JPH0236038B2 - SHARYOYOSOKOJUDOSOCHI - Google Patents

Description

[Detailed description of the invention]

[Technical Field of the Invention] The present invention relates to a device for presetting a travel route to a destination and guiding a vehicle to the destination along the preset route, and a device for use in vehicles that prevents inappropriate travel route setting. This invention relates to a travel guidance device. [Technical Background of the Invention] With the recent development of microcomputers, when a destination and current location are input on a map displayed on a display, the microcomputer processes detection signals from a direction sensor and a distance sensor,
Various devices have been proposed for guiding a vehicle to a destination while confirming the location of the vehicle. By using such devices, drivers can grasp the direction and distance to their destination with just a glance at the display, reducing the burden of searching for directions in unfamiliar territory and allowing them to focus on driving and driving safely. It can be done. As such a guiding device, for example, one shown in Japanese Patent Application Laid-Open No. 70117/1983 has been proposed. This device inputs the location information of a destination and target points such as intersections on the route leading to the destination, sets a route to the destination in advance, and as the vehicle travels, it selects a predetermined target point such as an intersection. When the vehicle reaches a certain range including the target point, the direction in which the vehicle should proceed next with respect to the destination is instructed by display, voice, etc. at the target point. [Problems with Background Art] By the way, in the conventional guidance device described above, when setting a route to a destination, the position information of the destination and target points such as intersections existing on the route leading to the destination is displayed on the display. The configuration is such that coordinate data can be input by operating the keyboard while looking at the coordinates. However, such route setting work to a destination is performed without any consideration of information regarding traffic regulations. Therefore, among the set routes, there is a possibility that an inappropriate route that violates traffic regulations such as one-way traffic and prohibition of right turns may be set. This means that if the driver continues to drive along the set route, he or she will come close to the scene and find out that due to traffic regulations, the route cannot be followed. This may cause a situation where the vehicle cannot be completely guided to the destination. [Object of the Invention] The present invention has been made in view of the above, and its purpose is to provide a vehicle travel guidance device that can set an appropriate route to a destination in consideration of traffic regulation information. It's about doing. [Summary of the Invention] In order to achieve the above object, the present invention provides an input means A, a road storage means B, as shown in FIG.
traffic regulation information storage means C; road extraction means D;
A travel route setting means E, a travel route storage means F,
Current position detecting means G, advancing direction determining means H,
The vehicle travel guidance device has a display means I, the input means A is for inputting a departure point and a destination by the operation of an occupant, and a road storage means B.
is for storing information on roads including intersections, traffic regulation information storage means C is for storing information regulating road traffic, and road extraction means D is for storing information on roads including road storage means B and traffic regulations. Information storage means C
The driving route setting means E inputs the outputs of the input means A and the road extracting means D, and extracts information on roads where traffic is not regulated from the road information. Each intersection existing on the driving route from the departure point to the destination is set using information on roads that are not regulated, and the driving route storage means F stores the information set by the driving route setting means E. The current position detecting means G detects the current position of the vehicle, and the traveling direction determining means H stores the driving route including intersections, and the current position detecting means G detects the current position of the vehicle.
The display means I inputs the output of the direction of travel determination means G and determines the direction in which the vehicle should proceed at the intersection the vehicle is approaching. The gist is that it displays the following. Note that the input means A and travel route setting means E in FIG. 1 are as shown in FIG.
This is the setting device 7 in FIG. 10, the current position detection means G consists of the distance sensor 1 and the direction sensor 3 shown in FIGS.
This is the display 19 in FIGS. Furthermore, the road storage means B, the notification regulation information means C, the road extraction means D, the travel route storage means F, and the traveling direction determination means H are achieved by the microcomputer 11 shown in FIGS. 2 and 10. [Embodiments of the Invention] Examples of the invention will be described below with reference to the drawings. FIG. 2 shows an embodiment of the present invention. In the figure, 1 is a distance sensor that detects the traveling distance of the vehicle, 3 is a direction sensor that detects the traveling direction of the vehicle, 7 is a setting device that inputs the planned route that the vehicle will travel, and 11 is the distance sensor 1, the direction sensor 3,
A microcomputer 19 is connected to the microcomputer 11 via a decoder 21, and displays the intersection to be set next when setting a route, and displays the intersection etc. when guiding the travel. This is a display that displays the next intersection you will pass, the direction of travel, etc. The microcomputer 11 has an input port 9,
A CPU 12, a RAM 13 that temporarily stores various information and data, a first ROM 15 that stores road network information, intersection shapes, distances between intersections, etc.;
It has a second ROM 17 that stores traffic regulations related to the road network stored in the ROM 15. This microcomputer 11 uses the input information from the setting device 7 when setting the route to the first ROM 15.
