JPH08105752A - Navigation apparatus for mounting on vehicle - Google Patents

Abstract

PURPOSE: To obtain a navigation apparatus by which, after a route guidance operation has been started, a vehicle can reach a destination without passing a route whose passage is not desired by the vehicle, imply running along a guidance route. CONSTITUTION: A route search part 14 searches a shortest route between a present position and a destination by using map data in a CD-ROM 1 so as to be stored as guidance route data. By receiving the instruction of an automatic scrolling operation, a map-image drawing part 16 draws, together with a guidance route, a map image in which a cursor position changing along the guidance route is used as the center, and the guidance route is scrolled and displayed. When an avoidance-point input key is pressed in a halfway part, a cursor position at this time is registered. By the instruction of a re-searching operation after a scrolling operation has been finished, the route search part 14 selects crossings before and after a registered point on an original guidance route, the crossings are connected, a shortest route other than the original guidance route is searched, and guidance route data is corrected. After that, when a route-guidance-start key is pressed, the map-image drawing part 16 draws, together with the guidance route and a vehicle position mark, a map image in which a vehicle position is used as the center, and the map image is displayed on a screen.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle navigation device, and more particularly, it automatically searches an optimum route connecting a starting point and a destination using map data and performs route guidance using the searched guidance route data. The present invention relates to a vehicle-mounted navigation device.

[0002]

2. Description of the Related Art A vehicle-mounted navigation device is a vehicle position for detecting a current position and a current direction of a vehicle such as a CD-ROM storing map data, a map data storage device such as an IC memory card, a display device, and a GPS receiver. CD-R with map data including the current position of the vehicle
The map image centering on the vehicle position is drawn based on the map data and displayed on the display screen, and the vehicle position mark (location cursor) is fixed to the center of the display screen to move the vehicle. According to the above, the map image is scroll-displayed, or the map image is fixed on the screen and the vehicle position mark is moved so that the user can know at a glance where the vehicle is currently traveling.

The map stored in the CD-ROM or the like is
Depending on the scale level such as 1/12500, 1/25000, 1/50000, 1/100000, etc., it is divided into an appropriate size of longitude width and latitude width, and roads etc. are represented by latitude and longitude (nodes) ) Is indicated by the coordinate set. The road is composed of two or more nodes connected to each other, and a part connecting the two nodes is called a link. The map data includes (1) map matching consisting of road list, node table, intersection constituent node list, intersection net list, etc., road layer for route search, (2) road, building, facility, park on the map screen, Background layer for displaying rivers, etc. (3) Administrative division names such as municipal names, road names, intersection names, characters such as building names,
It is composed of a character / symbol layer for displaying map symbols and the like.

Some on-vehicle navigation devices are equipped with a route guidance function that enables a driver to easily travel to a desired destination on the road without making a mistake.
According to this route guidance function, a horizontal search method is used to find the shortest route connecting a certain starting point to a certain destination using map data,
Simulation calculation such as the Dijkstra method is performed to automatically search, and it is stored as guide route data.
When the guide route is drawn thicker on the map image by changing the color from other roads and displayed on the screen, or when the vehicle approaches the intersection where the route on the guide route should be changed within a certain distance, Draw an arrow indicating the route at the intersection where the route should be changed,
By displaying on the screen, the user can easily understand the optimal route to the destination. Furthermore,
With the route re-search function, when the vehicle deviates from the guide route while receiving a route guide, the optimum route connecting the vehicle position at that time to the destination is automatically searched again and the guide route data is corrected. To do. As a result, even if the vehicle deviates from the guidance route on the side road, it is possible to receive route guidance toward the destination according to the newly searched guidance route.

[0005]

By the way, in the conventional route guidance function, since the shortest route is mechanically searched using the map data, the user travels too much because the road is bad or the traffic is often congested, for example. Even if a point or route that you do not want to include is included, it will be regarded as a guide route if it meets the shortest condition. As a result, when traveling according to route guidance, there is a risk of getting into a bad road or getting into a traffic jam. On the other hand, when there is a route re-search function, a new guidance route that connects to the destination if you deviate from the guidance route to avoid bad roads and congestion while traveling along the mechanically searched guidance route Since the route is searched, it may be possible to reach the destination while bypassing the bad road or the congestion by the route guidance after this, but if it does not deviate from the original route in the proper direction, the original route will be a dead end. There was a case where the route returning to was re-searched and it was not possible to avoid any bad roads or congestion.

In view of the above, the object of the present invention is to mount the vehicle on a vehicle where the user can easily reach the destination without traveling through points or routes which the user does not want to travel by simply traveling along the guided route after the route guidance is started. It is to provide a navigation device.

