JPS61100898A - Course guidance unit for vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a device for guiding and guiding a vehicle according to a preset expected passage route, and relates to a route guiding device for a vehicle that improves the reliability of guidance. Ru.

[Technical disadvantages of the invention and its problems j A vehicle route guidance device is a device that displays a preset expected route for a vehicle on the screen of a display device and guides the vehicle to a destination according to this display. .

What is important in this guidance operation is to accurately detect the current position of the vehicle and accurately mark and display the detected current position over the planned route displayed on the screen of display device 1. There is something to do.Then, pass the planned route.For example, when turning at the next intersection, clearly indicate the distance to the next intersection. 2. The shape of the intersection LA and the direction of turning at the intersection are indicated by arrows 29 (-71, -J) to indicate the direction in which the vehicle should proceed.

The current position of the vehicle is determined based on the vehicle's travel distance detected by the travel distance sensor and the traveling direction of the vehicle detected by the travel direction sensor. In addition to the changes, the location on the path where the vehicle travels, for example, whether it travels on the left center line or in the overtaking lane closer to the center, the number of times the vehicle changes lanes due to overtaking, etc. It changes depending on various factors such as the turning radius when the vehicle turns left or right.For this reason, when the vehicle is traveling on a long route, it is detected based on the distance traveled and the direction of travel. When the current position of a vehicle is displayed on a road map on the screen of a display device, it may be displayed at a location different from the location where the vehicle actually exists. detects intersections where the vehicle turns and resets the travel distance at each intersection (
The error in the traveling distance N1 is minimized, thereby allowing the current position of the vehicle to be detected accurately.

(Unexamined Japanese Patent Publication No. 57-3199) By the way, at 111, which winds around an intersection where vehicles are formed, the 11 cars always face in the middle direction between the direction in which they enter and the direction in which they exit. In view of this, we have proposed a method for detecting intersections by monitoring and detecting the intermediate directions, that is, the directions entering and exiting the intersection, and the half-value directions. According to this proposal, the half-value azimuth when a vehicle passes through a singular point such as an intersection where the traveling direction changes is detected, and the detected half-value azimuth is stored in advance in the intersection planned route storage device. The FR whose both-hand ship direction matches the half-value direction of
It is determined that this is the point where the vehicle has passed the M intersection, the travel distance is reset to zero at this point, and the travel distance to the next intersection is set to nm from this point. Therefore, according to this proposal, it is possible to detect the passage of a vehicle through an intersection. On the other hand, by comparing such half-value directions, C
In the method of detecting a passing singular point such as an intersection, C is a method in which the passage before the next intersection to be passed is curved so as to proceed in the same direction as the half-value direction of the intersection, or if the passage before the next intersection is curved so as to proceed in the same direction as the half-value direction of the intersection. Just before the car was about to hit, the car in front of it stopped, causing C.
If the driver changes lanes in the same direction as the intersection in order to avoid the intersection, the half-value heading will be detected at this point, resulting in erroneous detection of passing singular points such as intersections. There is a risk. FIGS. 7(a) and 7(b) are diagrams for explaining such a case. First, Figure 7 (a
), if the vehicle 91 is traveling on the road 61 in the direction shown by the arrow 63, then this arrow direction 63 is the direction in which the vehicle 9
65 half-value direction o of the two-way intersection where 1 is about to turn next
If the direction matches r, the arrow direction 63 detected at the time when the vehicle 91 travels on the road 61 in front matches the half-value direction θ'' of the next intersection 65.
There is a problem in that when the vehicle 91 travels on the path 61 in the foreground, it is determined that it has passed through the intersection 65 and the vehicle 91 ends up in the intersection 65. In addition, in FIG. 7(b), when a vehicle 73 traveling on the road 71 in the foreground attempts to turn left at the next intersection 79 as indicated by an arrow 81, it also runs on the road 71 in the foreground. For example, if a preceding vehicle 1175 is stopped in the middle of the road in front of the preceding vehicle 73, trying to enter the dry road 77 on the right side of the road, the vehicle 73 will turn left in front of the preceding vehicle 75 as indicated by the arrow 83. It will be necessary to change lanes in the same direction. As a result, vehicle 73 is in the lead r@
The traveling direction detected when changing lanes to the left to avoid 75 coincides with the half-value direction when turning left at the next intersection 79, and at this time, in other words, at a position before the intersection 79 that avoids the preceding vehicle 75. It may be determined that the vehicle has passed through the intersection 79.