and reads road network information, intersection information, traffic regulation information, etc. from the second ROM 17,
A route setting process for vehicle travel guidance processing that displays on the display 19 and further stores and sets in the RAM 13 a travel route according to the route setting operation via the setting device 7 by the driver who has viewed the displayed information. Execute. In addition, when the vehicle is running, the current position of the vehicle is detected based on the detection signals from the distance sensor 1 and the direction sensor 3, and the routes set in advance in the route setting process are sequentially read out in accordance with the current position of the vehicle. A vehicle travel guidance process is executed in which the display is sequentially displayed on the display 19. FIG. 3 shows an example of intersections displayed on the display 19 during normal driving or during vehicle travel guidance. In this display, a cross-shaped intersection shape is displayed by the segment 23, and the user enters the intersection from below the cross shape along the approach direction display mark 25, and turns right and goes straight according to the right turn allowed display mark 27 and the straight ahead display mark 29. It is displayed so that it can be done. Further, on the left side of the intersection, that is, on the left turn road, a left turn prohibition display mark 31, which is displayed as an x mark, is displayed, indicating that a left turn is not allowed. The approach direction display mark 25 has 10 segments 25-, each representing 100 m, so that the approach distance to the intersection can be displayed step by step in 100 m increments.
1 to 25-10, and the display disappears one by one as you approach the intersection. In the display example shown in the figure, five segments are lit, indicating that the vehicle is approaching 500 meters before the intersection. Note that the display device 19 can be configured with, for example, a liquid crystal, a light emitting diode, a CRT display, or the like. FIG. 4 shows an example of the intersection displayed in FIG. The vehicle enters the intersection 35 from point a 33, and the display at point b 37, which has proceeded 500 meters before the intersection 35, is shown in FIG. Since roads 39 and 41 connected to this intersection 35 are one-way roads as shown by arrows 43 and 45, vehicles that have reached point b 37 cannot turn left. Therefore, as shown in Figure 3,
A left turn prohibition mark 31 is displayed (of course, a traffic sign may also be used). 5 and 6 show the second ROM 17
FIG. 2 is a diagram for explaining the structure of traffic regulation information stored in FIG. As the traffic regulation information, road traffic regulation information such as prohibition of left turns, prohibition of right turns, and prohibition of going straight is stored. FIG. 5 is a diagram showing a part of a road network having multiple intersections.
7 and the B intersection 49 adjacent to this A intersection 47. The A intersection 47 is further adjoined by an A1 intersection 51, an A2 intersection 53, and an A3 intersection 55 (not shown), and the B intersection 49 has B1, B2, B3 intersections. intersection 5
7, 59, and 61 are shown to be adjacent, but only the B1 intersection 57 is illustrated. FIG. 6 is a diagram showing the data structure of traffic regulation information for such an intersection. This data structure has one memory block for each intersection (A intersection, B intersection), and all intersections Yi adjacent to one intersection (A intersection, B intersection) are stored in this memory block. The vehicle is divided into memory areas that store traffic regulation information for each area, and this memory area stores traffic regulation information when entering intersection Yi from an intersection (intersection A, intersection B). That is, the memory block 85 for the A intersection 47 has memory areas 63, 65, 67 for the A1 intersection 51, the A2 intersection 53, the B intersection 49, and the A3 intersection 55.
69 are respectively provided, and each memory area is A.
A ranking memory area 71 that stores the ranking of roads heading from the intersection 47 to each intersection, a traffic regulation bit 77 that indicates the presence or absence of traffic regulation at this intersection when proceeding from the A intersection 47 and passing through each intersection, and other intersections. A right turn prohibition bit 79 indicates whether a right turn is prohibited, a left turn prohibition bit 81 indicates a left turn is prohibited, and a straight proceeding prohibition bit 83 indicates a prohibition of going straight. The ranking memory area 71 has one or two lanes.