[0007]

According to the present invention, there is provided a map data storage means for storing map data,
Vehicle position detecting means for detecting a vehicle position and a vehicle direction, route searching means for automatically searching for an optimum route connecting a departure place and a destination using map data, and storing it as guide route data in the guide route storing means, A vehicle-mounted device provided with a map image drawing means for drawing a map image around the vehicle position together with the vehicle position mark using the map data and displaying the image on the display means and a route guiding means for guiding the route using the guiding route data. In the navigation device, after the route search means completes the route search, or when the user instructs the automatic scrolling of the guide route or automatically, using the map data and the guide route data, the cursor position from the departure point along the guide route. While moving to the destination side in sequence, draw a map image around the cursor position along with the guide route and the cursor mark, and display it on the screen. Equipped with automatic scrolling means for automatic scrolling, and registration means for registering the cursor position at that time as an avoidance point when the user performs an avoidance point input operation during automatic scrolling. Automatically or when the cursor position reaches the destination, the map data is used to re-search for the optimum route that bypasses the avoidance point registered in the registration means and reaches the destination, and is stored in the guide route storage means. This is accomplished by modifying the stored route data.

[0008]

According to the present invention, after the search for the optimum route connecting the starting point and the destination is completed, when the user instructs the automatic scrolling of the guide route or automatically, the guide route is obtained by using the map data and the guide route data. While moving the cursor position along the route from the starting point to the destination side in sequence, draw a map image around the cursor position with the guide route and the cursor mark,
When the user performs an avoidance point input operation during automatic scrolling by displaying a screen on the display means, the cursor position at that time is registered as an avoidance point. Then, when the user instructs the re-search or when the cursor position reaches the destination, the avoidance point registered using the map data is bypassed to re-search for the optimal route to reach the destination, and the guide route is set. Correct the data. As a result, it is possible to complete a search for a guide route that does not pass a point where the user does not want to travel before the route guide is started, so that the user can only travel along the guide route after starting the route guide. The user can easily and quickly reach the destination without going through a point where the user does not want to travel due to a bad road. Further, when searching for an avoidance point in the initially searched guidance route, it is possible to save the trouble of performing a map scroll operation with a cursor key or the like.

According to another invention, the map data and the guide route data are used when the user instructs the automatic scrolling of the guide route after completing the search for the optimum route connecting the starting point and the destination. Then, while moving the cursor position along the guide route from the starting point to the destination side, the map image around the cursor position is drawn together with the guide route and the cursor mark, and the screen is displayed on the display means for automatic scrolling. The cursor positions at the time when the user performs the avoidance start point input operation and the avoidance end point input operation during scrolling are registered as the avoidance start point and the avoidance end point. Then, when the user instructs a re-search or when the cursor position reaches the destination, an optimal route to reach the destination is bypassed from the avoidance start point registered using the map data to the avoidance end point. Re-search and correct the guide route data. As a result, it is possible to complete the search for a guide route that does not pass through a route that the user does not want to travel before the route guide is started, so that the user only has to travel along the guide route after starting the route guide. The user can easily reach the destination without going through a route that the user does not want to travel due to traffic congestion.
Further, when searching for the avoidance start point and the avoidance end point from the initially searched guide route, it is possible to save the trouble of performing a map scroll operation with a cursor key or the like.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an overall configuration diagram of a vehicle-mounted navigation device according to an embodiment of the present invention. In the figure, 1 is a CD-ROM that stores map data composed of road layers, background layers, character / symbol layers, etc., according to scale, and 2 is a GPS receiver that detects the vehicle position and vehicle direction by satellite navigation. . 3 is an operation unit having a cursor key for map scrolling, a destination input key, a route guidance start key, an automatic scroll key, an avoidance point input key, a re-search instruction key, etc. 4 is a map image of a vehicle position mark, a guidance route, etc. It is a display device for displaying with.

Reference numeral 10 denotes a navigation controller having a microcomputer structure, which draws a map image including the current position of the vehicle together with the vehicle position mark using the map data stored in the CD-ROM 1 and displays it on the display device 4. When the destination is entered, the shortest route connecting the current position, which is the starting point, to the destination desired by the user is automatically searched using the map data by the horizontal search method and stored as the guide route, and then on the map image. A guide route is drawn in a different color from that of other roads and is emphasized thickly, and is displayed on the screen together with the vehicle position mark to guide the route. In addition, the navigation controller 10 automatically searches the map route along with the guide route along with the guide route when the user instructs the automatic scroll after searching for the guide route connecting the departure point to the destination. When the re-search is instructed after registering the avoidance point input by, the optimum route reaching the destination is bypassed by using the map data to bypass the registered avoidance point, and the guide route data is corrected.

1 of the navigation controllers 10
Reference numeral 1 is a buffer memory for storing map data read from the CD-ROM 1, and 12 is a cursor position calculation unit for calculating the cursor position according to the operation of the cursor keys. The cursor position calculation unit 12 calculates the cursor position that continuously changes from the starting point to the destination along the guide route when the automatic scroll is instructed after searching the guide route. 13 is a destination setting unit that sets the cursor position at the time of pressing the destination input key as the destination, and 14 is the destination, the necessary map data is read from the CD-ROM 1 to the buffer memory 11, A route search unit that searches for the shortest route connecting the current position to the destination with the current position as the starting point by the horizontal search method using the map data read out to the buffer memory 11. Reference numeral 15 denotes a guide route storage unit that stores, as guide route data, a node data string in which the node data forming the route searched by the route search unit 14 is arranged in the route order. As shown in FIG. It includes latitude coordinate data and an intersection identification flag indicating whether or not the node is an intersection node. After the route search, when the user instructs a re-search after the route search, the route search unit 14 re-searches a route that can bypass the avoidance point designated by the user and reach the destination on the original guide route, and guides the route. The guide route data stored in the route storage unit 15 is corrected.

