JP4135536B2 - Vehicle navigation device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle navigation apparatus that provides travel guidance for a set destination route.
[0002]
[Prior art]
As the vehicle travels, the current position is detected by GPS (Global Positioning System), etc., and the current position is displayed on the display device together with the road map, and an appropriate route from the current position to the destination is displayed. A navigation device that is set and guided by a display device, an audio output device, or the like contributes to an efficient and safe driving of the driver.
[0003]
In setting the route, the Dijkstra method or a method based thereon is generally used. Specifically, link information for links between nodes is used using map data recorded in a static information source such as a CD-ROM or DVD.
[0004]
The link information includes a link ID, which is a unique number for identifying the link, a road type (link class) for identifying an expressway, a toll road, a general road, or an attachment road, and the width / lane of the road. There is information related to the link itself such as road width information indicating the number or presence / absence of a median, link start and end coordinates, and road length (link length) indicating the link length. On the other hand, the node information includes information such as a node ID, which is a unique number of nodes connecting the links, right / left turn prohibition at intersections, and presence / absence of traffic lights. In addition, data indicating whether or not traffic is possible is set in the inter-link connection information.
[0005]
In the Dijkstra method, using these link information, node information, and link connection information, the route evaluation value (route calculation cost) from the current location to each node is calculated, and all the route evaluation values to the destination are calculated. When the calculation is completed, a link to the smallest total evaluation value is connected and a route to the destination is set. The evaluation value in this case is set according to the road length, road type, road width, number of lanes, right / left turn at the intersection, presence / absence of traffic lights, and the like. For example, the evaluation value is lower as the road width is wider, and the evaluation value is lower as the number of lanes is larger.
[0006]
The calculation of the route calculation cost at each link is performed using, for example, the following equation. Route calculation cost = link length × road width coefficient × road type coefficient × congestion level. Here, the road width coefficient is a coefficient set according to the road width, and the road type coefficient is a coefficient set according to the road type such as a toll road. The congestion level is a coefficient set according to the congestion level of the road.
[0007]
However, in the route setting method described above, the route guidance data is searched based on the road data stored in the CD-ROM. The desired search result is not always obtained. For example, it is not possible to perform optimal route calculation in consideration of a section where traffic congestion occurs in each time zone. Further, there is a means for obtaining traffic jam information using a VICS (Vehicle Information and Communication System) system, but this method cannot be used in an area that is not a service area of the VICS system.
[0008]
In order to solve the above problems, a technique for accumulating vehicle travel locus information and travel route time information and searching for the shortest time route based on the information is disclosed as follows.
[0009]
Patent Document 1 accumulates the required time for each travel route on a server existing in a network outside the vehicle, creates a database, searches for a travel route in a specified section, and calculates an expected required time in a similar situation. , Which is sent to the vehicle via the network.
[0010]
In Patent Document 2, all routes and required times traveled by a vehicle are recorded and reflected in route calculation.
[0011]
Patent Document 3 registers a travel locus of a vehicle, and performs a route search that can reach the destination in the shortest time based on the time required for passing at least one of intersections or between nodes.
[0012]
[Patent Document 1]
JP 2002-277252 A [Patent Document 2]
JP-A-10-132593 [Patent Document 3]
Japanese Patent Laid-Open No. 9-287968 [0013]
[Problems to be solved by the invention]
In the example of Patent Document 1, it is necessary to have a mobile communication terminal for connecting to a server existing in a network outside the vehicle. In addition, a communication fee or a server usage fee is generated by using the communication terminal, which is disadvantageous in terms of cost. In addition, there is a drawback that the processing and communication at the server take time and the real-time property is impaired.
[0014]
In the examples of Patent Document 2 and Patent Document 3, all routes and required times traveled by the vehicle are recorded and reflected in the route calculation. However, in reality, it also includes information on temporary congestion due to the passage time zone and construction, etc., so finding the shortest time route by route calculation has the disadvantage of accumulating inaccurate data. is there.
[0015]
For example, when commuting by a private vehicle for a distance of about 10 km, natural traffic jams and accident traffic jams occur only in a limited specific section of about several hundred meters at most in the entire commuting route. In many cases, the driver prepares another route in order to avoid a traffic jam occurring in the section, and uses a plurality of routes depending on the situation. Therefore, what the driver really needs is not the travel information for the entire commute route but the detailed travel information for a part of the commute route.
