JP3965071B2 - Route search system, route search method, and computer program - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
In the present invention, a moving body such as a vehicle is a facility of a predetermined category (in this application, “a facility of a predetermined category” is mainly a facility having an introduction path to the facility facing a main road, or a parking lot of the facility. The present invention belongs to the technical field of a route search system and a route search method for searching for an operation route (referred to as “route” where appropriate in this application) to a facility facing a road) and a computer program.
[0002]
[Prior art]
In recent years, navigation devices that support driving of automobiles have become widespread, and their functions have become increasingly sophisticated. This navigation device has a display device that displays a map, the state of an intersection, etc., and a destination (the “destination” in this application is not limited to the final destination, but includes stop points such as waypoints to the destination) Input device for inputting information from the user, such as setting of home and home, etc., storage device such as DVD / CD-ROM recording map data, search data such as store location information, road data, etc. Self-vehicle position measurement device consisting of GPS sensor, distance sensor, direction sensor, G sensor, etc. for judging vehicle position, voice output device for guiding guidance voice and operation method, voice used for voice operation A navigation processing unit comprising a CPU / ROM / RAM, etc., such as an input device, processing for displaying the vehicle position on a map based on information and data from each device, processing for route search / guidance, etc. Obtain.
[0003]
In addition, a navigation terminal installed in a car, a communication center device equipped with a huge amount of information such as map information and local information, a search function using high-performance computing means, and the navigation terminal and the communication center device communicate with each other. There is a so-called communication navigation device that is connected via a line. In this communication navigation device, it is not necessary for the navigation terminal mounted on the vehicle to include a large amount of map information and high-function computing means, and the information stored in the communication center device can be updated to the latest information at any time. Is.
[0004]
Furthermore, there are some equipped with a communication device for obtaining traffic information and weather information.
[0005]
[Problems to be solved by the invention]
Now, facilities such as a gas station and a convenience store are generally provided facing a main road, and a parking lot is also entered from the main road. However, when these are set as destinations or stopovers, a navigation device including a conventional communication navigation device searches for and outputs the nearest route without considering the type of road. According to such a search result, the place that must be entered from the main road may come out to the back side of the facility using the narrow street, for example, and eventually it was necessary to go around.
[0006]
Therefore, the present invention has been made in view of the above problems. When a route is searched by setting a facility such as a gas station or a convenience store as a destination or stopover, the search is performed so as to be entered from the main road side. It is an object of the present invention to provide a route search system, a route search method, and a computer program that can be used for a normal output.
[0007]
[Means for Solving the Problems]
  In order to solve the above problems, a route search system according to the present invention is a route search system for a mobile object whose destination is a facility of a predetermined category, and a measuring means for measuring a current position of the mobile object, and the mobile object An input means for inputting the destination of the vehicle and a map information including rank information for ranking the road according to the attribute of the road, enabling a route search from the current position of the mobile body to the destination. Based on the map database and map information of the map database, when searching for a route from the current position to the destination, and when searching for the route, if the destination is a facility of the predetermined category, Of the roads where the destination touches, the facility of the predetermined categoryThe route with the destination asSearch means for searching for the route based on the ranking information so as to include roads that are ranked in the ranks of roads used for the search, and output means for outputting the route searched by the search means With.
[0008]
Here, “ranking information” in this application is information that ranks roads according to road attributes. For example, the types of roads such as national roads, prefectural roads, main local roads, general roads, narrow streets, etc. Say.
[0009]
According to the route search system of the present invention, means for detecting the current position of a moving body such as an automobile (for example, a self-contained positioning device or a GPS (Global Positioning System) positioning device including a speed sensor, an acceleration sensor, and an angular velocity sensor), Input means for inputting conditions necessary for ground and route search, map database for storing map information used for route search from the current position to the destination, route from the current position to the destination as map information in the map database Search means for searching based on (for example, CPU for searching based on position information, map information, etc.), output means for presenting the search result to the driver (display device such as liquid crystal or voice output device), and the like.
[0010]
The destination facility for the search is in contact with the main road, and the introduction route to the facility is connected to the main road as a route to a facility of a category such as a gas station, convenience store, etc. The route including the main road is the route to the destination.
[0011]
In general, many facilities such as gas stations and convenience stores have vehicle entrances toward the main road. Therefore, when searching for a route using the position of a main facility such as a gas station or a convenience store as a destination, a route reaching the main facility through a narrow street may be searched as the closest route. If this narrow street is used, it may not be led to the introduction path to the facility, and it may take time to enter the facility. However, the route search system of the present invention prevents this time loss.
[0012]
One aspect of the route search system of the present invention includes a discriminating unit that discriminates whether or not the destination of the mobile object is the facility of the predetermined category.
[0013]
According to this aspect, there is provided means for automatically determining whether or not the destination facility belongs to a predetermined category, and if it is determined that the destination facility belongs to the predetermined category, the road A route search is performed based on the ranking information. The determination can be made, for example, based on information on a search form that is searched by facility search when the destination is detected or searched by scrolling on the map screen. Further, even when searching on the map screen, if information indicating that it is a gas station or a convenience store is registered in the map database, it can be determined based on this.
[0014]
Another aspect of the route search system of the present invention includes an instruction means for instructing that the destination of the mobile object is a facility of the predetermined category.
[0015]
According to this aspect, since the driver inputs whether or not the destination facility belongs to a predetermined category, a route search is performed based on the road ranking information based on this information.
[0016]
  Another aspect of the route search system of the present invention is:The rank of the road used for the searchTheAs standardReference setting means for setting is provided.
[0017]
According to this aspect, the type as the main road to be searched can be freely set. The route can be searched efficiently even in various urban environments.