Reference numeral 16 denotes a map image drawing unit which buffers the map data including the vehicle position stored in the CD-ROM 1 based on the vehicle position and the vehicle direction detected by the GPS receiver 2 when the route is not guided. Read to memory 11,
Using the read map data, a map image with the vehicle position as the center and the north facing upward is drawn together with the vehicle position mark. When the route is guided, the route guidance storage unit 15 is further provided.
The guide route data in the drawing area of the map image is read out from among the above, and the guide route which is overlaid on the map image and thickly emphasized with a specific color is drawn. Further, the map image drawing unit 16 reads the map data including the cursor position calculated by the cursor position calculation unit 12 into the buffer memory 11 during the map scroll operation by the cursor keys and the automatic scroll,
Using the read map data, a map image with the cursor position at the center and north facing upward is drawn together with the cursor mark, and the map is scrolled.

Reference numeral 17 denotes a registration unit for registering the cursor position at that time as an avoidance point in an internal memory (not shown) when the user presses the avoidance point input key during automatic scrolling, and 18 denotes the map image drawing unit 16. A video RAM 19 for storing the drawn image is an image conversion unit for reading out the image stored in the video RAM 18, converting it into a predetermined image signal and outputting it to the display device 4.

Road Layer The road layer in the map data has the structure shown in FIG. The road list RDLT is made up of data such as road types, the total number of nodes that make up the road, the positions of the nodes that make up the road on the node table NDTB, and the width to the next node for each road. The intersection constituent node list CRLT is, for each intersection on the map, a set of positions on the node table NDTB of the other end node of the link (referred to as an intersection constituent node) which is connected to the intersection. The node table NDTB is a list of all nodes on the map. Position information (longitude, latitude) for each node, an intersection identification flag indicating whether or not the node is an intersection, and if the intersection is an intersection, the node configuration node list is displayed. It is composed of a pointer or the like that points to the position and points to the position of the road to which the node belongs on the road list if it is not an intersection.

The intersection netlist CRNL is constructed as shown in FIG. 4, and has a fixed data area FDA.
(1) Intersection sequential number (information for identifying the intersection) (2) Map leaf number of the map including the intersection node (3) Data unit code Above, intersection node ID (4) Number of intersection constituent nodes (5) Sequential number of each adjacent intersection (6) Distance to each adjacent intersection (7) It has road attributes (road type, width) to each adjacent intersection. Up to seven adjacent intersection data are stored in one intersection netlist. Further, the intersection netlist CRNL has a rewriting data area RDA so that it is possible to store the cumulative distance, the sequential number of the previous intersection (one less the order), and the search order at the time of route search. .

When the destination is set on the basis of the destination input operation by the user, the route search unit 14 sets the intersection netlist C.
Using the distance between intersections stored in the RNL as it is, the shortest guide route connecting the departure place and the destination is searched by the horizontal search method. Further, based on the user's re-search instruction operation, for each avoidance point registered in the registration unit 17 with reference to the guide route data that has already been searched, two intersections before and after the avoidance point are set on the guide route. Pick out. Then, for the intersection netlist CRNL corresponding to each of the two selected intersections, the distance between the two selected intersections (see item 9 in FIG. 4) is replaced with an extremely large distance. After that, of the two selected intersections, the shortest route connecting the intersection closer to the departure place to the intersection farther away is searched by the horizontal search method, and a part of the original guide route is searched by the searched route. Replace and correct.

5 to 8 are flowcharts showing the operation of the navigation controller 10, FIG. 9 is an explanatory view showing roads around the vehicle position, FIG. 10 is an explanatory view of a route search method by the lateral search method, and FIGS. Is an explanatory diagram of a screen display example,
Hereinafter, description will be given with reference to these figures. When the first route search power supply is turned on, the GPS receiver 2 periodically detects the vehicle position and the vehicle direction by satellite navigation. On the other hand, the navigation controller 10 inputs the vehicle position data and the vehicle direction data from the GPS receiver 2 (step 101 in FIG. 5), and the map image drawing unit 16 transfers the map data including the vehicle position from the CD-ROM 1 to the buffer memory 11. Using the read map data, a map image with the north of the vehicle position as the center facing upward is drawn on the video RAM 18, and a vehicle position mark with the vehicle azimuth direction facing the center of the map image is drawn. The image drawn in the video RAM 18 is read by the video conversion unit 19, converted into a predetermined video signal, and then output to the display device 4 and displayed on the screen (step 102).