[0016]
Against the background of the above circumstances, an object of the present invention is to provide a vehicle navigation device capable of providing detailed route guidance by utilizing data during normal traveling.
[0017]
[Means for Solving the Problems and Effects of the Invention]
The present invention provides a vehicle navigation apparatus for solving the above-described problem, and stores in advance two points designated as a measurement start point and a measurement end start point of travel locus data by a user , When a vehicle travels between the two points, a database of travel history information including the travel locus between the two points and the travel date and time is created. When searching for a route including the two points, refer to the database. and, depending on the date and time when the vehicle is scheduled to travel, have a search means for performing an optimal route search, prior to the vehicle completes traveling between the two positions, the navigation system of the vehicle operation If a stopped state, ends the collection of the traveling locus data, characterized by discarding the traveling locus data was being collected.
[0018]
More specifically, in the vehicle navigation apparatus, the first point as the measurement start point of the travel locus data and the second point as the measurement end point of the travel locus data in the road map data based on the user's setting operation. When the vehicle position coincides with the first point, the collection of travel locus data is started, and then the vehicle position coincides with the second point. Finishing the collection of the travel locus data, creating a database of travel history between the two points, and when a route passing through the two points is included when searching for a route, refer to the database, set the route suitable to the intended travel conditions of the vehicle, before the vehicle reaches the second point, the case where the vehicle navigation system becomes the operation stop state, the traveling locus data Exit collector, is characterized in that discarding the traveling locus data from the first point was being collected.
[0019]
As described above, the Dijkstra method calculates link evaluation values (route calculation costs) from the current location to each node using link information for links between nodes, and calculates all route evaluation values to the destination. At the stage of completion, a link to the smallest total evaluation value is connected and a route to the destination is set. Therefore, if there is a section on the set route that first passes in the order of the first point and then the second point, the travel history information of the section is converted into a cost as a parameter for calculating the route evaluation value. If a route calculation method for setting the optimum route for the scheduled travel date and time of the vehicle based on the calculation result is added and recalculated, it is possible to perform route guidance with finer grain.
[0020]
If the average required time of the section is used as a reference for converting the travel history information into the cost, it is possible to guide a route that can travel in the shortest time.
[0021]
Furthermore, by having display means for displaying the travel history information, the driver can grasp the collection status of travel data and travel data of the selected route.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings. FIG. 1 is a block diagram showing the overall configuration of a navigation apparatus as an embodiment of the present invention. The navigation device includes a position detector 1, a map data input device 6, an operation switch group 7, a remote control (hereinafter referred to as remote control) sensor 11, a speaker 15 for voice guidance, an external memory 9, a display device 10, and the like. A connected control circuit 8 and remote control terminal 12 are provided.
[0023]
The position detector 1 has a known geomagnetic sensor 2, a gyroscope 3, a distance sensor 4, and a GPS receiver 5 for GPS that detects the position of the vehicle based on radio waves from a satellite. Since these sensors 2, 3, 4, and 5 have errors of different properties, they are configured to be used while being complemented by a plurality of sensors. Depending on the accuracy, a part of the sensors described above may be used, and further, a steering rotation sensor, a wheel sensor of each rolling wheel, or the like may be used.
[0024]
The map data input unit 6 is a device for inputting various data including so-called map matching data for improving the accuracy of position detection and road data representing road connections from a storage medium. As a storage medium, a CD-ROM or DVD is generally used because of the amount of data, but another medium such as a memory card may be used.
[0025]
As the operation switch group 7, for example, a touch switch or a mechanical switch integrated with the display device 10 is used. The touch switch is composed of infrared sensors that are finely arranged vertically and horizontally on the screen of the display device 10. For example, when the infrared ray is cut off with a finger, a touch pen, or the like, the cut-off position becomes a two-dimensional coordinate value (X, Y). Various instructions can be input by the operation switch group 7 and the remote control terminal 12.
