JP5385617B2 - Navigation device - Google Patents

Description

  The present invention relates to a technique for performing route guidance in a navigation device mounted on a vehicle such as an automobile.

As a technique for performing route guidance in a navigation device mounted on a vehicle, a route to a destination is searched by a minimum cost method using a required travel distance and required travel time as a cost, and travel along the searched route is guided. Technology is known.
Further, in such a navigation device that performs a route search by the minimum cost method, a cost is given for each link representing each road section forming the road network, and the link cost of the link entering a specific area is determined by the link cost. A technique is also known in which a route that bypasses the specific area is searched by a route search by a minimum cost method by performing an operation so as to increase (for example, Patent Document 1).

Japanese Patent No. 3792533

  Now, when performing route guidance in a navigation device, the required travel distance is simply required when guiding travel within the site, such as shopping malls, hospitals and golf courses, where road networks and parking lots are in place. When a route searched for by the minimum cost method is used with the required travel time as a cost, a route that travels a lot in a parking lot passage with many people and vehicles coming in and out may be guided. In such a case, it is difficult for the user to perform safe and smooth travel.

  Accordingly, an object of the present invention is to provide a navigation device that provides a route that can travel safely and smoothly as a route in a site where a road network and a relatively large parking lot are provided in the site.

  In order to achieve the above object, the present invention provides each road including a current position calculation unit for calculating a current position of the vehicle, a road in the site, and a parking lot passage in the site in a navigation device mounted on the vehicle. The route from the current position to the set destination is searched based on the map data representing the road network constituted by the guide route setting unit for setting as a guide route, and the route guidance of the guide route is performed A route guidance unit, and in the guidance route setting unit, for a section passing through the site included in the guidance route, the road in the site has priority over the parking lot passage in the site. The route is searched so as to be used for the guide route.

  Here, in such a navigation device, the map data is a road network represented by a set of links, and in the guidance route setting unit, the link cost of the link constituting the parking lot passage in the site is Set from the current position using the link cost of each link determined to be larger than the link cost of the link constituting the road in the site, at least equal to the link constituting the parking lot passage. The route to the destination may be searched for so that the sum of the link costs of the links constituting the route is minimized and set as a guide route.

  In addition, in such a navigation device, the guidance route setting unit searches only for a passage in a parking lot and a road in the site that are included in the site where the current position is included or the site of the destination. As a target, a route from the current position to the set destination may be searched and set as a guide route.

  According to the navigation devices as described above, for the section passing through the site of the guidance route, a route using the road in the site is set as much as possible without passing through the parking lot passage. Therefore, it is possible to prevent a route that frequently passes through the parking lot passage from being set as a guidance route, and as a result, it is possible to guide the user on a route that can travel safely and smoothly on the site. Become.

  As described above, according to the present invention, the navigation apparatus can guide a route that can travel safely and smoothly as a route in a site where a road network and a relatively large parking lot are provided in the site.

It is a block diagram which shows the structure of the navigation system which concerns on embodiment of this invention. It is a figure which shows the map data with which the navigation apparatus which concerns on embodiment of this invention is provided. It is a flowchart which shows the guidance route setting process which concerns on embodiment of this invention. It is a figure which shows the site made into the object in the example of guidance route setting which concerns on embodiment of this invention. It is a figure which shows the example of a guidance route | root setting which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows the configuration of the navigation system according to the present embodiment.
The navigation system is a system mounted on a vehicle such as an automobile. As shown in the figure, the navigation device 1, the speaker 2, the operation unit 3, the display device 4, the vehicle state sensor 5, and the GPS receiver 6 are used. And is configured.
Here, the vehicle state sensor 5 is various sensors that detect various vehicle states, such as an azimuth sensor such as an angular acceleration sensor or a geomagnetic sensor, or a vehicle speed sensor such as a vehicle speed pulse sensor.
The navigation device 1 includes a storage device 11 such as an HDD that stores map data representing a map, a current position calculation unit 12, a route search unit 13, a memory 14, a sound generation unit 15 that generates sound and outputs it from the speaker 2. A control unit 16, a guide image generation unit 17, and a GUI control unit 18 that controls input and output with the user using the operation unit 3 and the display device 4 are provided.

  However, the above navigation apparatus 1 may be a CPU circuit having a general configuration including peripheral devices such as a microprocessor, a memory, and other graphic processors and geometric processors in terms of hardware. In this case, each unit of the navigation device 1 described above may be realized as a process embodied by a microprocessor executing a program prepared in advance. In this case, such a program may be provided to the navigation apparatus 1 via a recording medium or an appropriate communication path.