After that, the navigation controller 1
In 0, it is checked whether or not the map scroll operation is performed by the cursor key (step 103). If NO, the process returns to step 101 to input new vehicle position data and vehicle azimuth data from the GPS receiver 2 to set a new vehicle position. The center map image is drawn together with the vehicle position mark and displayed on the screen. Thereafter, by repeating the same processing, the map scrolls while the vehicle position is fixed at the center on the screen as the vehicle travels.

Then, the user sets the current position as the starting point,
When you want to travel along the optimal route to your desired destination,
Use the cursor keys to scroll the map and search for the destination. At this time, when the cursor key operation is started, the cursor position calculation unit 12 initializes the current vehicle position detected by the GPS receiver 2 as the initial cursor position (steps 103 and 104), and then the cursor key The cursor position is continuously changed according to the operation (steps 106 and 107). Further, the map image drawing unit 16 reads the map data including the cursor position from the CD-ROM 1 into the buffer memory 11, and uses the read map data to display in the video RAM 18 the map image in which the north with the cursor position as the center is directed upward. Draw and draw a cursor mark at the center of the map image. Video RAM 18
The image is read out by the video converter 19, converted into a predetermined video signal, and output to the display device 4 (step 105). As a result, the map image on the screen is scrolled according to the operation of the cursor key and the cursor mark is displayed at the center.

When the destination input key is pressed when the cursor is aligned with the destination (YES in step 108), the destination setting unit 13 sets the cursor position at that time as the destination, and the route search unit 14 sets the destination. The data is output (step 109). The route search unit 14 which has input the destination data sets the current position detected by the GPS receiver 2 as the departure place (step 110). Then, the map data of the range from the starting point to the destination is included in the CD-R.
The OM1 is read to the buffer memory 11, and the shortest route connecting the starting point to the destination is searched by the horizontal search method using the road layer in the read map data.

A specific method of search processing will be described with reference to FIG. Here, for simplification, it is assumed that the intersection netlist CRNL of any intersection includes the first to fourth adjacent intersections, and the lower adjacent in FIG. 10 is the first adjacent intersection and the right adjacent is It is assumed that the second adjacent intersection, the upper adjacent one is the third adjacent intersection, and the left adjacent one is the fourth adjacent intersection.

First, the route search unit 14 checks whether the departure place is an intersection (step 201 in FIG. 6). If the departure place is an intersection, the departure place intersection STP is set (step 202), and the processes after step 204 are performed. If not, the nearest intersection is set as the departure point intersection STP (step 203),
The processing after step 204 is performed. Departure intersection STP
If it is determined that the destination is an intersection (step 204), if it is an intersection, it is determined as the destination intersection DSP (step 205), and the processing from step 207 onward is performed. Is set as the destination intersection DSP (step 206), and step 20
Processing after 7 is performed.

Departure intersection STP and destination intersection DS
When P is determined, the route search unit 14 firstly determines the departure point intersection S
CD-R the intersection netlists CRNL of all intersections included in a circle centered on TP and having a radius slightly longer than the distance between the departure intersection STP and the destination intersection DSP
The buffer memory 11 is read from the map data of OM1.
(Step 207). Then, the search order i is set to 0 (step 208). Buffer memory 11
Intersection netlist C related to the i-th intersection stored in
It is checked with reference to the RNL whether or not an intersection adjacent to the i-th intersection remains (step 209). The 0th intersection is the starting point intersection STP. In step 209, the j-th intersection (j = 0, 1, ...
Excludes those that are said to be.

Since four adjacent intersections remain, the first adjacent intersection A ₁ from the starting intersection STP to the first adjacent intersection A _{1 in the} intersection netlist CRNL related to the starting intersection STP is left. The total distance D from the departure point intersection STP to the adjacent intersection A ₁ is calculated with reference to the distance d ₂ of (step 210). D is the cumulative distance from the starting point intersection STP to the i-th intersection d ₁
Then, it can be obtained by the following expression d ₁ + d ₂ → D. Initially, when i = 0, d ₁ = 0, so D =
It becomes d ₂ .

Next, referring to the rewriting data area RDA of the intersection netlist CRNL related to the intersection A ₁ stored in the buffer memory 11, whether the search order of the adjacent intersection A ₁ is (i + 1), in other words, ,already,
For the intersection A ₁ , it is checked whether the accumulated distances on different routes and the information specifying the previous intersection is registered (step 211). Since it is NO here, it is made to correspond to the adjacent intersection A _1. , in the intersection network list CRNL according to the intersection a _1, (a) the sequential number of the zero-order intersection STP currently focused, (b) total distance D from the departure point intersection STP to the adjacent intersection a ₁ ( = Ad ₁ ), is stored in the rewriting data area RDA, and (c) (i) as the search order of the adjacent intersection A ₁ is stored.
+1) = 1 is stored in the rewrite data area RDA (step 212).