[0018]
  In another aspect of the route search system of the present invention, the destination, Ranked according to the rank of the road used for the searchIf the road is not touching, the new rank set by the standard setting meansTo include roads ranked inrootThesearchStart over.
[0019]
According to this aspect, when there is no initially set type of road close to the facility and a route cannot be searched, the route can be searched by lowering the rank of this road. On the other hand, when a plurality of main roads are close to each other, it is possible to narrow down to an optimum route by newly setting road ranking information.
[0020]
  Another aspect of the route search system of the present invention is:Limit the number of searches to search again.
[0021]
According to this aspect, it is possible to prevent the route search from taking a very long time and being unable to escape from the route search.
[0022]
Another aspect of the route search system of the present invention includes search frequency setting means for setting the search frequency.
[0023]
According to this aspect, it is possible to limit the route search time and the escape time from the route search.
[0024]
  In another aspect of the route search system of the present invention,DestinationClosest road toThe distance from the destination to the destination,Searched based on the ranking informationThe distance from the road closest to the destination on the route to the destinationAnd calculating means for calculating the distance difference between the first and second distances based on the ranking information if the distance difference calculated by the calculating means is within a predetermined value.The route searched forA route to the destination.
[0025]
According to this aspect, a route including a higher-class road is searched, and even if it is longer than the shortest route (that is, a route including a national road is longer than a route including a general road), the shortest route is obtained as a result. Is shown to the driver as a search result. This is because even if the shortest route is a narrow street connected to the facility, the time to reach the destination will be short after all.
[0026]
Another aspect of the route search system of the present invention includes distance difference setting means for setting the distance difference.
[0027]
According to this aspect, it is possible to arbitrarily set an allowable distance difference between the corresponding facility between the road closest to the facility selected by the shortest route and the main road. That is, it is possible to determine an allowable time difference from the case of using the shortest route to reach the destination.
[0028]
  Another aspect of the route search system of the present invention is:The search means includesThe destination isSaidIf it is a facility of a predetermined category,Of the roads in contact with the facility, they are ranked according to the ranks of the roads used for the search.The position of the roadFacilityIs used for searching the route.
[0029]
According to this aspect, since the road based on the ranking information that contacts the facility of the predetermined category is searched as the position of the facility, the route including the main road can be searched more accurately and quickly.
[0030]
  In another aspect of the route search system of the present invention, the route search system is mounted on the mobile body.Navigation deviceinclude
[0031]
According to this aspect, the route of the present invention for searching for a route using a function constituting a navigation device mounted on a vehicle, such as a positioning device, map information D / B (database), a search device, an output device, etc. A search system is configured. There is no particular increase in cost or installation space. The “map information D / B” in the present application is not limited to terrain information, but also includes information about roads, for example, information such as road types and introduction routes to adjacent facilities.
[0032]
Another aspect of the route search system of the present invention is included in a communication navigation system including a navigation terminal, a communication center device, and a communication line connecting them.
[0033]
According to this aspect, the navigation terminal mounted on the vehicle or the like is used as the input / output means and the position detection means, the route information is searched by the map information D / B of the communication center apparatus and the search apparatus, and the navigation terminal and the communication center apparatus The route search system of the present invention is configured by transmitting and receiving data related to the search through the communication line by the communication means provided in each. There is no particular increase in cost or installation space. Also, the communication cost can be reduced by limiting the number of searches.
[0034]
  In order to solve the above problems, the route search method of the present invention measures the current position of the moving object, the input step of inputting the destination of the moving object, and the destination from the current position of the moving object. The route from the current position to the destination is searched based on map information having ranking information that ranks the road according to the attribute of the road, and the route is searched. In the case where the destination is a facility of the predetermined category, the facility of the predetermined category among the roads where the destination touchesThe route with the destination asA search step for searching for the route based on the ranking information so as to include a road that is ranked in the rank of the road that is used for the search, and an output step for outputting the route searched for by the search means With.
[0035]
According to the route search method of the present invention, the current position of a moving body such as an automobile is detected using a self-supporting positioning device or a GPS positioning device, the destination is input, and the map information and current position of the map information D / B are detected. From the destination information, if the destination is a facility of a predetermined category, a route to reach the destination is searched based on the ranking information ranked according to the road attributes. According to this method, based on the ranking information, that is, a route that enters a facility of a predetermined category from a high-ranking main road is searched.
[0036]
  One aspect of the route search method of the present invention is,Based on the ranking informationIncluded in the searched routeRoadTo the destinationIf not touching,As the rank of the road used for the searchNewly set rankTo include roads that are ranked inSearch routeStart over.
[0037]
According to this aspect, when there is no road based on the initial rank information adjacent to the facility, the route search is performed by newly setting the road rank information. The route search is surely performed by resetting the ranking information, that is, by setting a lower rank road.
[0038]
  Another aspect of the route search method of the present invention is:The number of searches for re-searching the route is limited.
[0039]
According to this aspect, when searching for a route including a road based on the newly set ranking information, it may take a very long time or if there is a possibility that the route cannot be escaped, the number of searches is set. Limit the search time.
[0040]
  In another aspect of the route search method of the present invention,DestinationClosest road toThe distance from the destination to the destination,Searched based on the ranking informationThe distance from the road closest to the destination on the route to the destinationIf the calculated distance difference is within a predetermined value, based on the ranking informationRouteA route to the destination.
[0041]
According to this aspect, even if a route including a higher-class road is searched for and longer than the shortest route (that is, a route including a national road is longer than a route including a general road), as a result Route is presented to the driver as a result of the search. This is because even if the shortest route is a narrow street connected to the facility, the time to reach the destination will be short after all.
[0042]
  In another aspect of the route search method of the present invention, the destination isSaidIf it is a facility of a predetermined category,Of the roads in contact with the facility, they are ranked according to the ranks of the roads used for the search.The position of the roadSaidThe route is searched as the location of the facility.