It consists of a lane bit 73 indicating whether there are three lanes or less, and a speed limit bit 75 indicating the speed limit. The speed limit bit 75 is composed of, for example, 3 bits, and the code for the speed limit is as shown in Table 1.

【table】

[Table] As an example, in the memory area 67 for the B intersection 49 of the memory block 85 corresponding to the A intersection 47, information "10111100" consisting of 8 bits is stored. Based on this information, the lane bit
73 "1" indicates that there are two lanes, and the speed limit bit 75 "011" indicates that the speed limit is 50 km/h.
Traffic regulation There is a traffic regulation from “1” in bit 77.
It can be seen that the right turn prohibition bit 79 of "1" indicates that a right turn is prohibited, the left turn prohibition bit 81 of "0" indicates that a left turn is possible, and the straight forward prohibition bit 83 of "0" indicates that it is possible to go straight. That is, from intersection A 47 to intersection B 49
The second ROM 17 indicates that when entering the
It is identified from the traffic regulation information stored in the. This traffic regulation information is read out from the second ROM 17 to the microcomputer 11 and displayed on the display 19 together with the intersection information. Next, the operation of this embodiment will be explained using the flowcharts of FIGS. 7 and 8. The vehicle travel guidance device shown in this embodiment has a function of setting a travel route from a certain starting point to a destination point, and a vehicle guidance function of guiding the vehicle to the destination according to the set route. . Therefore, the flowchart shown in FIG. 7 is divided into a route setting mode and a guidance mode corresponding to each function. Therefore, in FIG. 7, first, which mode of processing is to be executed is selected by an operation switch (not shown), and when the route setting mode is selected, steps 120 to 180 are executed, and the guidance mode is selected. If so, steps 210 to 280 are executed (steps 100, 110, 200). First, if route setting mode is selected,
When the number of the intersection near the departure point and the number of the next intersection are input from the setter 7, it is checked whether the two input intersections constitute a route network (steps 120 and 130). If a network is configured, the process proceeds to step 140, but if a network is not configured, it is determined whether the intersections are on the same trunk line (that is, whether the intersection is set to jump over or not). If the intersection is on the same trunk line, the intersection number string passed through on the way is read out from the first ROM 15 and arranged, and the next intersection after the starting point intersection is determined (step
160, 170), proceed to step 140. In addition, if both intersections are not configured on a network and are not on the same trunk line, it will be determined that the information was entered incorrectly, and a warning will be given and the user will be asked to re-enter the information (step
160, 180). In step 140, a traffic regulation check is performed for the input intersection. The details of this traffic regulation check are shown in FIG. 8, and will be explained with reference to FIG. In Figure 8, three consecutive intersections (first intersection, second intersection, third intersection) are shown among the input intersections.
intersection), from this first intersection to the third
The appropriateness of the direction instruction at the second intersection that the driver passes through in order to reach the intersection is sequentially determined based on the traffic regulation information. For this purpose, first read the intersection numbers of three consecutive intersections that you plan to pass through, access the second ROM 17 using the address number corresponding to the second intersection, and read out the traffic regulation information for the second intersection (steps 400 and 410). ). Based on the traffic regulation bit 77 of the read traffic regulation information, it is determined whether or not there is a traffic regulation for the second intersection (step 420). As a result of this identification, if there is a traffic restriction, the process proceeds to step 500, where it is first checked whether the direction of travel at the second intersection is to go straight, and if the direction of travel at the second intersection is straight, then the second intersection is It is checked whether it is prohibited to proceed straight through the intersection (step 510). As a result, a route has been set that cannot be traveled if straight driving is prohibited, so the second
The process proceeds to step 520 to set and input another route from the intersection to the third intersection. In step 520, the route setting is corrected and displayed, and entry is prohibited in the specified direction. After displaying possible directions of travel to assist in route setting and detecting that a revised route has been re-entered, the process returns to step 400 and performs a similar traffic regulation check on the revised route (steps 530 and 590). ). Furthermore, if the result of the determination in step 510 is that it is not prohibited to proceed straight, it is possible to proceed as set, so the process returns to step 400, and then the next intersection,
That is, the same check is performed for the next three intersections that are shifted by one location from the three intersections set above. If the direction of travel at the second intersection in step 500 is not straight, the process proceeds to step 540, where it is checked whether the direction of travel at the second intersection is a right turn. It is checked whether right turns are prohibited at intersection No. 2 (step 550). As a result,
If right turns are prohibited, a route that cannot be traveled has been set, so the process proceeds to step 520 to input settings for another route from the second intersection to the third intersection, and thereafter the steps 520 to 590 are the same as described above. Processing is performed. Furthermore, if the result of the judgment in step 550 is that a right turn is not prohibited, the vehicle can proceed as set, so it returns to step 400 and performs the same check at the next three intersections shifted one place in the same way as described above. Do this. Furthermore, if the direction of travel at the second intersection in step 540 is not a right turn, the step
At step 560, it is checked whether the direction of travel at the second intersection is a left turn, and if it is a left turn, it is checked from the read traffic regulation information whether or not left turns are prohibited at the second intersection (step 570). ). As a result, we have set a route that cannot be driven if left turns are prohibited, so we need to proceed to the step to input another route from the second intersection to the third intersection.