Then, returning to step 209,
Intersection netlist CRNL for the difference point STP
An intersection that is adjacent to the 0th intersection you are looking at
Check if it still exists and repeat the same process if it remains
You. As a result, the intersection net list of the departure point intersection STP
Intersection A adjacent to₁~ A_FourBecause there are these
Is the primary intersection and the intersections related to these primary intersections
In each data rewriting area of the difference netlist CRNL
Is the total distance Ad₁~ Ad_FourAnd each adjacent intersection A ₁~ A
_FourFor identifying the previous intersection STP corresponding to
The serial number is registered.

When the processing is completed for all the adjacent intersections included in the intersection net list CRNL for the departure point intersection STP, the route searching section 14 determines that the departure point intersection ST is present.
It is judged whether there is a 0th intersection other than P (step 209 in FIG. 6, step 301 in FIG. 7), and since it does not exist, whether or not the destination intersection DSP is subsequently reached, in other words, the (i + 1) th intersection Destination crossing DSP in the intersection
Is included (step 302), and if not, i is incremented to 1 (step 30).
3). Then, the process proceeds to step 209 in FIG. 6, by focusing on one A ₁ among which is the first intersection, with reference to the intersection network list CRNL according to the intersection A ₁ stored in the buffer memory 11, the Except for the 0th-order intersection STP, it is determined whether or not an adjacent intersection remains.

Here, B₁₁, B₁₂, B₁₄There exists
So, first of all, the first adjacent intersection B ₁₁About the intersection
A₁Please refer to the intersection netlist CRNL related to
From departure point intersection STP to adjacent intersection B₁₁Up to
The distance D is calculated (step 210). Departure intersection S
The first intersection A that is currently focused on from TP₁Up to
Distance d₁At the intersection A in the buffer memory 11₁Exchange relating to
Ad to RDA of difference point netlist CRNL₁Remember as
It is done and the first intersection A₁From the adjacent intersection B₁₁
Distance to₂Is intersection A₁Intersection netlist
Since it is stored in CRNL, Ad₁+ D₂→ From D to the first intersection A from the intersection STP₁Via
Said adjacent intersection B₁₁The total distance D up to is obtained.

Next, referring to the rewriting data area RDA of the intersection netlist CRNL related to the adjacent intersection B ₁₁ stored in the buffer memory 11, it is checked whether the search order of the adjacent intersection B ₁₁ is (i + 1) (step 21).
1), which is NO here, so as to correspond to the adjacent intersection B ₁₁ in the intersection netlist CRNL related to the intersection B ₁₁ , (a) of the first-order intersection A ₁ currently focused on. Sequential number, (b) Cumulative distance D (= B from the starting point intersection STP to the adjacent intersection B ₁₁ )
d ₁ ), is stored in the rewrite data area RDA, and (c)
(I + 1) = 2 as the search order of the adjacent intersection B ₁₁
Is stored in the rewrite data area RDA (step 21).
2). Then, returning to step 209, the buffer memory 1
By referring to the intersection netlist CRNL related to the first-order intersection A ₁ stored in No. 1, it is checked whether an intersection adjacent to the currently-selected first-order intersection A ₁ still remains, and if there is, the same processing is performed. repeat.

Returning to step 209, the route searching unit 14 determines YES because the adjacent intersections B ₁₂ and B ₁₄ are present. And, of these, for the second adjacent intersection B ₁₂ ,
After calculating the cumulative distance D from the departure point intersection STP to the adjacent intersection B ₁₂ (step 210), the data rewriting area RDA of the intersection netlist CRNL corresponding to the adjacent intersection B ₁₂ stored in the buffer memory 11 is referred to. It is checked if the search order is already 2 (step 211), and since it is NO, the sequential number of the primary intersection A ₁ and the cumulative distance D = in the data rewriting area RDA.
Bd ₁₂ and search order 2 are registered (step 212). Then, returning to step 209, the remaining adjacent intersections B ₁₄ stored in the intersection netlist CRNL of the intersection A ₁ are processed in the same manner as described above.

When the processing for B ₁₄ is completed, the route search unit 14 checks whether there is another primary intersection (step 301 in FIG. 7), and here, A ₂ , A ₃ ,
Since A ₄ exists, the process after step 209 in FIG. 6 is performed by using A ₂ as a new first intersection (step 304).

Intersection netlist CRNL of intersection A ₂
There are first to fourth adjacent intersections B _{21 to} B ₂₄ in
B ₂₄ = Starting point intersection STP, so the fourth adjacent intersection B ₂₄
Is removed and processed in step 209. And first B
For _21, the route searching unit 14 refers to the intersection network list CRNL intersection A _2, to calculate the total distance D from the departure point intersection STP to the adjacent intersection B ₂₁ passing through the first primary adjacent intersection A ₂ ( Steps 209, 210).

Subsequently, the route searching unit 14 refers to the intersection netlist CRNL of the adjacent intersection B ₂₁ stored in the buffer memory 11 and checks whether the degree of the adjacent intersection B ₂₁ is 2 (step 211), but B ₂₁ = B ₁₂ , and the degree of the adjacent intersection B ₁₂ is already 2, so the result is YES. This is the intersection B adjacent to the first intersection A _1
12 indicates that it has been processed (data of (a) to (c) above has been stored). In this case, first, it is stored in the rewrite data area RDA of the intersection netlist CRNL related to the adjacent intersection B _12. The total distance * D = Bd ₁₂ from the given starting point intersection STP is compared with the size of the distance D obtained in step 210 this time (step 213).