[0026]
The display device 10 is composed of a color liquid crystal display. On the screen of the display device 10, a vehicle current position mark input from the position detector 1, map data input from the map data input device 6, and a map are displayed. The additional data such as the guidance route to be displayed is superimposed and displayed, and buttons for setting route guidance, guidance during route guidance, and switching operation of the screen are displayed on this screen.
[0027]
In addition, the navigation device can be connected to the external network 18 by a mobile communication device such as the mobile phone 17, and can be connected to the Internet or a dedicated information center. Furthermore, by communicating with an ETC (Automatic Toll Collection System, ETC: Electronic Toll Collection) vehicle-mounted device 16, the fee information received by the ETC vehicle-mounted device 16 from the ETC road device can be taken into the navigation device. It is also possible to connect to the external network 18 by the ETC vehicle-mounted device 16.
[0028]
The control circuit 8 is configured as a normal computer, and includes a known CPU 81, ROM 82, RAM 83, I / O 84 and a bus line 85 for connecting these configurations as shown in FIG.
[0029]
The CPU 81 performs control based on programs and data stored in the ROM 82 and RAM 83. As shown in FIG. 2, the ROM 82 stores an operating system (hereinafter referred to as OS) 82s and a navigation program (hereinafter referred to as navigation program) 82p operating on the OS 82s. The navigation program 82p operates on the OS 82s with the navigation program work memory 83w as a work area. Furthermore, the work memory 83s of the OS 82s is formed in the RAM 83.
[0030]
Further, as shown in FIG. 3A, traveling trace data 91 and route information data 92 are stored in the external memory 9. The travel locus data 91 is stored as shown in FIG. 3B, and the route information data 92 is stored as data required for this embodiment as shown in FIG. 3C (details will be described later). In addition to these data, data necessary for the operation of the navigation device is stored. Note that the external memory 9 retains the stored contents even when the ignition switch of the vehicle is turned off.
[0031]
With this configuration, when the navigation program 82p is started by the CPU 81 of the control circuit 8, the driver operates the operation switch group 7 or the remote control terminal 12 to display the navigation device 82p on the display device 10. When the route guidance process for displaying the destination route on the display device 10 is selected from the displayed menu, the following process is performed. That is, when the driver inputs the destination based on the map on the display device 10, the current location of the vehicle is obtained based on the satellite data obtained from the GPS receiver 5, and from the current location to the destination by the Dijkstra method described above. The process for obtaining the optimum route is performed. Then, the guidance route is displayed on the road map on the display device 10 so as to guide the driver to the appropriate route.
[0032]
The above operation and the following embodiments are controlled by the navigation program 82p.
[0033]
First, a method for setting two points on the route, that is, a measurement start point (first point in the present invention) and a measurement end point (second point in the present invention) will be described. By operating the operation switch group 7 (FIG. 1) or the remote control terminal 12 (FIG. 1), a setting screen for the measurement start point and measurement end point as shown in FIG. 4A is displayed on the display device 10 (FIG. 1). Display. Here, when the measurement start point is designated by the operation switch group 7 or the remote control terminal 12, the input point is displayed with a black circle symbol as shown in FIG. 4B, and the map data included in the data input device 6 (FIG. 1) is displayed. The name of the place, the name of the intersection, etc. (in this case, A, hereinafter referred to as A point) are displayed. Subsequently, when the measurement end point is set, the input point as shown in FIG. 4C is displayed with a black circle symbol as in the case of specifying the measurement start point, and the place name, intersection name, etc. (in this case) Is displayed as B, hereinafter referred to as point B).
[0034]
The set contents are stored in the travel locus data 91 (FIG. 3B) and the route information data 92 (FIG. 3C) in the external memory 9 (FIG. 3) as start point and end point parameters, respectively. . It should be noted that a plurality of sets can be set for the two points that are the measurement start point and the measurement end point.
[0035]
Next, measurement processing at two points will be described using the flowchart of FIG. 5 and the display screen example of the display device 10 (FIG. 1) of FIG. When not in the measurement execution state (S1: NO), the vehicle position (in this case, a white circle symbol and a white triangle symbol are combined) based on the current position of the vehicle and the map data included in the map data input device 6 (FIG. 1). It is determined whether or not the mark (A) is coincident with the point A, which is the measurement start point. If it does not coincide with the point A as shown in FIG. 6 (a) (S2: NO), the process ends.
