the above-mentioned problem, the arrow display means displays the arrow display on the left or right side of the road based on the vehicle position detected by the position detection means.
That is, it is possible to know in advance that the lane must be changed to the escape lane before exiting from the roundabout, and the lane can be changed with a margin.
[0013]
Further, in order to solve the above-mentioned problem, when the distance from the vehicle position detected by the position detection means and the distance to the escape road becomes equal to or less than a predetermined distance, voice guidance means for performing voice guidance indicating that it is an exit soon. It is characterized by further comprising. That is, by performing voice guidance, it is possible to escape from the correct escape road more reliably.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
(A) Schematic of the present invention FIG. 1 is a schematic explanatory view of the present invention, (a) is an enlarged view of a roundabout displayed on the display unit of the navigation device, and (b) is an escape road where the vehicle is a roundabout. It is the arrow display and guidance voice in this enlarged view when approaching this side. Assuming that the guidance route to the destination enters the roundabout RDA from the road G, rotates the roundabout clockwise, and exits the roundabout from the road K, the road G Road K is an escape road.
[0015]
When the own vehicle approaches the roundabout RDA from the approach road G, the navigation apparatus creates an enlarged view of the roundabout RDA and also connects to the exit road K for each road connected between the approach road G and the exit road K. Arrow indications ARW1 to ARW6 indicating the course directions are displayed. The arrow indications ARW1 to 6 are erased every time a branch point of each connected road is passed according to the traveling of the vehicle. When the distance from the vehicle position to the escape road K becomes equal to or less than a predetermined value, the navigation device outputs a guidance voice MG indicating that it is an exit soon as shown in (b) and also displays an arrow display ARW6. Is displayed on the left side of the road (in the case of left-hand drive, on the right-hand side in the case of right-hand drive), or the color of the arrow display ARW6 is changed to guide that it is an exit (escape road). Here, there are protrusions on the arrow displays ARW1 to ARW6, which indicate that there is a road in that direction.
[0016]
As a result, the driver can prepare for the escape from the roundabout, and can approach the left side of the road and exit the roundabout via the escape road K. As described above, for each road connected to the roundabout, the arrow display is divided and the arrow display is erased based on the vehicle position, so that the vehicle position and passing situation at the roundabout can be easily grasped. It is possible to escape from the roundabout.
[0017]
(B) Configuration of Navigation Device FIG. 2 is a configuration diagram of the navigation device of the present invention. 11 is a ROM disk such as a DVD-ROM that records a database of map data, road data, intersection data, and the like. 12 is a rotation drive mechanism for reading out map data, road data, etc. recorded on the ROM disk 11. ROM disk control unit 13 for controlling the servo mechanism, etc., 13 is a position detection device for detecting the current position of the vehicle, a vehicle speed sensor for detecting the moving distance, a gyro for detecting the moving direction, other CPU for position calculation, GPS reception It consists of a machine.
[0018]
14 is a map information memory for storing the map information read from the ROM disk 11, 15 is a menu selection operation by a driver, an enlargement / reduction operation of a display map, a cursor movement (map scrolling) operation, a point input operation of a destination or waypoint A remote controller 16 for receiving the radio signal from the remote controller 15 and decoding the signal.
[0019]
Reference numeral 17 denotes a processor (CPU) that controls the entire navigation device and performs various arithmetic processes. Reference numeral 18 denotes a ROM that stores various navigation programs (for example, a guidance route search program, a route guidance control program at a roundabout). It is RAM which stores the searched guidance route information GRTD and the data under calculation processing.
[0020]
Reference numeral 20 denotes a display controller that generates a map image, a menu image, and the like. Reference numeral 21 denotes a VRAM that stores a display image such as a map image and menu image generated by the display controller 20. Reference numeral 22 denotes a vehicle mark at the current position of the vehicle. A vehicle mark image generating unit for generating an intersection 23, an enlarged map image generating unit for generating an enlarged map image of an intersection existing on the searched guidance route, and an arrow for generating an arrow display image indicating a course direction at the intersection An image generation unit.