If D << * D, the adjacent intersection B
The sequential number of the i-th intersection A ₁ stored in the rewriting data area RDA of the intersection netlist CRNL of ₁₂ (= B ₂₁ ) is the i-th intersection A ₂ currently focused on.
And the cumulative distance * D is rewritten with D = Bd ₂₁ (step 214). D
If ≧ * D, RDA is not rewritten. after this,
Returning to step 209, similar processing is performed for the next adjacent intersection related to the first intersection A ₂ .

Thereafter, the same processing is sequentially repeated,
In the check in step 302 of FIG. 7, the (i +
1) Destination intersection DSP among all the following intersections
When it is determined to be YES, first, in the intersection netlist CRNL related to the destination intersection DSP stored in the buffer memory 11, the destination intersection DSP stored in the rewrite data area RDA. Store in the rewriting data area RDA in the previous (m-1) th intersection corresponding to the (mth intersection) and the intersection netlist CRNL related to the (m-1) th intersection. The previous (m-2) th intersection corresponding to the certain intersection, ... In the intersection netlist CRNL related to the secondary intersection, the primary intersection stored in the rewriting data area RDA, the departure An intersection node sequence that connects the ground intersections STP in the reverse order to determine the shortest optimum route viewed from the cumulative distance and configures the optimum route from the departure intersection STP to the destination intersection DSP. As a basic guide route. Then, referring to the road layer in the map data, a node data string in which simple nodes (nodes that are not intersections) are interpolated between intersection nodes in the basic guide route is set as final guide route data and stored in the guide route storage unit 15. (Step 305). At this time, an intersection identification flag is set for an intersection node on the guide route. The guidance route searched this time is shown in Fig. 9.
It is assumed that it is as shown by the broken line GR.

Automatic scrolling Here, the user confirms the guide route searched this time on the screen, and if there is a point that he / she does not want to travel due to a bad road or the like, he / she re-searches for a guide route that can bypass and reach the destination. If you want, press the automatic scroll key. Then, the cursor position calculation unit 12 refers to the guide route data, calculates cursor position data that changes from the place of departure on the guide route toward the destination by a constant distance at a constant time interval, and calculates the map image drawing unit 16 and the registration unit. 17 (YE in step 306)
S, 307, 314). On the other hand, the map image drawing unit 16 first determines the CD-R based on the cursor position data indicating the departure place.
The map data including the cursor position is read from the OM 1 to the buffer memory 11, and the map image centered at the cursor position is used as a video RAM 18 by using the read map data.
Draw on. Then, the guide route data contained in the area drawn this time is read from the guide route storage unit 15, the guide route which is overlaid on the map image and thickly emphasized with a predetermined color is drawn, and the cursor mark is drawn at the center. afterwards,
Every time the cursor position changes, the map image is drawn again along with the guide route and the cursor mark so that the cursor position is always at the center. The image drawn in the video RAM 18 is read by the image conversion unit 19, converted into a predetermined image signal, and then output to the display device 4 to be displayed on the screen (step 308).

First, on the screen, as shown in FIG. 11 (1),
The map image MP centering on the departure point is displayed together with the guide route GR and the cursor mark KM, and then the map image MP is guided so that the center continuously changes from the departure point side to the destination side along the guide route. Together with the route GR, it automatically scrolls along the guide route at a certain speed (see FIG. 11 (2)). The automatic scroll speed is set to the same level as when the user operates the cursor keys to scroll the map. During the automatic scrolling, when the cursor mark KM coincides with the point where you want to avoid running (F in Fig. 9).
D, see FIG. 12 (1)), and press the avoidance point input key. Then, the registration unit 17 registers the cursor position data at that time in the built-in memory (not shown) as an avoidance point (steps 309 and 310). During the subsequent automatic scrolling, if there is no point on the guide route where it is desired to avoid traveling, the automatic scrolling stops when the cursor position coincides with the destination (YES in step 313).

[0039]Route re-search After this, avoid the avoidance point entered earlier and move to the destination
To re-search for the shortest route that can be reached,
Press the display key. Then, the route search unit 14 has already searched.
It is registered in the registration unit 17 from the guide route data
Select intersections before and after the avoidance point (step 3
YES in step 11, step 401 in FIG. 8. Figure 9 here
CP₁And CP₂, The route search unit 14 determines that the CP
₁To CP₂CD-RO map data in the range
Read from M1 to the buffer memory 11 and read
C using the intersection netlist CRNL in the map data
P ₁To CP₂Connect up to
Search for the shortest route using the horizontal search method described above
(Step 402).