[0036]
When the position of the vehicle coincides with the point A which is the measurement start point (S2: YES), the date and time at that time is stored in the travel locus data 91 (FIG. 3B), and sampling of the travel locus data is started. The measurement execution state is set (S3).
[0037]
When the vehicle is in the measurement execution state, if it is detected that the position of the vehicle coincides with the point B which is the measurement end point (S4: YES), the date and time at that time is displayed as the travel locus data 91 (FIG. 3B). ), And the sampling of the running locus data is finished and the measurement is finished (S5). At this time, the required time is calculated from the date and time when the position of the vehicle coincides with each of the points A and B, the traveling time zone is obtained from the date and time when the position of the vehicle coincides with the point A, and the traveling locus data 91 is obtained together with the previous sampling result. (FIG. 3B) is stored. FIG. 6B shows the state of the screen of the display device 10 (FIG. 1) after the vehicle passes the point B via the route 3.
[0038]
In this embodiment, the traveling time zone is divided in units of one hour from 00:00 to 59:59 as shown in FIG. 3C, but there is no particular restriction on the time width to be divided. Absent. If the time width is shortened, it is possible to obtain more accurate traveling locus information.
[0039]
When the vehicle is in the measurement execution state, if the operation of the navigation device is stopped by turning off the ignition switch or the like without the vehicle position matching point B, the measurement is forcibly terminated from the measurement execution state. Transition to the state and discard the data being measured.
[0040]
The condition for determining whether or not the position of the vehicle coincides with the measurement start point or the measurement end point is that the distance between the vehicle position and the measurement start point or the measurement end point is within the GPS positioning error range, The distance between the vehicle position and the measurement start point or measurement end point may be a predetermined value.
[0041]
Subsequently, a database is created based on the measured travel locus data 91. The travel locus data 91 (FIG. 3B) is roughly classified for each travel route. In the example of FIG. 6, since there are three routes from point A to point B, the route is sampled into route 1, route 2, and route 3 from the sampled travel locus. Then, it is classified according to the travel date. As parameters to be classified, there are specific days when traffic volume increases due to specific factors, such as day of the week, weekday or holiday, and fifty days corresponding to the settlement date in commercial transactions. Finally, it is classified by the time zone of the day.
[0042]
If classified for each time zone, the average value of travel time in the time zone is updated. At this time, if there is data with the same conditions for the travel date and the travel time zone for each route, the average travel time is compared, the route cost is set to 0 for the smallest route, and the route cost is increased in ascending order of the average travel time. Route costs are set so that These results are stored as route information data 92 (FIG. 3C).
[0043]
An example of the route information data 92 is shown in FIG. In this example, route 1 and route 2 are used only at 8 o'clock on weekdays, and route 3 is used only on holidays. Since route 1 and route 2 have data for the same running time zone on the same running day, the cost can be set. In this case, when comparing the average required time at 8 o'clock on weekdays, route 1 is 25 minutes and route 2 is 21 minutes. Therefore, route cost 0 is set for route 2 with the short average required time, and route 1 Is set with a route cost of 1.
[0044]
In addition to the above-described method, the collection method of the traveling locus data between the two points is set to continuously take the traveling locus of the vehicle, and the traveling locus passes through the above-described measurement start point (A point), and then measured. When passing through the end point (point B), a method of taking out the traveling locus data between the two points may be adopted.
[0045]
Next, a method for reflecting the route information data 92 (FIG. 3C) in the route calculation will be described with reference to the flowchart of FIG. First, the operation switch group 7 (FIG. 1) or the remote control terminal 12 (FIG. 1) is operated to display the destination route on the display device 10 from the menu displayed on the display device 10 (FIG. 1). The route guidance process is selected, the destination is set, and the optimum route from the current location to the destination is obtained by the Dijkstra method described above (S11). At this time, the route information data 92 (FIG. 3C) is not used for route calculation.
[0046]
When the section obtained in the above includes a section that passes through point A and point B in this order (S12: YES), the route information data 92 (FIG. 3C) is read out, and the travel date and travel time are read. If there is data corresponding to the belt, route calculation is performed taking into account the cost of the corresponding data, and the route is determined so that the required travel time at points A and B is the shortest (S13). When the section obtained in the above does not include a section passing through the order of the points A and B (S12: NO), the path obtained above is used.