[0043]
According to this aspect, since the road based on the ranking information in contact with the facility of the predetermined category is set as the location of the facility, it is possible to search for a route entering the facility from the main road more accurately and quickly.
[0044]
The computer program of the present invention is a program for causing a computer to function as the route search system according to any one of claims 1 to 12 in order to solve the above-described problems.
[0045]
According to this aspect, the computer program of the present invention causes a computer to function various means included in the above-described route search system of the present invention and to search for a route according to a predetermined search method and procedure. More specifically, the computer includes various components such as current position measurement control by the positioning device, destination input control, map database control, predetermined search method, route search control by procedure, search result output control, etc. Is operated and controlled as a function of
[0046]
The computer program may be read from a recording medium such as a CD-ROM, DVD-ROM, or hard disk and executed by a computer, or if it is a fixed program, it can be easily written in the program recording area of the CPU. Device control can be realized. Moreover, you may make it download via a communication means.
[0047]
Such an operation and other advantages of the present invention will become apparent from the embodiments described below.
[0048]
DETAILED DESCRIPTION OF THE INVENTION
(Embodiment related to route search system)
An embodiment relating to a route search system will be described with reference to FIGS. 1 to 3. Here, FIG. 1 is a block diagram showing the configuration of the route search system of the present invention, FIG. 2 is a diagram showing an example of applying the route search method of the present invention, and FIG. 3 applies the route search method of the present invention. It is a figure which shows the other example to do.
[0049]
As shown in FIG. 1, the route search system according to the present invention includes route search means 101, map information D / B 102, search condition input unit 103, current position input unit 104, destination input unit 105, search program 106, and output. Means 107, positioning device 108, destination search means 109, category discrimination means 110, road type setting unit 111, search frequency setting unit 112, and distance difference setting unit 113 are configured.
[0050]
The route search means 101 searches for the travel route of the vehicle from the current position to the destination by a predetermined search method with reference to the map information based on the current position, the destination, and other various search conditions. The search result is presented to the driver by display means, audio means and the like.
[0051]
The map information D / B 102 stores map information. For example, road node information, link information, intercity high speed, urban high speed, toll road, national road, prefectural road, main local road, general road, narrow street A large amount of map information data such as road type, facility information, facility type, scale display map information, and the like are stored. Map information data for route search by the route search means 101 is provided.
[0052]
The search condition input unit 103 inputs a condition when the route search unit 101 performs a route search. The conditions include, for example, the category of the facility as the destination (facility classification such as a gas station and a convenience store), the type of road, the number of times of route search, and the restriction on the distance difference between the searched route and the reference route.
[0053]
The current position input unit 104 inputs position information serving as a starting point for route search. The current position is obtained from an independent positioning device or a GPS positioning device mounted on the host vehicle, and is input to the route search means 101.
[0054]
The destination input unit 105 designates a facility where the driver is a destination. A destination position searched by a destination search means 109 described later is input, and a route from the current position to the destination is searched under a predetermined condition.
[0055]
The search program 106 is a program that describes a predetermined search method, procedure, and the like for searching for a route from the current position to the destination. The route search means 101 is operated based on the set search condition.
[0056]
The output unit 107 is a unit that outputs the route searched by the route search unit 101 and informs the driver. For example, there is a display device including a liquid crystal or the like that outputs a search route as an image, and a sound output device including a speaker or the like for instructing the route as sound. Further, it may be printed out by a printer.
[0057]
The positioning device 108 is for knowing the current position of the host vehicle, and is a self-contained positioning using a GPS positioning device that receives radio waves from a plurality of satellites and determines a position, an acceleration sensor, an angular velocity sensor, and a velocity sensor. A device or the like is used. The detected position information is supplied to the route search means 101 via the current position input unit 104.
[0058]
The destination detection means 109 is used for finding a target facility for the driver, and is performed using the map information of the map information D / B 102. A method of instructing a target facility on a map screen displayed on the display device, a method of inputting information related to the facility and performing a search, and the like are used. The detected destination is supplied to the route search means 101 via the destination input unit.
[0059]
The category discriminating unit 110 discriminates the category of the facility from the detection result of the destination detecting unit 109. It is also possible to determine whether the destination is searched by facility search or by searching by scrolling on the map screen. Further, even when searching on the map screen, if there is map information in which information such as a gas station or a convenience store is registered in the map information D / B 102, it can be determined based on this. Further, when the driver inputs that the destination is a facility of a predetermined category, this input information can be used.
[0060]
The road type setting unit 111 sets the rank and type of the road to be adopted as the route. In the present invention, when a facility of a predetermined category is a destination, it is assumed that the facility enters from a main road. For example, a gas station or a convenience store has its approach route led to a main road. However, if it is limited to only the highest main road, it may not be searched. Therefore, in order to avoid this, it is a means for re-searching by newly setting the type of road. Usually, a new road is set based on the ranking information, and is set in order from the highest to lowest, for example, from national road to prefectural road, general road.
[0061]
The search count setting unit 112 sets the number of route searches. When there is no road of a predetermined rank or higher in the route search to the destination facility, the search time is limited by limiting the number of searches.
[0062]
The distance difference setting unit 113 sets a distance difference to the relevant facility between the searched road of the rank or higher and the road closest to the facility selected by the closest route as a reference. Even if a route passing through the main road is found, if the vehicle travels an extremely longer distance than the nearest route, a time loss is large, which is contrary to the gist of the present invention.
[0063]
Note that the above-described number of searches and distance difference may be set in the search program 106 in advance.
[0064]
The block configuration described above is one example that embodies the route search system of the present invention, and other block configurations having the same functions and operations are also included in the route search system of the present invention.