At this time, before starting the re-search processing, the intersection netlist CRN corresponding to the intersections CP ₁ and CP ₂
For L, the distance between adjacent intersections between CP ₁ and CP ₂ is replaced with an extremely large distance. This makes CP ₁
The original guide route that connects from CP to CP ₂ will not be searched as the shortest route anymore because the cumulative distance becomes too large, and various routes that connect from CP ₁ to CP ₂ and bypass the guide route up to that point. The shortest route (see the one-dot chain line GR 'in FIG. 9) is searched for. After this, the route search unit 14
Replaces the CP ₁ to CP ₂ of the initial guide route data stored in the guide route storage unit 15 with the node data string re-searched this time to correct the guide route data (step 403). If other avoidance points are also registered in the registration unit 17, for each avoidance point,
Steps 401 to 403 are repeated (YES in step 404).

[0041] If you want to start the route guidance route guidance, the steps of the first route search may press the route guidance start key after the end to the middle or the destination of the end or after the auto-scroll (7 315
Or YES at 312). Here, after re-searching for the shortest route that can reach the destination by bypassing the avoidance point,
If the route guidance start key is pressed, the navigation controller 10 determines YES in step 315,
Vehicle position data and vehicle azimuth data are input from the GPS receiver 2 (step 316), the map image drawing unit 16 reads the map data including the vehicle position from the CD-ROM 1 to the buffer memory 11, and uses the read map data. A map image with the vehicle position as the center and the north facing upward is drawn in the video RAM 18. Next, from the guide route data stored in the guide route storage unit 15, a guide route selected in the drawing area of the map image is selected, and a guide route which is overlaid on the map image and emphasized in a color different from that of a normal road is thickly drawn. draw. Then, a vehicle position mark with the vehicle azimuth direction facing the center of the map image is drawn. The image drawn in the video RAM 18 is read by the video conversion unit 19, converted into a predetermined video signal, output to the display device 4, and displayed on the screen (step 317). As a result, the map image MP including the vehicle position is displayed on the screen together with the guide route GR and the vehicle position mark CM as shown in FIG.

After this, the navigation controller 1
0 returns to step 316 and inputs new vehicle position data and vehicle azimuth data from the GPS receiver 2, draws a map image centering on the new vehicle position together with the guide route and the vehicle position mark, and displays it on the screen ( Step 317).
Hereinafter, similar processing is repeated. As the vehicle runs, the screen scrolls the map showing the guide route with the vehicle position fixed at the center. As a result, the driver can easily and quickly reach the destination while avoiding the point at which he / she wants to avoid traveling on a bad road or the like only by traveling along the guidance route after starting the route guidance.

In the above embodiment, the guide route is automatically scrolled when the automatic scroll key is pressed after the first route search is completed. However, the guide route is automatically displayed after the first route search is completed. The route may be automatically scroll-displayed. Also, when the automatic scroll ends up to the destination, or if the re-search instruction key is pressed during the automatic scroll, the re-search is performed, but when the automatic scroll ends up to the destination, the automatic re-search is performed again. May be performed.

Further, an avoidance start point input key and an avoidance end point input key are provided in the operation section, and as shown in FIG. 13, the avoidance start point input key and the avoidance end point are input during automatic scrolling along the initial guide route GR. The cursor position data at the time when the point input key is pressed is registered in the registration section as the avoidance start point and the avoidance end point, respectively (see FD _S and FD _{E in} FIG. 13). Then, when the user instructs a re-search or when the cursor position reaches the destination by automatic scrolling, the route search unit refers to the original guide route data and finds the most on the departure point side from the avoidance start point on the guide route. Intersection CP ₁ near the avoidance start point
Then, the intersection CP ₂ closest to the avoidance ending point on the destination side is selected from the avoidance ending point. Next, for CP ₁ to CP ₂ , the original guide route is bypassed and the optimum route (GR ′ in FIG. 13) to reach the destination is searched again,
The guide route data may be modified. By doing this, before the route guidance is started, it is possible to complete the search for the guidance route that does not pass the route that the user does not want to travel due to frequent congestion, etc. After the route guidance is started, the user can easily reach the destination without traveling along a route that the user does not want to travel due to traffic congestion, etc. simply by traveling along the route. Also,
When searching for the avoidance start point and the avoidance end point from the initially searched guidance route, it is possible to save the trouble of performing a map scroll operation with a cursor key or the like.

[0045]

As described above, according to the present invention, the map data and the guide route data are used when the user instructs the automatic scrolling of the guide route after completing the search for the optimum route connecting the departure point and the destination. Then, while moving the cursor position along the guide route from the starting point to the destination side, the map image around the cursor position is drawn together with the guide route and the cursor mark, and the screen is displayed on the display means for automatic scrolling. When the user performs an avoidance point input operation during scrolling, the cursor position at that time is registered as an avoidance point. Then, when the user instructs the re-search or when the cursor position reaches the destination, the avoidance point registered using the map data is bypassed to re-search for the optimal route to reach the destination, and the guide route is set. Since it is configured to correct the data, the user can complete the search for the guide route that does not pass the point where the user does not want to travel before the route guide is started, so that the user can guide the route after starting the route guide. By simply traveling along the route, the user can easily and quickly reach the destination without passing through a point where the user does not want to travel due to a bad road or the like. Further, when searching for an avoidance point in the initially searched guidance route, it is possible to save the trouble of performing a map scroll operation with a cursor key or the like.