Next, FIG. 2 shows the contents of the map data stored in the storage device 11.
As shown in the figure, the map data includes management data describing the version of the map data, route data representing information on each road route, and basic map data representing a map.
The basic map data includes a road unit representing a road network, a polygon unit representing a graphic object (terrain graphic, road graphic, site graphic, building graphic, etc.) constituting a display map, and a text object constituting a display map ( A text unit representing a place name, road name, facility name, etc.).

  Here, in the road unit, a road network is defined as a set of links that connect nodes such as intersections and links between the nodes, and the road unit includes node data provided for each node. A node table, and a link table including link data provided for each link.

  Each node data includes a node number serving as an identifier of the corresponding node, a node attribute indicating various attributes of the corresponding node, node coordinates indicating the position of the corresponding node, and a connection link indicating a link connected to the corresponding node. Information and connection node information representing another node connected to the corresponding node via one link.

  Each link data includes a link number that is an identifier of the corresponding link, link attributes that indicate various attributes of the corresponding link, belonging route information that indicates a route to which the corresponding link belongs, and a node that is a starting point of the corresponding link. A start point node representing the node number and an end point node representing the node number of the node serving as the end point of the corresponding link are registered. The link attribute stores information on the type of the corresponding link, and the type of link is a highway link that is a link that constitutes an expressway or a link that constitutes a general road. There are a general road link, a private link which is a link constituting a road network in a site such as a shopping mall, a hospital or a golf course, and a parking lane link which is a link constituting a passage in a parking lot.

  Next, the polygon unit has polygon data provided for each graphic object (terrain graphic, road graphic, site graphic, building graphic, etc.) constituting the display map, and each polygon data has a corresponding graphic object. Polygon identifiers that are identifiers, terrain graphics of corresponding graphic objects, polygon types that represent graphic types such as road graphics, site graphics, and building graphics, and shape layout data that represents the shape of the corresponding polygon and the layout on the map are registered. .

  In such a configuration, the current position calculation unit 12 of the navigation device 1 indicates the current position estimated from the outputs of the vehicle state sensor 5 and the GPS receiver 6 by the map data read from the storage device 11. Map matching processing with the map around the current position determined last time is performed, and the most probable coordinates as the current position and the most probable direction as the current traveling direction are determined as the current position and the current traveling direction, respectively. , Set in the memory 14.

In addition, the control unit 16 receives a destination setting from the user via the operation unit 3 and the GUI control unit 18, and sets it in the memory 14.
When the route search unit 13 is instructed by the control unit 16 to search for a guide route, the route search unit 13 performs the guide route setting process shown in FIG.
That is, as shown in the figure, first, a link constituting a road outside the site is set as a search target link (step 302). Here, the link constituting the road outside the site is a link corresponding to link data whose type indicated by the link attribute is not a private link and is not a parking lane link.

  Next, it is determined whether or not the current position is located within the site (step 304). Here, it is determined that the current position is located in the site when the current position is included in the polygon area indicated by the shape arrangement data of any polygon data among the polygon data whose polygon type is the site graphic. .

  If the current position is not located within the site, the process directly proceeds to step 306. If the current position is located within the site, the link within the site including the current position is added to the search target link. (Step 312), the process proceeds to Step 306. Here, the link in the site that includes the current position is a link corresponding to link data whose link attribute type is a private link or a parking lane link. At least one of the links is a link located within a polygon area of the site including the current position.

  Next, in step 306, it is determined whether the destination is located within the site. Here, it is determined that the destination is located in the site when the destination is included in the polygon area indicated by the shape arrangement data of any polygon data out of the polygon data whose polygon type is the site graphic. .

  If the destination is not located within the site, the process proceeds to step 308. If the destination is located within the site, the link within the site including the destination is added to the search target link. (Step 314), the process proceeds to Step 308. Here, the link in the site including the destination is a link corresponding to link data whose link attribute type is a private link or a parking lane link, and the link includes a start node and an end node of the link. At least one of the links is a link located within the polygonal area of the site including the destination.

  In step 308, it is checked whether or not a link in the site is added to the search target link in step 312 or step 314. If not, only the search target link is set as a search target, and the minimum cost method is used. Thus, the route from the current position to the destination is searched so that the sum of the link costs of the links constituting the route is minimized, and the searched route is set as a guidance route in the memory 14 (step 310). Here, for links other than the links in the site, for example, the link length of the link is used as the link cost of the link.