[0065]
Next, a specific application example of route search using the route search system shown in FIG. 1 will be described with reference to FIGS.
[0066]
First, as shown in FIG. 2, it is assumed that L1 to L3 are main national roads, L4 to L8 are narrow streets, and the store 1 is provided close to L6, the current position of the host vehicle is the position P1. . In this case, for the convenience of the user, the introduction path to the parking lot of the store 1 is generally provided facing the main national road L2, and the approach road to the facility is connected to the main national road L2. Yes. Here, the store 1 refers to a facility belonging to a predetermined category such as the above-described gas station or convenience store.
[0067]
The route from the position P1 to the store 1 includes the route R1 from the road L8 to the road L6, the road L8, and the route R2 from the road L7 to the road L2. The route R2 using the main national road L2 is based on the input conditions. It is searched as the optimal route and presented to the driver. In the conventional method of searching for the shortest route, the route R1 is shown. However, according to the route search system of the present invention, the route using the main national road that can be easily introduced into the parking lot is given priority in the facility such as a store. Will be presented.
[0068]
Further, as shown in FIG. 3, the roads L1 to L7 are main national roads, the road L9 is a general road, the roads L8 and L11 to L14 are narrow streets, and the store 1 is located between the roads L6, L9, and L10. The approach path of the store 1 is assumed to be connected to the general road L9. Further, it is assumed that the current position of the host vehicle is the position P1. In this case, the route from the position P1 to the store 1 is a route R1, road L1, L4, L5, L6, L10, a route R2, road L1, L4, L5, L9, a route R2, road L1, L2, L11, L12, L13. R3 is a candidate. In such a case, the route R2 including the general road L9 is searched as a route and presented to the driver by introducing the road type and the distance difference between the facility and each road as a criterion for determination. That is, in the route R1, the facility 1 is closest to the current position P1 but eventually becomes a detour, and the route R3 is not selected because it passes through a narrow street and is far away.
[0069]
Next, limit the number of searches, limit the distance difference between the closest road to the facility selected on the shortest route and the next searched road, change the criteria of the main road, select the road type, etc. An example of a route search that meets the purpose as a condition will be described with reference to the route search flowcharts shown in FIGS.
[0070]
  First, figure4As shown in Figure 2, in the route search for the purpose of entering the store parking lot,The road closest to the destinationThat is, the nearest neighbor link search is executed (step 101). This is from the location information of the specified destinationNearest road link from destinationIn FIG. 2, the road L6 is the target. Next, it is determined whether or not the designated destination is a store (step 102). This determination is made based on the result of searching for facilities, the result of searching and specifying on the map screen, or the map information and information input from the driver.
[0071]
Next, when it is determined that the destination specified in step 102 is not a store, the road searched in step 101 is set as a route (step 106). On the other hand, if it is determined that it is a store, it is determined whether or not the searched road L6 is a main road such as a national road or a prefectural road (step 103). If it is determined that the road is a main road, the road searched in step 101 is set as a route (step 106). On the other hand, if it is determined that the road is not a main road, a search for the next closest road, that is, a search for a nearby link is executed (step 104). In FIG. 2, the road L2 is a target.
[0072]
Next, it is determined whether or not the road L2 searched in step 104 is a main road such as a national road or a prefectural road (step 105). If it is not a main road, it returns to step 104 again and searches for the next route. If it is a main road, the road searched at this time is presented as a route (step 106).
[0073]
FIG. 5 adds a flow for limiting the number of executions of step 104 in FIG. 4 and restricts the search from taking more time than necessary without selecting a road far from the facility. If No in step 105, the number of executions of the near link search is counted and it is determined whether or not the number is less than the set number (step 105a). If the number is smaller, the process returns to step 104 and the route is searched again. If the number is larger, the road searched in step 101 is presented as a route (step 106a). In this case, a route including a road with a lower rank is presented as the next best route.
[0074]
It should be noted that the categories and the number of searches as the main road in the route search described above may be initially described in the program, or may take a system form that can be set or changed by the driver. It is natural.
[0075]
Next, a description will be given of a route search in which a distance difference is restricted between the searched route from the current position to the destination and the nearest link route in the route search shown in FIG.
[0076]
  First, as shown in FIG. 6, in the route search aimed at entering the store parking lot, the nearest link search is first executed (step 201). This is specifiedNearest road link from destinationIn FIG. 2, the road L6 is the target. Next, it is determined whether or not the designated destination is a store (step 202). This judgment is a figure4This is performed in the same manner as described in step 102.
[0077]
Next, when it is determined that the destination specified in step 202 is not a store, the road searched in step 201 is set as a route (step 207). On the other hand, if it is determined that it is a store, it is determined whether or not the searched road L6 is a main road such as a national road or a prefectural road (step 203). If it is determined that the road is a main road, the road searched in step 201 is set as a route (step 207). On the other hand, if it is determined that the road is not a main road, a search for the next closest road, that is, a search for a nearby link is executed (step 204). In FIG. 2, the road L2 is a target.
[0078]
Next, it is determined whether or not the road L2 searched in step 204 is a main road such as a national road or a prefectural road (step 205). If it is not a main road, it returns to step 204 again and searches for a route. If it is a main road, the distance difference between the road closest to the relevant facility searched in step 201 and the main road with respect to the relevant facility is determined (step 206). If the distance difference is equal to or greater than the predetermined value ΔL, the process returns to step 204 to search for a nearby link again. On the other hand, if it is equal to or less than the predetermined value ΔL, the road at that time searched in step 204 is set as a route (step 208).