According to another invention, the map data and the guide route data are used when the user instructs the automatic scrolling of the guide route after completing the search for the optimum route connecting the starting point and the destination. Then, while moving the cursor position along the guide route from the starting point to the destination side, the map image around the cursor position is drawn together with the guide route and the cursor mark, and the screen is displayed on the display means for automatic scrolling. The cursor positions at the time when the user performs the avoidance start point input operation and the avoidance end point input operation during scrolling are registered as the avoidance start point and the avoidance end point. Then, when the user instructs a re-search or when the cursor position reaches the destination, an optimal route to reach the destination is bypassed from the avoidance start point registered using the map data to the avoidance end point. Since it is configured to re-search and correct the guide route data, the user can complete the search for the guide route that does not pass the route that the user does not want to travel before the route guide is started. After the route guidance is started, the user can easily reach the destination without traveling along a route that the user does not want to travel due to traffic congestion, etc. simply by traveling along the route. Further, when searching for the avoidance start point and the avoidance end point from the initially searched guide route, it is possible to save the trouble of performing a map scroll operation with a cursor key or the like.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a vehicle-mounted navigation device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of data stored in a guide route storage unit.

FIG. 3 is an explanatory diagram showing a data structure of a road layer.

FIG. 4 is an explanatory diagram of an intersection netlist.

FIG. 5 is a first diagram showing the operation of the navigation controller.
2 is a flowchart of.

FIG. 6 is a second diagram showing the operation of the navigation controller.
2 is a flowchart of.

FIG. 7 is a third view showing the operation of the navigation controller.
2 is a flowchart of.

FIG. 8 is a fourth view showing the operation of the navigation controller.
2 is a flowchart of.

FIG. 9 is an explanatory diagram showing roads around a vehicle position.

FIG. 10 is an explanatory diagram of a route search method.

FIG. 11 is an explanatory diagram showing a screen display example.

FIG. 12 is an explanatory diagram showing a screen display example.

FIG. 13 is an explanatory diagram of a re-search operation in a modified example of the present invention.

[Explanation of symbols]

 1 CD-ROM 2 GPS receiver 3 Operation part 4 Display device 10 Navigation controller 11 Buffer memory 12 Cursor position calculation part 13 Destination setting part 14 Route search part 15 Guided route storage part 16 Map image drawing part 17 Registration part 18 Video RAM 19 Video converter

Claims (2)

[Claims] 1. A map data storage means for storing map data, a vehicle position detection means for detecting a vehicle position and a vehicle direction, and an automatic search for an optimum route connecting a departure place and a destination using the map data, Route search means to be stored in the guide route storage means as guide route data, map image drawing means for drawing a map image around the vehicle position together with the vehicle position mark using the map data, and displaying it on the screen on the display means, and guide route data In a vehicle-mounted navigation device equipped with a route guidance means for performing route guidance using, the map data and the guidance route are automatically displayed when the user instructs automatic scrolling of the guidance route after the route search means completes the route search. Using the data, guide the map image around the cursor position while sequentially moving the cursor position from the starting point to the destination side along the guide route. A registration that registers the current cursor position as an avoidance point when the user performs an avoidance point input operation during automatic scrolling by drawing together with the path and cursor mark and displaying it on the screen of the display means for automatic scrolling. Optimal to reach the destination by bypassing the avoidance point registered in the registration means using the map data when the user instructs a re-search or when the cursor position reaches the destination. The vehicle-mounted navigation device is characterized in that the guide route data stored in the guide route storage means is corrected by re-searching for various routes. 2. A map data storage means for storing map data, a vehicle position detection means for detecting a vehicle position and a vehicle direction, and an automatic search for an optimum route connecting a departure place and a destination using the map data, Route search means to be stored in the guide route storage means as guide route data, map image drawing means for drawing a map image around the vehicle position together with the vehicle position mark using the map data, and displaying it on the screen on the display means, and guide route data In a vehicle-mounted navigation device equipped with a route guidance means for performing route guidance using, the map data and the guidance route are automatically displayed when the user instructs automatic scrolling of the guidance route after the route search means completes the route search. Using the data, guide the map image around the cursor position while sequentially moving the cursor position from the starting point to the destination side along the guide route. Path and cursor mark, and display on the screen of the display means to automatically scroll, and the cursor position at the time when the user performs the avoidance start point input operation and the avoidance end point input operation during the automatic scrolling. Is provided as an avoidance start point and an avoidance end point, and the route search means is registered in the registration means using the map data when the user instructs a re-search or when the cursor position reaches the destination. The vehicle is characterized in that the optimum route to reach the destination is re-searched by bypassing the avoidance start point to the avoidance end point, and the guide route data stored in the guide route storage means is corrected. Navigation device.