[Object of the Invention] The present invention has been made in view of the above, and its object is to provide a route guidance device for a vehicle that accurately detects a passing point on a scheduled route to a preset destination. Our goal is to provide the following.

[Summary of the invention] In order to achieve the above object, a planned route to the destination is set in advance by sequentially specifying passing singular points on the route to the destination, and the width is set in advance by specifying the passing singular points on the route to the destination. As shown in FIG. Singular point indicating means 3 for instructing and outputting a passing singular point accompanied by a change in the direction of travel
and a reference pattern of a change in the traveling direction of the vehicle when passing for each of the passing singular points that involve a change in the traveling direction, and a reference pattern corresponding to the passing singular point that is output as an instruction from the singular point indicating means 3. A reference pattern 0 is a reference pattern outputted from the storage means 5, which is a reference pattern 0, which is a reference pattern 0, which is a reference pattern 0, and a reference pattern 0, which is a reference pattern 0, which is a reference pattern 0. The present invention is characterized in that it is configured to have a singularity determining means 9 which detects that the vehicle coincides with the singularity point and determines that the own vehicle has passed the passing singularity for which the singularity indicating means 3 has failed to output an instruction. Ru.

[Embodiments of the invention] Hereinafter, the present invention will be explained in detail using the drawings.

FIG. 2 shows an embodiment of the present invention.

In the same figure, 21 is a h position sensor that detects the traveling direction of the vehicle from the earth's magnetic field, and 23 is a sensor 21
A sensor amplifier 25 that amplifies and shapes the output from, for example, the traveling distance 11! according to the rotation of the tire Aa! I run (-1 distance sensor) which generates the pulse of I-Kodegawa, 27 is the display device that performs various displays, 29 is the I-controller which controls the route setting operation to the destination.
7 an operation section; 31 controls the display output on the display device 27 when setting a route to a destination, and an operation section 29;
The route is set manually using the signal from 111.
Display device 277: A microcomputer that sometimes inputs detection signals from the azimuth sensor 21 and mileage-1 sensor 25 and compares them with a set route to display the traveling direction of both cJi and the like.

The display wave "a27" is a buffer, the memory A33, the buffer memory 834, the display control section 35, and the CR1 display section 37.
to the right. The buffer memory A33 is a buffer memory for temporarily storing intersection shape information, switch position correspondence display information, etc. supplied from the microcomputer 31, and displaying this on the CRI-display section 37. The buffer 7 memory B34 is a buffer memory that temporarily stores road map information supplied from the microcomputer 31 and displays this road map information on the CRr information section 37. The display a1 brake/open control 5 displays the intersection shape information and switch position corresponding display information stored in the buffer memory A33, and the passage map information stored in the buffer memory B34, or by combining them together at 1p1. The display section 37 shows 1.4 control parameters.

The operation unit 29 includes a transparent operation panel 39 installed on the CR1-display screen or arranged at intervals, and a
1" near the display section 37 (and the provided key switch 41).

The transparent operation panel 39 is configured to have a plurality of switch parts formed by dividing the screen of the CRT display section 37 vertically and horizontally into several appropriate sections, and is configured to have a plurality of switch parts formed by dividing the screen of the CRT display section 37 vertically and horizontally. When setting a route, the driver operates the corresponding switch parts according to the content on the screen.

The key switch 41 is composed of independent switches rONJ, 1"0FFj, rS'r
It has four keys to A RT J, rcLE 8 RJ.

The microcomputer 31 has C1) (j, ROM, R
A central control unit 43 consisting of an AM, a senna interface 45 that inputs detection signals from the direction sensor 21 and the travel distance 25, and a boat 4 that inputs signals from the transparent operation panel 39 and key switch 41.
7, an output boat 49 that outputs signals related to the display processed by the central control unit 43 to the display device 27, a road map storage device 50 that stores the route map, and the shape of the intersection. The direction in which the vehicle approaches the intersection, the direction in which the vehicle exits the intersection, the direction in which the vehicle exits, the direction in which the vehicle is judged to be passing, which is an intermediate value between the direction in which it enters and the direction in which it exits, and the intersection which is the singular point in the direction in which it passes, such as the distance between each intersection. The intersection data storage device 51, which stores the data, is stored.

Next, the operation of this embodiment will be explained using the flow chart shown in FIG.

The flowchart shown in FIG.
0) and 11ij flow (steps 200 to 82) for guiding and controlling the C vehicle following this set route to the destination.
0).