The process advances to 520, and thereafter the same processing as described above is performed in steps 520-590. Furthermore, if the result of the determination in step 570 is that a left turn is not prohibited, it is possible to proceed as set, so return to step 400 and perform the same check at the next three intersections shifted one place in the same way as described above. I do. In this way, while setting three intersections at a time, the same process is repeated to check whether the direction instructions are appropriate for all intersections. At step 560, if it is not a left turn,
Since it is considered to be a deformed intersection, the step
Proceed to 580 to display traffic regulations and possible approach directions at this modified intersection. As a result, when the route is corrected and re-input in accordance with this display, the re-input of the corrected route is detected and the process returns to step 400 (step 590). Further, in checking the traffic regulation for the second intersection in step 420, if there is no traffic regulation, the process proceeds to step 430, and it is checked whether the intersection number of the end point, which is the target point, has been reached. If the final intersection has not been reached,
The three intersections set above are shifted by one, and the traffic regulation check is performed for the next three intersections in the same manner as described above (step 440). In this way, when the traffic regulation check is performed up to the final intersection, the process returns from step 430 to step 150 in FIG. 7, and it is determined whether all the checks have been completed. for,
Returning to step 120, enter the unchecked intersection number and the next intersection number to perform the same traffic control check as described above for this intersection. Next, the vehicle travel guidance mode will be explained. First, in step 210, move the vehicle to the first intersection near the starting point of the route set in the route setting mode, press the start switch (not shown) at this position, and start the device.
Based on the detection signal of the distance sensor 1, distance integration is started. Detects when you are near the intersection where you should be guided and starts displaying guidance to the intersection (step
220, 230). Then, in step 240, if the vehicle has proceeded in the correct direction according to the guidance display, the guidance display for the next intersection is prepared and the data is read, and it is checked whether it is the final destination or not.
If it is not the final destination, return to step 220,
The same operation is repeated for the next intersection (steps 240, 250, 260). In addition, if the vehicle does not proceed in the correct direction as indicated by the guidance at step 240, an incorrect progress display is displayed, a return route is calculated and set, and the process starts over from step 210 with the intersection at which the vehicle proceeded incorrectly as the first intersection (step 270). ,
280). Note that the guidance displayed at this time was set in the route setting mode while taking traffic regulation information into consideration, so if you follow this guidance, you will not be subject to traffic regulations. As shown in the figure, it is also possible to simultaneously insert a display of traffic regulation information into the guidance display executed in this guidance mode. That is, first of all, after inputting only the number of the starting point intersection and the next intersection number, press the start switch at the starting point intersection to start accumulating the distance traveled (step
310, 320). When you are heading from the first intersection to the next intersection, it displays the shape of the next intersection, the possible direction of travel, and the distance to the next intersection.
Display traffic regulation information at the next intersection, such as no right turn, no entry, etc. (step 330,
340). The traveling direction detected by the direction sensor and the first
The direction in which the intersection was passed is detected from the road network information in the ROM 15, the next adjacent intersection in this detected direction is read out, and the shape of this intersection is determined.
Displaying traffic regulations, distance traveled, etc. (step
350, 360). In the next step 370, the number sequence of the intersections passed in this way is sequentially memorized until the final destination is reached (steps 330 to 370).