[0047]
For example, the route calculation when departing from the current location on Monday, March 3, 2003 at 8:15 am on Monday (weekdays) and traveling to the destination via points A and B in the following order: Become. Since the distance from the current location to the point A is calculated from the map data, the time to pass the point A can be predicted to some extent. As a result, when the time when it is supposed to pass through the point A is in the 8 o'clock range, or when it is assumed that it will pass through the point A temporarily during the departure time zone, the route information data 92 (FIG. 3C) ) Has data at 8 o'clock on weekdays. Based on this data, the route is recalculated.
[0048]
That is, the cost included in the route information data 92 (FIG. 3C) is added to the cost calculation result of the Dijkstra method. In the example of FIG. 3 (c), since there is data that traveled route 1 and route 2 at 8 o'clock on weekdays, if these costs are taken into account, the cost via route 2 is lower. As a route calculation result displayed on the device 10 (FIG. 1), a route including the route 2 is displayed.
[0049]
In this case, route 3 is not included in the route calculation because there is no data for the corresponding time zone.
[0050]
At the time of route calculation, a method may be used in which the estimated required time is displayed for all routes between the points A and B, and the route through which the driver passes is selected. When there are three routes as shown in FIG. 6 (a), on each route, a display such as “estimated required time of 21 minutes” is displayed so as to be superimposed on the map data, and the driver selects the operation switch group 7 ( FIG. 1) or the remote control terminal 12 (FIG. 1) is operated to select a route to travel. As the estimated required time, an average required time included in the route information data 92 (FIG. 3C) is used. When there is no average required time in the corresponding time zone, a message such as “no running data” is displayed.
[0051]
At this time, an optimum route, that is, a route with the lowest cost calculation result (route 2) may be displayed in a display color or display pattern (flashing, etc.) different from other routes (routes 1 and 3). . This makes it easier for the driver to identify the optimal route.
[0052]
It is also possible to display the traveling locus data 91 (FIG. 3B) or the route information data 92 (FIG. 3C) on the display device 10 (FIG. 1) to check the data collection status. The traveling locus data 91 (FIG. 3B) or the route information data 92 (FIG. 3C) is read and displayed by the operation switch group 7 (FIG. 1) or the remote control terminal 12 (FIG. 1). At this time, the data can be rearranged and displayed according to parameters such as route, day, and time zone, or detailed data can be called up and displayed for specific data.
[0053]
The route information data 92 (FIG. 3C) may be transferred to another navigation device. The method will be described below. Route information data is transmitted and received via the mobile phone 17 (FIG. 1) by the operation switch group 7 (FIG. 1) or the remote control terminal 12 (FIG. 1) of the navigation device. The transmission destination in this case may be a navigation device or a data server (not shown) via the external network 18 (FIG. 1). When the destination is a data server, there are a method in which the data server relays route information data to the destination navigation device, and a method in which the navigation device accesses the data server and downloads route information data. The data server is composed of a well-known personal computer or workstation and its peripheral devices, and has built-in application software for operating as a data server.
[0054]
The data server has a database, and updates the database based on the route information data 92 (FIG. 3C) collected from each navigation device, and distributes it to the navigation device or downloads it to the navigation device. May be used. In this case, the user can share and use route information data created by others, and can be used for route search.
[0055]
The above-described data transfer method is a method using the mobile phone 17 (FIG. 1) connected to the navigation device. However, the data transfer method is an external connection wireless communication means such as an ETC on-board unit, a telephone line, a LAN, a USB (Universal Wired communication means such as Serial Bus (Universal Serial Bus) may be used.
[0056]
In addition to the above, there is a method of transferring the route information data 92 (FIG. 3C) by incorporating or connecting an external storage device that can read and write a removable storage medium into the navigation device. The storage medium in this case is a memory card, a magneto-optical disk, a CD-RW, a DVD-RAM, or the like that is generally used and has a storage capacity necessary for storing and transferring path information data. That's fine.