First, St! in the route setting work to the destination! l)
! J! The flow is described below by steps 100-160 of FIG. First, r'O of the key switch 41
When the NJ switch is operated to perform initial settings, index images of each passage map are displayed on the CRT display section 37 (steps 100 and 110). The part where the name of the Idemitsu area is displayed from among the area names of the 8 passage map restored and displayed on the screen of the CR1 display unit 37 (by operating the transparent operation panel 39 at D and manually pressing the key) , the Idemitsu I!ll+2 will be selected and displayed on the screen (
Step 120). On the map of the departure area displayed in this way, by pressing the intersection corresponding to the departure intersection from the -C intersection on the transparent operation panel (the exit JE intersection will be displayed, and the shape of this Idemitsu intersection will be displayed). And the intersection where this departure intersection is located is displayed (S1TS/130).

Next, by pressing 1 on the transparent operation panel to select the intersection you plan to pass from the displayed adjacent intersection, this will be detected, and this adjacent intersection will be registered as the intersection you should pass next (steps 140 and 150). .

The rsTARTJ key is operated when the route setting work is completed and the vehicle is displayed one by one based on the set route.In the next step 160, it is determined whether or not this rSTARLil-1 has been pressed. I have identified it. In this case, route setting work 1 has just started, and if ISr'△R1'J key 1 has not been pressed yet, return to step 130, display a new intersection that touches Fjll, and record its σ record. . The same operation is repeated until the destination is reached as shown in step 1307'yMj160.
・Do this repeatedly.

In this way, the route setting to the destination is completed and rS1△
When the RTJ key is operated, heavy vehicle guidance control is carried out after Sfluf 200.

Next, a description will be given of the vehicle guidance process carried out based on the planned passage route set in this manner.

Destination f Move the vehicle to the departure intersection where the guidance set in the route setting work will start, and at this departure intersection
'5 When you operate the TARTJ key to start guidance, you will be directed to the seat Ft (X s ) at this departure intersection.

YS) is plotted in the buffer memory, and the coordinates (XS, YS) of this starting intersection are plotted in the central control unit 43.
The early stage of the performance of the positional disease phloem consisting of the software inside! 1f
jXo, set as Yo, thereby CRr
Step 200), the current position of the vehicle displayed on the screen of the display section 37 is made to match the current position displayed as 0 in the performance section. Next, the numbers of the two next intersections on the set route are read based on the starting intersection that is currently being passed through first, and the distance 1iii from the intersection that is currently being passed to the intersection that is to be passed next is read (Step 210. 220>. Next, the vehicle's progress (one direction is detected every certain distance) is continuously detected by the tin direction sensor 21, and the detected progress (one direction is set at center a, I
The data is sequentially stored in the orientation data holding area of the RAM of the Ii11 section 43 as shown in FIG. 4 (step 225).

Of course, in the direction data sequentially detected in this way, when the vehicle turns at an intersection, the half-coverage 1σ between the entrance direction and exit direction of the intersection Lα is also sequentially included. is what is stored in the . That is, in FIG. 4, 1 is the most recently detected direction data θI6h'
It is stored in the leftmost memory location of the azimuth data holding area of RAM, the azimuth data θI5 that was detected one time ago in history is stored on the right side, and the azimuth data θI5 that was detected one time ago in history is stored on the right side. Then, the fortune-telling direction data is stored in the rightmost end of the holding area in the manner 161, and when new direction data 017 is detected next, each direction stored in this way is stored. data t 1
One by one, from left to right, the fortune-telling data such as Shifu [-shi, Ilu, etc.] tend to disappear from the end.

Then, C1, for example, if the latest h (0 data θI6 is now the outgoing direction), the previous direction data 015 is half 1 fff direction (there is, and the previous horn position f-014 is the incoming direction. Now, 016 to 015, θ14.01
3 Tosaka Keitsu (If you check the data, it will be clear. In the present invention, J3 is detected in this way! ζ output direction θ16
, half value azimuth θ15, and person azimuth θI4 are set as exit azimuth θout which is stored in advance in the front gd intersection data storage device 51.
, compared with A' value orientation θh and input orientation θin, respectively,
When these three azimuth data match, it is determined that the vehicle has passed through the intersection.