[0021]
25 is an image composition unit that synthesizes and outputs various images, 26 is a display device (monitor) that displays a map / menu / own vehicle mark / intersection enlarged map, and 27 is a voice guide based on the searched guidance route. A voice guidance control unit, 28 is a speaker, and 29 is a system bus for exchanging information in the navigation apparatus.
[0022]
Figure 3 is an illustration of a guidance route GRT from the departure point N _S to the destination N _D. The guide route GRT is expressed by node data N _i (i = 1, 2,...) And link data L _i (i = 1, 2,...), And these node data and link data are stored in the RAM 19 along the guide route GRT. By storing, guide route data GRTD is constructed. In the guide route GRT, RDA ′ is a roundabout, L _i-1 is a link indicating an approach road to the roundabout specified by nodes N _i-1 and N _i , and L _j is nodes N _j , N _{j + 1.} It is a link which shows the escape road from the roundabout specified by.
[0023]
Figure 4 is a configuration example of a guidance route data GRTD, departure point N _S → node N _i constituting the guidance route (i = 1,2, ...) → address of latitude and longitude data in the order of the destination N _D is RAM 19 F000 Are stored in order. Each node has link data LD to which the node is connected, a flag F ₁ indicating whether it is an entrance of a roundabout, a flag F ₂ indicating whether it is an exit of a roundabout, and each node constituting the roundabout is an entrance A rotation angle AGL indicating the number of positions with respect to the node Ni is added. Therefore, the approach road L _i-1 is specified from the node N _i having the roundabout entrance flag F ₁ of “1” and the node N _i-1 immediately before it, and the roundabout exit flag F ₂ is similarly set to “1”. The escape road L _j is specified from the node N _j and the node N _{j + 1} immediately after that node N _j . Further, it is specified by the rotation angle AGL how many positions each road connected to the roundabout when viewed from the approach road Li _-1 is connected.
[0024]
(C) Roundabout guidance processing FIG. 5 is a flowchart of roundabout guidance processing according to the present invention. A guide route GRT (see FIG. 3) from the departure point to the destination has already been searched, and guide route data GRTD is stored in the RAM 19. The processor 17 of the navigation device reads map information corresponding to the current position of the vehicle from the ROM disk 11 and stores it in the map information memory 14. The display controller 20 generates a map around the vehicle position based on the map information, and generates a guide route distinguishable from other roads using the guide route data GRTD, and stores these in the VRAM 21. The image composition unit 25 reads a map image from the VRAM 21 and displays a map around the vehicle position and a guidance route on the map on the monitor 26. In parallel with the above, the vehicle mark image generation unit 22 generates a vehicle position mark image at the current vehicle position, so the image composition unit 25 sets the vehicle position mark image to the current vehicle position on the map. Overlapping display. ... Step 101
[0025]
The processor 17 refers to the guidance route data GRTD to identify the roundabout entrance flag F ₁ (see FIG. 4) of the roundabout RDA, and the vehicle position detected by the position detector 13 is the entrance node N _{i of the} roundabout RDA. (Step 102), and if approached within a predetermined distance, node data, link data, and roundabout entrance / exit flags constituting the roundabout RDA from the guidance route data GRTD, The rotation angle data is acquired (step 103).
[0026]
Next, the processor 17 inputs the previously acquired data to the intersection enlarged map image generating unit 23 and instructs the generation of the circular intersection enlarged map image. Similarly, the previously acquired data is input to the arrow image generation unit 24 and an instruction to generate an arrow image is given. As a result, as shown in FIG. 1A, the enlarged intersection image generating unit 23 displays an enlarged view of the circular intersection RDA, and the arrow image generating unit 24 is a branch point with each road connected to the circular intersection RDA. Each time, the arrow displays ARW1 to ARW6 are displayed so as to overlap the enlarged intersection (step 104).
[0027]
When the own vehicle starts rotating in the clockwise direction from the approach road G of the roundabout RDA, the processor 17 confirms the passing situation at the roundabout RDA based on the own vehicle position detected at any time by the position detector 13 ( Step 105) If each node (branch point) constituting the roundabout RDA is passed, the corresponding arrow display ARW is deleted (Step 106). For example, vehicle position if it passes the next node N _{i + 1} of the ingress node N _i roundabout, erases the arrow display ARW1 (Figure 1 (a)).