[0079]
Even if a route including a main road is searched by the above process, if the distance from the main road to the facility is far away from the narrow street close to the facility, the narrow street should be presented as the optimum route. become. Therefore, by introducing the restriction of the distance difference, it meets the demand of the driver who desires to enter the parking lot in the shortest time.
[0080]
FIG. 7 adds a flow for limiting the number of executions of step 204 in FIG. 5 and restricts that the search time is longer than necessary. If No in step 205, the number of executions of the near link search is counted, and it is determined whether or not the number is less than the set number (step 205a). If the number is smaller, the process returns to step 204 and the route is searched again. If the number is larger, the road searched in step 201 is presented as a route (step 207). In this case, a route including a road with a lower rank is presented as the next best route.
[0081]
In the road search in the middle of FIG. 4 (for example, step 104), the searched road is stored, the type of the road found last time is compared with the type of the road found this time, and a lower type road is found. Uses the previously found road as the target road to the destination (including a stopover). For example, when the search is performed according to the procedure shown so far in FIG. 3, the road L10, the road L9, and the road L8 are searched. However, since the road type is road L8 <road L9, the road L8 is not a target road. The road L9 is the target road.
[0082]
In addition, the category as the main road, the number of searches, the distance difference, etc. in the route search described above may be initially described in the program, and a system form that can be set or changed by the driver. Of course, it is very good.
[0083]
As described above, the search for a route to a facility having a parking lot entering from a main road has been described. When it is determined that the facility is a facility of a predetermined category, the position of the main road adjacent to the facility is treated as the position of the facility. Thus, route search can be performed more effectively.
(Configuration example of navigation device and communication navigation system to which the present invention is applied)
Next, a navigation device and a communication navigation system to which the route search system of the present invention is applied will be described with reference to FIGS. FIG. 8 is a block diagram showing the configuration of a complete navigation device mounted on a vehicle, and FIG. 9 is a communication navigation system in which a navigation terminal mounted on the vehicle and a communication center device are connected via a communication line. FIG. 10 is a block diagram showing the configuration of the communication center apparatus. Note that the navigation terminal in the communication navigation system basically uses the device configuration shown in FIG. 8, but there are sufficient components that are not necessarily required and components that are functionally low in rank, as will be described later. The terminal configuration is small and simple.
[0084]
First, as shown in FIG. 8, the navigation device 5 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, an input / output (I / O) circuit 21, a CD-ROM drive 31, a DVD-ROM drive 32, and a hard disk. A device (HDD) 36, a wireless communication device 38, a display unit 40, an audio output unit 50, an input device 60, and an external interface (I / F) unit 61 are configured. Each unit includes control data and processing data. It is connected to a bus line 30 for transfer.
[0085]
The self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a velocity sensor 13. The acceleration sensor 11 is composed of, for example, a piezoelectric element, and outputs acceleration data obtained by detecting vehicle acceleration. The angular velocity sensor 12 is composed of, for example, a vibration gyro, and outputs angular velocity data and relative azimuth data obtained by detecting the angular velocity of the vehicle when the direction of the vehicle is changed. The speed sensor 13 detects the rotation of the axle of the vehicle mechanically, magnetically, or optically, and outputs a pulse number signal corresponding to the vehicle speed for each rotation of the axle at a predetermined angle.
[0086]
The GPS receiver 18 has a known configuration including a digital signal processor (DSP) or a microprocessor (MPU), a memory, and the like together with a plane polarization omnidirectional receiving antenna and a high frequency reception processing unit. The GPS receiver 18 receives radio waves Wa to Wc (four radio waves Wa to Wd when an altitude value is obtained) from at least three GPS satellites flying in the sky, and performs spectrum despreading, distance measurement, Doppler measurement, orbit Data processing is performed, position calculation and moving speed direction calculation are performed, and absolute position information of the reception point (vehicle traveling point) is continuously output from the I / O circuit 21 to the bus line 30, and the system controller 20 captures it. The screen is displayed on the map road.
[0087]
The system controller 20 includes a CPU 22, a ROM 23, which is a nonvolatile solid-state storage element, and a working RAM 24, and exchanges data with each unit connected to the bus line 30. The process control by the exchange of data is executed by a boot program and a control program stored in the ROM 23. In particular, the RAM 24 temporarily stores setting information for changing the map display by the user operation from the input device 60 (changes to the whole or the district map display).
[0088]
The CD-ROM drive 31 and the DVD-ROM drive 32 store map database information stored in the CD-ROM 33 and DVD-ROM 34 (for example, various road data such as the number of lanes and road width in the map information (foliage)). Is read and output.
[0089]
The hard disk device 36 stores map (image) data read by the CD-ROM drive 31 or the DVD-ROM drive 32, and can read it at an arbitrary time after the storage. The hard disk unit 36 can further store audio data and video data read from the CD-ROM drive 31 or the DVD-ROM drive 32. As a result, for example, while the map data on the CD-ROM 33 or the DVD-ROM 34 is read and a navigation operation is performed, the audio data and video data stored in the hard disk unit 36 can be read and audio output and video output can be performed. Alternatively, the navigation operation can be performed by reading out the map data stored in the hard disk unit 36 while reading out audio data and video data on the CD-ROM 33 and DVD-ROM 34 and outputting the audio and video data. Furthermore, audio data, video data, map data, or the like downloaded by the wireless communication device 38 is stored in the hard disk unit 36, and can be read and output at an arbitrary time thereafter.
[0090]
The wireless communication device 38 has the same configuration as that of a general-purpose mobile phone. For example, PDC (Personal Digital Cellular Telecommunication System) system, PHS (Personal Handyphone System) system TDMA, TDD or CDMA configuration (high-frequency radio transceiver, encoding / decoding unit, time division multiplexing unit, control unit, voice input / output Part or the like).