Next, each time the vehicle travels a unit distance ΔD based on the distance data from the mileage sensor 25, the h position data θ of the vehicle is read from the direction sensor 21, and each point at which the vehicle travels is read based on the formula shown in step 230. At the same time, plot the staff members X and Y in the buffer memory, and at the same time subtract the mileage calculated as 0 from the distance to the next intersection read in step 220 and add it to the vehicle's current position. The distance to the vehicle is calculated moment by moment (step 230).

In this way, the distance to the next intersection C1 is still 500m.
In the above case, CR1 is transferred via buffer memory B34.
Display section 371 displays the road map and distance traveled (j)
After confirming that the RJ key is not pressed, return to the previous δd step 230 and press W to the next intersection.
[! Repeat this processing loop until the distance is less than 500m.
0 If the "a5" key is pressed during this process, there is some kind of mistake and the actual vehicle interrogation work cannot be performed. ).

If the distance to the next intersection is less than 500 m (if it becomes less than 500 m), proceed to step 620,
At the same time, if the next intersection does not have the target intersection width, an arrow pointing in the direction of Pi li is displayed in the display of the intersection shape.
Whelk 030.640>.

□ Then, calculate the distance n1 to the next intersection, and if this distance is more than 100m, change the entry indication for the next intersection every 100m as shown in Figure 6(a)'c. Controlled by distance display, the distance to the next intersection can be set by 1
00m every minute (step 650.66)
0). Then, in step 650, if the distance to the next intersection is less than 100m, the process shown in FIG. 6(b)
As shown in Figure 1, the arrow indicating the direction of travel is flashed to clearly indicate a change in course (step 665), and then it is determined whether the vehicle is traveling straight (step 670). This poses no problem for visibility when driving straight, but when the vehicle turns left or right, the exit direction, entrance direction, and exit direction overlap with this intersection. An attempt is made to accurately detect the intersection position by comparing the 2r value azimuth, which is an intermediate value with the azimuth.

Therefore, first we will explain the case where the vehicle is not traveling straight.

In this case, as shown in Fig. 4, there is the latest azimuth data C stored sequentially in the RA fvl azimuth data holding r rear, which corresponds to the outgoing azimuth, half-value azimuth, and incoming azimuth, respectively. At the same time as reading θI6 and θI5.014, the exit direction for the intersection stored in the intersection data storage device 51 is 1lθout, half 1ifih
position θh1 person direction (1+ r+ 'a: soit soit
t out (step 690). After reading each azimuth data in this way, it is checked whether there is any C with the same output azimuth (step 700). Instead of confirming that the intersection has been passed by checking only the coincidence of the half-value direction as in the past, this method uses a method in which the exit direction, half-value direction, and entry direction match each other after passing the intersection. Therefore, it is first detected by the direction sensor 21 and stored in the RAM as shown in FIG. 4. Using the latest memorized /J position 016 as the exit direction, this direction data 016
is compared with the exit direction stored in the intersection data storage device 51, and it is determined whether or not they match.

Therefore, if the directions match, it is determined that there is a possibility that the vehicle turned at the intersection in a predetermined direction.
In the next step 705, the output direction, the half-value direction, and the input direction are compared, and a check is made to see if they match. Here,
If the three 6th positions match, it is determined that the intersection has definitely been passed. C1 The location a of this passing intersection X point
Add (Xn, Yn) to the buffer 1 memory by 70, and set the coordinates Xn, y'n of this intersection as the first home values Xo, Yo of the 10th division (location)-10,
Then, the distance M product obtained by multiplying the distance N1 to the intersection by the product f4L'U is reset (steps 750 and 760). Then, the next intersection X: is replaced as the passing intersection, the guidance intersection is advanced by one (step 770), and the process returns to step 210. Note that if the exit direction is different in step 700, or if any of the exit direction, half-value direction, and entry direction is 514 in step 705, it is determined whether the distance to the intersection is within 1100 m (C). step 710).

The meaning within -100m is 1 after passing the intersection.
This means whether or not it is within 00111. If the vehicle is not within 1100m, that is, in this case, J5C is 100m after the vehicle passes the intersection.
If it has progressed beyond m, it returns to C/230 via step 610 and repeats the +tFr operation 1!1.
! There is a return e, but the distance 1 is within 1100m C @
If the JL-4 vehicle passes through the intersection and is still within 100 meters, the exit direction of this vehicle from the intersection is recorded as the intersection data. :i device 51
Check to see if there is a loss with the roll direction stored in , and if the roll direction matches, step 7770
Proceed to lvC guidance intersection one step ahead, step 210
Return to J and C and repeat the same operation for the next intersection.