[0057]
In addition, route information data 92 (FIG. 3C) stored in an external storage medium is stored in a personal computer, and sent directly from the personal computer to a destination navigation device via a communication line such as the Internet, or route information data May be sent as an attached file of the e-mail, the route information data attached to the side receiving the e-mail may be stored in an external storage medium from a personal computer, and read into the navigation device.
[0058]
Although the embodiments of the present invention have been described above, these are merely examples, and the present invention is not limited to them, and the knowledge of those skilled in the art can be used without departing from the scope of the claims. Various modifications based on this are possible.
[Brief description of the drawings]
FIG. 1 is a block diagram showing the overall configuration of an in-vehicle navigation device as an embodiment of the present invention.
FIG. 2 is a diagram for explaining a configuration of a control circuit.
FIG. 3 is a diagram showing an example of route information data.
FIG. 4 is an explanatory diagram showing an example of a screen display for setting measurement start / end points.
FIG. 5 is a flowchart for explaining measurement processing between two points.
FIG. 6 is an explanatory diagram showing an example of a display screen when executing measurement processing between two points.
FIG. 7 is a flowchart illustrating route calculation processing using accumulated information.
[Explanation of symbols]
6 Map data input device 7 Operation switch group 8 Control circuit 9 External memory 10 Display device 11 Remote control sensor 12 Remote control

Claims (8)

In a vehicle navigation apparatus for guiding a route to a destination based on an electronic road map and current position data of the vehicle,
On the electronic road map, when the vehicle travels between two points designated as a measurement start point and a measurement end start point by the user, the travel locus data and the travel date and time between the two points are displayed. In the case of creating a database of travel history information including and searching for a route for a route including the two points, the optimal route search is performed according to the date and time when the vehicle is scheduled to travel with reference to the database. have a search means for performing, before said vehicle has completed the travel between the two points, when said vehicle navigation system becomes the operation stop state, ends the collection of the traveling locus data, in the collection A navigation device for a vehicle, wherein the travel locus data that was present is discarded . The search means includes
Based on link information of links connecting nodes and connection information between links, route calculation costs are calculated using Dijkstra's method or a search method equivalent to the link information. Search for a route,
When the destination route passes through the two points, the travel history information between the two points is converted into a cost from the database, and the route calculation cost including the cost is recalculated, and then the route The vehicle navigation apparatus according to claim 1, wherein the destination route is searched by connecting links that reduce calculation cost. The travel locus data is always collected, and when the collected travel locus data includes the two points, a travel history database between the two points is created. 3. A vehicle navigation apparatus according to 2. Map data storage means for storing road map data;
Position detecting means for detecting the current position of the vehicle;
Based on the user's setting operation, in the road map data, a setting for setting two points including a first point as a measurement start point of travel locus data and a second point as a measurement end point of travel locus data Means,
Determination means for determining whether the position of the vehicle coincides with one of the two points based on the position detection means and the map data storage means;
When the position of the vehicle coincides with the first point by the determination means, the collection of travel locus data is started, and then the travel locus data when the vehicle position coincides with the second point. Database creation means for terminating the collection of the above and creating a database of the travel history between the two points;
When a route passing through the two points is included when searching for a route, a route setting unit that refers to the database and sets a route suitable for the planned driving situation of the vehicle;
Have
If the navigation device of the vehicle is in an operation stop state before the vehicle reaches the second point, the database creation means ends the collection of the travel locus data and is collecting A navigation apparatus for a vehicle, wherein the travel locus data from the first point is discarded . The route setting means includes
Based on link information of links connecting nodes and connection information between links, route calculation costs are calculated using Dijkstra's method or a search method equivalent to the link information. Search for a route,
When the destination route passes through the two points, the travel history information between the two points is converted into a cost from the database, and the route calculation cost including the cost is recalculated, and then the route The vehicle navigation apparatus according to claim 4, wherein the destination route is set by connecting links that reduce calculation cost . The database creation means collects travel locus data at all times, and creates a travel history database between the two locations when the collected travel locus data includes the two locations. The vehicle navigation apparatus according to claim 4 or 5. The vehicle navigation apparatus according to any one of claims 1 to 6, further comprising display means for displaying the contents of the database . The vehicle according to any one of claims 1 to 7, wherein the travel locus data includes a date and time when the vehicle traveled between the two points, a required travel time between the two points, and a travel route. Navigation device.

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