[0091]
The display unit 40 displays various processing data on the screen under the control of the system controller 20. In the display unit 40, the internal graphic controller 41 controls each unit of the display unit 40 based on control data transferred from the CPU 22 through the bus line 30. Further, the buffer memory 42 using a V-RAM or the like temporarily stores image information that can be displayed immediately. Further, the display control unit 43 performs display control, and the display 44 is configured by a liquid crystal display (LCD), an EL (Electro-Luminescence), and a cathode ray tube (CRT), and image data output from the graphic controller 41 is displayed on the screen. indicate. For example, the display 44 is disposed in the vicinity of the front panel in the vehicle.
[0092]
The audio output unit 50 converts the digital signal transferred by the D / A converter 51 through the bus line 30 under the control of the system controller 20 into an analog signal, and the audio analog signal output from the D / A converter 51. A variable amplifier (AMP) 52 variably amplifies and outputs the result to the speaker 53, from which sound is output.
[0093]
The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle.
[0094]
The input device 60 can adopt a weak wireless transmission / reception method or an infrared remote method. In the infrared remote method, an infrared receiver and a decoder are built in the navigation device 5 (generally arranged around the display 44), and a remote controller is used to perform infrared remote control at the user's hand. Become.
[0095]
Next, as shown in FIG. 9, the overall configuration of the communication navigation device is a configuration in which the communication center device 3 and the navigation terminal 6 are connected via a digital mobile network 4 (hereinafter referred to as a communication network as appropriate). . In this communication network, IP packet communication under a TCP / IP (Transmission Control Protocol / Internet Protocol) environment (for example, the Internet) is performed in addition to the navigation terminal 6 in addition to a mobile phone, a personal digital assistant (PDA), a personal computer. And so on.
[0096]
The communication center device 3 retains and maintains the latest map database information including route search information, map information for display at various scales, and the like, which has been traditionally performed by in-vehicle navigation devices. In addition, a search process for an optimum route with a larger processing load is performed instead.
[0097]
The navigation terminal 6 is for in-vehicle use, and at least when displaying a map in a navigation operation, the display map information necessary for display is downloaded from the map database information of the communication center device 3, or the display map information is displayed. Equipped with recording media such as DVD and CD for storage. Then, using such display map information, a road map is displayed on the screen and, for example, an optimum route to the destination, the own vehicle position, the traveling direction, and the traveling locus are displayed.
[0098]
Next, the configuration of the communication center apparatus 3 will be further described with reference to FIG. The communication center device 3 includes a line connection device 71, a microprocessor 72, a communication control device 73, a map information processing database device 74, a map information reading unit 75, a storage device 76, an interface (I / F) unit 77, a timer circuit 82, The bus line 90 is configured.
[0099]
The communication control device 73 constitutes an example of a center side wireless unit, and the map information processing database device 74 constitutes an example of a search unit.
[0100]
The line connection device 71 is for transmitting / receiving a signal from the navigation terminal 6 or a signal to the navigation terminal 6 via the digital mobile line network 4.
[0101]
The microprocessor 72 includes a ROM, a working RAM, and a CPU. The communication center device 3 controls each unit based on a program, and the control data and processing data are exchanged through the bus line 90. The microprocessor 72 further performs various data processing such as optimum route search processing as will be described later in conjunction with the map information processing database device 74.
[0102]
The communication control device 73 executes a communication protocol with the communication line network in conjunction with the line connection device 71. For example, TCP / IP is executed.
[0103]
The map information processing database device 74 includes, for example, route search information consisting of node information, link information, etc. with a huge amount of data covering a wide range of road networks such as the whole of Japan or the whole of Honshu. Stores map database information including map information for display. Further, the map information processing database device 74 uses this map database information to execute data processing such as optimum route search processing in conjunction with the microprocessor 72.
[0104]
The map information reading unit 75 operates as a drive that reads map database information from a CD-ROM or DVD-ROM. The read map database information is transferred to the map information processing database device 74 through the bus line 90 and stored. The update of the map database information in the map information processing database device 74 is executed by reading data from a CD-ROM or DVD-ROM storing the latest map database information.
[0105]
The storage device 76 holds variables and device setting information in the control processing of the microprocessor 72 transferred through the bus line 90.
[0106]
The I / F unit 77 accommodates an external LAN (Local Area Network) for executing various information processing such as replacement of map database information in the map information reading unit 75 and maintenance management.
[0107]
In addition, when this communication center apparatus 3 is used as the Internet, it becomes a known portal site configuration. For example, a web server, an FTP (File Transfer Protocol) file transfer server, a DNS (Domain Name System) server, a FAX / e-mail server, and the like are provided.
[0108]
The navigation terminal 6 has basically the same configuration as the navigation device 5 shown in FIG. 8 as described above, but it is not necessary to have map information as a database. Therefore, the CD-ROM 33 on which map information is recorded. And the DVD-ROM 34 is unnecessary. Further, the hard disk unit 36 only needs to record audio data and video data, and it is not necessary to use a hard disk unit that requires a huge recording area. Furthermore, the route search does not require a high-quality CPU 22 for performing a high-speed search based on a large amount of map information data, and the ROM 23 and RAM 24 having a large storage capacity are not required. .
[0109]
As described above, the communication navigation system is a route that is traditionally performed inside the in-vehicle navigation device by the microprocessor 72 and the map information processing database device 74 in the communication center device 3 in response to a request from the navigation terminal 6. The navigation terminal 6 is provided with route information indicating the optimum route obtained as a result of the route search on behalf of the search.
[0110]
Here, the map database information is, for example, node information covering a road network deployed in a wide area such as the whole of Japan or the whole of Honshu, link information, map information for display in many scales, etc. Data such as backgrounds of railways / water bodies, road / map names (characters) and facility symbols, information on tourist sites / facilities, additional information such as map scales, etc., and the amount of data is enormous. Further, the types of all roads are recorded, for example, the types of highways between cities, urban highways, toll roads, national roads, prefectural roads, main local roads, general roads, narrow streets, and the like.