[0028]
Next, the processor 17 refers to the guidance route data GRTD identifies roundabout exit flag F ₂ roundabout RDA, vehicle position detected by the position detecting device 13, within a predetermined distance of the exit node N _j It is determined whether or not the vehicle is approaching (step 107). If the vehicle is approaching, the voice guidance control unit 27 is instructed to perform voice guidance, and the arrow image generation unit 24 is instructed to update the arrow display. As a result, the voice guidance control unit 27 outputs the guidance voice MG from the speaker 28 as shown in FIG. 1 (b), and the arrow image generation unit 24 displays it on the left side of the road as shown by the arrow display ARW6. Or by changing the color of the arrow display ARW6 to a color different from that of the other arrow displays to indicate that it is before the exit (escape road) (step 108). If not approaching within the predetermined distance, the process returns to step 105 to continue the process.
[0029]
Thereafter, the processor 17 determines whether or not the own vehicle position detected by the position detection device 13 has passed through the exit node N _j (step 109). The unit 24 is instructed to delete each image, and the intersection enlarged view and the arrow display are deleted (step 110). Thereafter, the process returns to the beginning and the subsequent processing is repeated.
[0030]
The present invention has been described with reference to the embodiments. However, the present invention can be variously modified in accordance with the gist of the present invention described in the claims, and the present invention does not exclude these.
[0031]
【The invention's effect】
As described above, according to the present invention, the arrow display indicating the course direction from the approach road to the exit road at the roundabout is divided and displayed, and the display control of the arrow display is performed based on the own vehicle position. from the location of each road to be connected can be known, can easily ascertain the vehicle position in the roundabout Runode, it is possible to perform guidance of reliable escape road.
[0032]
Further, according to the present invention, the arrow display to be divided and displayed is displayed for each branch point with each road connected to the roundabout, and the arrow display corresponding to the passed branch point is deleted, so that the remaining The vehicle position at the roundabout can be easily grasped by confirming the arrow display displayed.
[0033]
Furthermore, according to the present invention, since the color of the divided arrow display is changed based on the vehicle position, for example, the color of the arrow display in front of the escape road is displayed in a color different from other arrow displays. The arrow display in front of the escape road can be reliably identified, and the exit from the roundabout can be surely performed.
[0034]
Furthermore, according to the present invention, since the divided arrow display is displayed near the left side or the right side of the road based on the own vehicle position, for example, the lane change that must be performed before reaching the escape road, It can be completed with a margin in advance and can smoothly travel to the escape road.
[0035]
Furthermore, according to the present invention, voice guidance indicating that the vehicle is an exit will be further performed as soon as the own vehicle approaches the escape road, so that the escape road at the roundabout is accurately and easily understood. be able to.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of a roundabout guidance according to the present invention.
FIG. 2 is a diagram showing a configuration of a navigation device.
FIG. 3 is an explanatory diagram of a node train constituting a guide route.
FIG. 4 is an explanatory diagram of guidance route data stored in a RAM.
FIG. 5 is a flowchart of a roundabout guidance process according to the present invention.
FIG. 6 is an explanatory diagram of conventional roundabout guidance.
[Explanation of symbols]
RDA ・ ・ Round intersection G ・ ・ Entering road K ・ ・ Exiting road ARW1 ～ 6 ・ ・ Arrow display MG ・ ・ Guide voice

Claims (1)

In a navigation device that has a route search function and guides an escape road at a roundabout that exists on a searched route,
Position detection means for detecting the current position of the vehicle;
Data storage means for storing map data;
When the vehicle position detected by the position detection unit approaches within a predetermined distance of the roundabout, an enlarged view of the roundabout is displayed according to the information of the roundabout stored in the data storage unit Figure display means;
Display the roundabout Te enlarged view odor, the arrow indicator for guiding the traveling direction, as well as divided for each road that is connected to the approach road to the exit road, including the shape indicating the presence position of the road to be the connection And an arrow display means for controlling the display of the arrow based on the vehicle position detected by the position detection means.

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