380). After reaching the final destination, if you want to go back to the initial starting point, you can rearrange the sequentially memorized intersection number sequence and return to the starting point while displaying the return route. 380, 390). If there is no turning back, the process returns to step 330 to display the next intersection. FIG. 10 shows a configuration block of a vehicle travel guidance device according to another embodiment. The vehicle travel guidance device shown in FIG. 10 has the configuration shown in FIG. The third memorized
In addition to adding ROM87, the second ROM1
7 traffic regulation information is memorized by day of the week and time of day,
Based on the calendar information stored in the third ROM 87, that is, the year, month, day, day of the week, and public holidays, the time control unit in the microcomputer 11 calculates the day of the week and public holidays of the running date, and the second
Traffic regulation information is read out from the ROM 17 by day of the week, public holidays, and even by time of day, and the traffic regulation information by day and time is displayed in detail when guiding a vehicle. In each of the above embodiments, when setting a route, if a route is set that cannot be entered due to traffic regulations, a warning may be issued and the setting may be redone. FIG. 11 shows another example of the display device used for travel guidance as described above.
This display is configured to display intersection information such as the shape of the intersection, the approach road to the intersection, the direction to pass through the intersection, the distance to the intersection, the identification number or name of the intersection, or the number of intersections remaining to reach the destination. has been done. This display includes shape display radial segments 91a and 91 extending radially in parallel to each other so as to display the shape of the intersection.
b; 93a, 93b; 95a, 95b; 97a,
97b; 99a, 99b; 101a, 101b;
103a, 103b; 105a, 105b, and a shape display annular segment 1 disposed annularly near the inner end of these shape display radial segments.
07,109,111,113,115,11
7, 119, and passing direction display segments 121, 123, 12, which are arranged between each pair of shape display radial segments and indicate the direction of passing through the intersection.
5, 127, 129, 131, 133, and an approach direction display that extends from the bottom toward the center and is disposed between the shape display radial segments 105a and 105b, and displays the approach route to the intersection. It is composed of a segment 135 and a number display section 137 provided in the center. In addition, the approach direction display segment 135 is arranged so that it can be displayed every 100 m from 1 km before the intersection to the approach distance to the intersection.
Divided into 10 approach distance display segments 135
-1, -2,...135-10. Vehicle travel guidance displays are provided to the driver while driving, so they need to be easy to understand. Therefore, in this display, when the user is more than a predetermined distance away from the guidance intersection, the number display section 13
7 is turned on, which displays only the distance to the intersection, and when you get closer than this predetermined distance, the shape of the intersection, the direction of approach and passing, the intersection identification number or the number of remaining intersections to the destination, and the approaching distance are displayed. Approach distance etc. are displayed in a bar graph form using segments 135, making the display relatively easy to read and simple. An example of a display when providing travel guidance using this display will be explained with reference to FIGS. 12 and 13. Figure 12 shows the road on which vehicles are guided, starting from just before the first intersection 07 to the first intersection.
The vehicle intends to turn right at intersection 07, then turn upper left at the second intersection 06 on the three-way intersection. First, when approaching the first intersection 07, the shape of the first intersection 07 is displayed by the shape display radial segment and the shape display annular segment as shown in FIG. 13a, and the approach direction display segment 135 and Approach distance display segments 135-1, -2, -3, -4, -5, and -6 display the direction of approach to the intersection and the approach distance to the intersection. In this display, six approach distance display segments 135-1 to 135-6 light up,
It turns out that it is 600m to the first intersection 07.
The right turn direction passing through the first intersection 07 is displayed by the passing direction display segment 123.
The number display section 137 displays the number "07",
The identification number of the first intersection 07 that you are currently passing through is displayed. In this case, instead of displaying the intersection identification number, the number of remaining intersections to the destination may be displayed. Turn right and pass through the first intersection 07, for example, after turning right and proceeding about 50m,
The display of the intersection shape, etc. disappears, and only the distance to the next second intersection 06 is displayed as shown in FIG. 13b. According to this display, there are still 6km left until the second intersection 06.