However, if the outputs of 7J or so do not match in step 720, it is considered that the vehicle has proceeded in the wrong /J direction, so an alarm signal is output and the display of the wrong direction is CR/J.
A comment is displayed on the T display section 37 and a comment instructing registration of one route is displayed (Steps 730 and 7).
40>.

Next, to explain the case where both C1Φ go straight in step 1670, in this case, check whether the crossing distance is Om 'C- or not.Step 68
0), if there is no 0lllr, return to step 230 via step (jlo and repeat the above operation, but if the distance to the intersection is 0In1.:, that is, if the intersection has been reached, proceed to Stella l770, The next intersection to be passed is replaced with C, the guidance intersection is advanced, and the process returns to step 210.

In addition, V3 east of the check in step 630,
If the next intersection is the target intersection, the intersection name on the CRT display flashes, and the segment r: distance - 1 table is repeated until the distance to the target intersection reaches Qm.
When the target intersection is reached, the end display is displayed (steps 800, 810, and 820).

FIG. 5 shows that steps 701, 702, and 703 are used instead of steps 700 and 70!5 surrounded by dotted lines in the lift [1-fl+--] shown in FIG. It is the same as the one shown in the figure. In other words, in the flow shown in FIG.
Check each direction in 811, such as checking for a match in +'jh position? 'j', t.

In the above embodiment, the passing judgment direction for determining whether the person has passed through the intersection i9 point is determined by the following formula C: the person's direction θ
Although the half value azimuth θh is set as M(F), which is intermediate between ir+ and the output azimuth θout, this passage judgment azimuth is not limited to this half fah position, but depends on the eight directions and the output azimuth (determined by the machine). There is a method that can use a predetermined passage judgment/J position.

1θin-Oout 1', 180': Oh
= 1 /'2 (Oin + θout ) 1θi
When n-Oout l >180': θh = 1
/'2 <(Brx-Oout) j-1ε30゜[
[Effects of the Invention] By sequentially specifying one point on the route leading to the destination, a planned route to the destination is set in advance, and the vehicle is invited to follow the planned route.9
In a device that performs guidance, an instruction is output according to a series of change patterns of 16th place or Φ flesh condition 16 as the vehicle travels along a planned route.
Waiting for the change in r direction to pass through point y, the progress of the medium thickness on the passing surface of When passing)' point is detected, so the passage to the preset destination - 1 and the passage of the regular route V +
5'+j +,'a can be detected at +E value. By accurately detecting the passing singular point in this way, it is possible to accurately grasp the 4i1 position of the own vehicle on the planned passing route, and to have (correct guidance along the scheduled passing route of the own vehicle). This can be done reliably.

[Brief explanation of drawings]

Figure 1 t is a diagram corresponding to the claims of this invention, and Figure 2 is one of the fruits of this invention tI1. Figure 3 shows the function of Figure 2) Figure 4 is a diagram showing the direction data holding area, Figure 5 is a block diagram of the route guidance equipment for vehicles. FIG. 6, which shows a part of the operation of another embodiment of the present invention, shows the shape of the intersection C and the direction of travel at the intersection in the vehicle arrest control operation. FIG. 7 is a diagram e for explaining the problem Ij3 in the conventional vehicle route guidance device d. 1...Position detection means 3...Singular point indication 1 stage 5.
...Reference pattern storage means 7...II position detection T4u 9...1°+'J
'+: Issued column f @ 4 figures, 5 figures, 6 figures (a'') Figure 6 (b) Figure 7 (a) Figure 7 (b)

Claims (1)

[Claims] A device that detects the position of the own vehicle in a device that presets a scheduled route to a destination by sequentially specifying specific points to pass through on the route leading to the destination, and guides the vehicle along the scheduled route. a singular point indicating means for instructing and outputting a passing singular point that requires a change in the traveling direction to be passed next based on the detected position of the host vehicle; A reference pattern storage means for storing a reference pattern of a change in the traveling direction of the vehicle when passing the vehicle and outputting a reference pattern corresponding to the passing singular point which is outputted as an instruction from the singular point indicating means, and detecting the traveling direction of the own vehicle. When the azimuth detecting means detects that the detected series of change patterns in the traveling azimuth match the reference pattern output from the reference pattern storage means, the own vehicle passes through the direction specified by the singular point indicating means. A route guidance device for a vehicle, comprising a singular point determining means for determining that the vehicle has passed through a singular point.