(First example of route search)
Next, with reference to the sequence chart of FIG. 11, the route search by the navigation apparatus provided with the route search function of the user (driver) and the present invention will be described in the order of time. FIG. 11 shows the relationship between the user and the navigation device 5 over time, with the horizontal lines indicating the mutual relationship and the vertical lines indicating the passage of time.
[0111]
First, the driver requests map information stored in the DVD-ROM disk 34 or the like with the input device 60 of the navigation device 5 in order to search and determine the destination (step 301). The navigation device 5 reads out the map information of the related area based on the request and displays it on the display 44 of the display unit 40 (step 302). The user searches and determines the destination based on the map information (step 303). Next, search conditions for the route to the destination are input (step 304), and the start of the route search is instructed (step 305). As search conditions at this time, enter the number of searches for nearby routes, the limit of the distance difference between the searched routes, the rank and type of the road to be searched, and whether or not the destination falls under a predetermined category such as a store To do. If the destination category can be discriminated in the destination determination process, the result of this process can be used as a condition, and the input regarding the category can be omitted.
[0112]
Next, when a search instruction, input conditions, and the like are transmitted to the navigation device 5 (step 306), the navigation device 5 detects the current position of the host vehicle serving as the root point of the route search by the autonomous positioning device 10 and the GPS receiver 18. (Step 307).
[0113]
Next, it is determined whether or not the destination is a predetermined category, for example, a store (step 308). This may be determined depending on a search method used when searching for a destination, for example, a search by facility search or a search by scrolling on a map screen. Even when searching on a map screen, map information in a form in which information such as gas stations and convenience stores is registered in the map information database may be determined based on this. In addition, when there is an input from the driver that the destination is a store, this information can be used for determination.
[0114]
Next, a route search is performed based on the input conditions (step 309). This route search is based on the map information stored in the DVD-ROM disk 34 or the like by the CPU 22 included in the navigation device 5 and the determination result as to whether the current position of the host vehicle, the destination, or the store, This is done according to the type of road.
[0115]
The search result is temporarily stored in the RAM 24 or HDD 36 included in the navigation device 5 and then displayed on the display 44 of the display unit 40, and is also output by voice from the speaker 53 of the voice output unit 50 (step 310). The driver can confirm this and know the route (step 311).
[0116]
Using the functions provided in the navigation device 5 by the procedure described above, a route search is performed so as to enter a facility such as a store from a main road by a predetermined search method and procedure.
(Second example of route search)
Next, with reference to the sequence chart of FIG. 12, the route search by the communication navigation system provided with the route search function of the user (driver) and the present invention will be described in the order of time. FIG. 12 shows the relationship among the user, the navigation terminal 6 and the communication center device 3 over time.
[0117]
First, the driver requests map information stored in the map information processing D / B 74 of the communication center device 3 from the input device 60 of the navigation terminal 6 in order to search and determine the destination (step 401). The navigation terminal 6 transmits this request from the wireless communication device 38 to the communication center device 3 via the digital mobile network 4 (step 402). Based on the request, the communication center device 3 reads the map information of the area concerned (step 403) and transmits it from the line connection device 71 to the navigation terminal 6 via the digital mobile line network 4 (step 404). After receiving this, the navigation terminal 6 displays it on the display 44 of the display unit 40 (step 405). The user searches and determines the destination based on the map information (step 406).
[0118]
Next, a search condition for the route to the destination is input (step 407), and the start of the route search is instructed (step 408). As search conditions at this time, enter the number of searches for nearby routes, limit of distance difference between searched routes, rank and type of road to be searched, whether or not the destination falls under a predetermined category such as a store, etc. To do. If the destination category can be determined in the process of determining the destination, the determination result at this time can be used.
[0119]
Next, when a search instruction, input conditions, and the like are input to the navigation terminal 6 (step 409), the navigation terminal 6 detects the current position of the host vehicle serving as a root search base point by the autonomous positioning device 10 or the GPS receiver 18. Then, the start of the route search is transmitted to the communication center device 3 together with the input conditions including the position information (step 411).
[0120]
Next, the communication center device 3 determines whether or not the destination is a store (step 412). This may be determined based on whether the destination is a result of a facility search or a search result on a map screen. In addition, even when searching on the map screen, this information can also be used for discrimination in map information in a form in which information such as a gas station or a convenience store is registered in the map information database. In addition, when there is an input from the driver that the destination is a store, this information can be used for determination.
[0121]
Next, a route search is performed by the CPU 72 from the map information and the like stored in the map information processing D / B 74 of the communication center device 3 based on the input conditions (step 413).
[0122]
The search result is temporarily stored in the storage device 76 included in the communication center device 3 and then transmitted to the navigation terminal 6 (step 414). The navigation terminal 6 receives the search result, temporarily stores it in the HDD 36, displays it on the display 44 of the display unit 40, and outputs it by voice from the speaker 53 of the voice output unit 50 (step 415). The driver can confirm this and know the route (step 416).
[0123]
By utilizing the functions of the communication navigation system in which the communication center device 3 and the navigation terminal 6 are connected via the digital mobile network 4 according to the procedure described above, the main road is moved to a facility such as a store by a predetermined search method and procedure. A search for the route to enter is performed.
[0124]
The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit or idea of the invention that can be read from the claims and the entire specification. A route search method and a computer program are also included in the technical idea of the present invention.