It can be seen that it is. When the distance to the second intersection 06 is within a predetermined distance, for example 1 km, the shape of the second intersection 06, the passing direction, the approach distance on the bar graph, the intersection identification number, etc. are displayed again as shown in Figure 13c. , to guide the vehicle. In this display, it is 700 meters to the second intersection 06, and the driver is directed to proceed through this intersection to the upper left. When approaching an intersection in this way, a lot of information is displayed, such as the intersection's shape, passing direction, approach distance, identification number, etc., but depending on the driver's needs, it is not necessary to recognize the content. It is configured. During normal driving, the driver does not need to read this number every time he turns left or right; he only needs to read it when he gets lost, for example. Furthermore, when the approach distance to an intersection reaches 1 km, the shape of the intersection, the direction of passage, etc. may be displayed, and at the same time a warning sound may be emitted to notify the driver. You can decide whether to turn right or left with plenty of time to spare. The shape of the intersection may be such that it can be used for comparing and determining the actual intersection and the target intersection after the intersection is further approached. In Figure 14, the identification number of the intersection you are about to pass is displayed in the center of the intersection shape display, and the identification number of the intersection you will pass next after turning right at this intersection is displayed at the tip of the right turn display arrow. The intersection identification number is displayed below the approach direction display.
By displaying the intersection identification numbers in association with each other in this way, the location of the intersection can be made clear. In FIG. 15, instead of the intersection identification number, the name of the intersection is displayed, for example, in a dot matrix in the center of the intersection shape display. In this display example, "Ikegami" is displayed, indicating "Ikegami Crossroads". As explained in Figures 11 to 15, if the intersection is a predetermined distance or more, the distance to the intersection is displayed, and if the intersection is within a predetermined distance, the intersection shape, passing direction, etc. are displayed. By displaying the identification information (number or name) or the number of intersections remaining to turn to reach the destination, you can instantly see at a glance how far it is to the next intersection, as well as which side the vehicle is currently traveling on. It is easy to understand and allows you to drive safely with peace of mind. Although traffic control information is not displayed in the intersection displays of FIGS. 10 to 14, it is easy to display traffic control information as shown in FIG. [Effects of the Invention] As explained above, according to the present invention, there is provided a traffic regulation information storage means that stores traffic regulation information, and this traffic regulation information is displayed together with the display of intersections. You can set an appropriate route to your destination without setting a route that violates traffic regulations, and you can drive smoothly and reliably to your destination without getting lost or confused. You can run on it.

[Brief explanation of drawings]

Fig. 1 is a diagram corresponding to the claims of this invention, Fig. 2 is a block diagram of a vehicle travel guidance device showing one embodiment of the invention, and Fig. 3 is an example of a display used in the device shown in Fig. 2. FIG. 4 is a diagram showing an example of the road shown in the display example of FIG. 3, FIG. 5 is a diagram showing a road for explaining the data structure of traffic regulation information, and FIG. 7 to 9 are flowcharts showing the operation of the vehicle travel guidance device of FIG. 2, and FIG. 10 is a block diagram of the vehicle travel guidance device showing another embodiment of the present invention. Figure 11 is a diagram showing another example of the display device.
FIG. 2 is a diagram showing an example of a road for explaining a display example using the display device in FIG. 11, FIG. 13 is a diagram showing an example display using the display device in FIG. 11, and FIGS. It is a figure which shows another example of a display. 2... Road network information storage means, 4... Traffic regulation information storage means, 6... Designation means, 8... Route storage means.

Claims (1)

[Claims] 1. Input means A, road storage means B, traffic regulation information storage means C, road extraction means D, travel route setting means E, travel route storage means F, and current position detection means A driving guidance device for a vehicle having a traveling direction determining means H, and a display means I, wherein the input means A is for inputting a departure point and a destination by an operation by a passenger, and a road memory. Means B stores information on roads including intersections, traffic regulation information storage means C stores information regulating road traffic, and road extraction means D stores information on roads including intersections. The driving route setting means E inputs the output of the traffic regulation information storage means C and extracts information on roads on which traffic is not restricted from the road information. The output is input and each intersection existing on the driving route from the departure point to the destination is set using information on roads where traffic is not regulated, and the driving route storage means F stores the driving route setting. The means E stores the driving route including the intersection set by the means E, the current position detecting means G detects the current position of the vehicle, and the traveling direction determining means H stores the driving route storing means F and the current position. The display means I inputs the output of the position detecting means G and determines the direction in which the vehicle should proceed at the intersection the vehicle is approaching. A travel guidance device for a vehicle, characterized in that it displays a direction in which the vehicle should travel.