[0125]
【The invention's effect】
As described above, according to the present invention, when a facility such as a gas station or a convenience store is set as a destination, the shortest route entering from the main road adjacent to the facility is searched and output. For example, it is possible to prevent a situation in which the closest road is selected as a route, for example, coming out on the back side of the facility and eventually making a large turn.
[0126]
In addition, by performing appropriate guidance and guidance, the number of reroutes is reduced, and therefore communication costs are reduced when a communication type navigation system is used.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a route search system of the present invention.
FIG. 2 is a diagram showing an example to which the route search system of the present invention is applied.
FIG. 3 is a diagram showing another example to which the route search system of the present invention is applied.
FIG. 4 is a flowchart showing a specific search processing flow of route search according to the present invention.
FIG. 5 is a flowchart in the case where a limit on the number of executions of the neighborhood link search is added in the route search shown in FIG. 4;
FIG. 6 is a flowchart showing the flow of another specific search process for route search according to the present invention.
7 is a flowchart in a case where a limit on the number of executions of a neighboring link search is added in the route search shown in FIG.
FIG. 8 is a block diagram showing a configuration of a navigation device to which the present invention is applied.
FIG. 9 is a block diagram showing an overall configuration of a communication navigation system to which the present invention is applied.
FIG. 10 is a diagram showing a configuration of a communication center device of the communication navigation system.
FIG. 11 is a sequence chart of route search by the navigation device to which the present invention is applied.
FIG. 12 is a sequence chart of route search by the communication navigation system to which the present invention is applied. It is.
[Explanation of symbols]
1 ... Store
3. Communication center device
4. Digital mobile network
5. Navigation device
6. Navigation terminal
10 ... Independent positioning device
11 ... Accelerometer
12 ... Angular velocity sensor
13. Speed sensor
18 ... GPS receiver
20 ... System controller
21 ... I / O circuit
30, 90 ... Bus line
31 ... CD-ROM drive
32 ... DVD-ROM drive
36 ... HDD
38. Wireless communication device
40 ... Display section
50 ... Audio output section
60 ... Input device
61 ... External I / F section
71 ... Line connection device
72. Microprocessor
73. Communication control device
74 ... Map information processing database device
101 ... Route search means
106 ... Search program
110 ... Category discrimination means

Claims (18)

A route search system for a mobile object with a facility of a predetermined category as a destination,
Measuring means for measuring a current position of the moving body;
Input means for inputting a destination of the moving body;
A map database for storing route information from the current position of the mobile body to a destination, and storing map information with ranking information for ranking the road according to a road attribute;
A route from the current position to the destination is searched based on the map information in the map database, and when the destination is a facility of the predetermined category, the destination touches when searching for the route. Search for the route based on the ranking information so as to include roads that are ranked in the rank of the road that is used for searching for the route with the facility of the predetermined category as the destination among the roads Search means;
An output means for outputting the route searched by the search means. The route search system according to claim 1, further comprising: a determination unit that determines whether the destination of the mobile object is the facility of the predetermined category. The route search system according to claim 1, further comprising instruction means for instructing that the destination of the mobile object is the facility of the predetermined category. The route search system according to any one of claims 1 to 3, further comprising reference setting means for setting a rank of a road used for the search as a reference. If the destination is not in contact with a road that is ranked in the rank of the road used for the search, the destination includes a road that is ranked in a new rank set by the reference setting means. The route search system according to claim 4, wherein the route is searched again. The route search system according to claim 5, wherein the number of searches for re-searching is limited. The route search system according to claim 6, further comprising search frequency setting means for setting the search frequency. A distance difference between the distance from the road closest to the destination to the destination and the distance from the road closest to the destination to the destination on the route searched based on the ranking information is calculated. 2. The apparatus according to claim 1, further comprising a calculation unit, and if the distance difference calculated by the calculation unit is within a predetermined value, the route searched based on the ranking information is set as a route to the destination. The route search system as described in any one of 7 to 7. The route search system according to claim 8, further comprising distance difference setting means for setting the distance difference. When the destination is the facility of the predetermined category, the search means determines the position of the road ranked in the rank of the road used for the search among the roads in contact with the facility. The route search system according to claim 1, wherein the route search system is used for searching for the route. The route search system according to any one of claims 1 to 10, wherein the route search system is included in a navigation device mounted on the mobile body. The route search system according to any one of claims 1 to 10, wherein the route search system is included in a communication navigation system including a navigation terminal, a communication center device, and a communication line connecting them. . A route search method for a mobile object with a facility of a predetermined category as a destination,
A measuring step of measuring a current position of the moving body;
An input step of inputting a destination of the moving body;
A route from the current position to the destination can be searched based on map information including rank information that ranks the road according to the attribute of the road, enabling a route search from the current position of the mobile body to the destination. When the destination is a facility of the predetermined category when searching for the route, the route search using the facility of the predetermined category as the destination among the roads in contact with the destination A search step of searching for the route based on the ranking information so as to include a road that is ranked in a rank of a road provided to;
An output step of outputting the route searched by the search means. When a road included in the route searched based on the ranking information is not in contact with the destination, a road that is ranked to a rank newly set as a rank of the road provided for the search The route search method according to claim 13, wherein the route is searched again so as to include the route. The route search method according to claim 14, wherein the number of searches for re-searching the route is limited. A distance difference between the distance from the road closest to the destination to the destination and the distance from the road closest to the destination to the destination on the route searched based on the ranking information is calculated. 16. If the calculated distance difference is within a predetermined value, a route searched based on the ranking information is set as a route to the destination. The route search method described in. When the destination is a facility of the predetermined category, among the roads in contact with the facility, the position of the road ranked in the rank of the road used for the search is set as the position of the facility. The route search method according to any one of claims 13 to 16, wherein a route search is performed. A computer program for causing a computer to function as the route search system according to any one of claims 1 to 12.

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