  On the other hand, if it is determined in step 308 that a link in the site is added to the search target link in step 312 or step 314, the link in the site included in the search target link (type is private link or parking) The link cost of a link that is a lane link is set (step 316). This setting is performed by setting a value obtained by increasing the cost C focused on the link length of the link at a predetermined increase degree as the link cost. However, the degree of increase is determined such that the degree of increase applied to the link whose type is a parking lane link is larger than the degree of increase applied to a link whose type is a private link.

  More specifically, for example, the link cost PALC of a link whose type is a parking lane link and the link cost PLLC of a link whose type is a private link, where the link length of the link is C and A> B ≧ 1 Are set by PALC = A × C, PLLC = B × C. Alternatively, the link cost PALC of a link whose type is a parking lane link and the link cost PLLC of a link whose type is a private link are set by PALC = A + C and PLLC = B + C as A> B ≧ 0 To do.

  Note that the link cost set in step 316 is the link cost PALC of any link whose type is a parking lane link and the type is private for the link in which the type is a parking lane link and the type is a private link. The link cost may be set to be always larger than the maximum link cost PLLC of the link, or the link cost PALC link of the link whose type is a parking lane link is set to a predetermined value from the link length C of the link. The type having a link length C greater than the level may be set to be equal to the link cost PLLC of a link that is a private link.

  Then, the process proceeds to step 310, where only the search target link is searched, the route from the current position to the destination is searched by the minimum cost method using the link cost as the cost, and the searched route is set as a guidance route in the memory 14 To do. However, in this search, for links other than the links in the site, the link length of the link is used as the link cost of the link, and for the link for which the link cost is set in step 316, the step 316 The route search is performed using the link cost set in step 5 as the link cost of the link.

The guidance route setting process has been described above.
Hereinafter, an example of setting a guide route by such a guide route setting process will be shown.
Now, as shown in FIG. 4a, the site 401, the general road 402 outside the site 401, the buildings 403 in the site, the road network 404 in the site 401, and the parking lot passage 405 in the parking lot in the site 401, Assume that exists. 4B shows the road network 404 in the site 401 in FIG. 4A, and FIG. 4C shows the parking passage 405 in the parking lot in the site 401.

  In this case, as shown in FIG. 5a1, when the current position 501 is within the site 401 and the destination 502 is located outside the site 401, according to the guidance route setting process, it is a link of the parking lot passage 405. The link cost of the link of the parking lane link is set so that the link cost of the link of the on-site road network 404 is higher than the link cost of the link of the private link. Since a route from 501 to the destination 502 is searched, a route that preferentially uses a road of the in-site road network 404 is searched as a route from the current position 501 to the outside of the site 401. As a result, as shown in the drawing, as the guide route 503, a route reaching the outside of the site 401 is set using the road of the in-site road network 404 without passing through the parking lot passage 405 as much as possible.

Therefore, as shown in FIG. 5 a 2, it is possible to suppress a route that frequently passes through the parking lot passage 405 being set as the guide route 503, and as a result, the user can safely and smoothly travel within the site 401. It will be possible to guide the route that can be.
Further, as shown in FIG. 5b1, the same applies when the current position 501 is outside the site 401 and the destination 502 is located within the site 401. According to the guidance route setting process, the link of the parking lot passage 405 is used. After setting the link cost of a link of a certain type of parking lane link to be higher than the link cost of a link of a private link, the type of a link of the road network 404 on the premises is Since a route from the current position 501 to the destination 502 is searched, a route that preferentially uses the road of the in-site road network 404 is searched as a route from the outside of the site 401 to the destination 502 in the site 401. Will be. As a result, as shown in the drawing, as the guide route 503, a route to the destination 502 is set using the road of the in-site road network 404 without passing through the parking lot passage 405 as much as possible.

  Therefore, even in such a case, as shown in FIG. 5 b 2, it is possible to suppress a route that frequently passes through the parking lot passage 405 being set as the guide route 503. It is possible to guide a route that can travel safely and smoothly.

Now, returning to FIG. 1, if the guidance route is set in the memory 14 in this way, the control unit 16 turns the voice generation unit 15 to turn right or left when the current position approaches the right / left turn point of the guidance route. A process of outputting a voice for guiding the voice to the speaker 2 is performed.
In addition, the guide image generation unit 17 refers to the current position set in the memory 14, and generates a map image representing a map within a map display range set around the current position indicated by the map data at a predetermined scale. . In addition, the guide image generation unit 17 draws a current position mark representing the current position set in the memory 14 on the drawn map image, and displays it on the display device 4 via the GUI control unit 18 as a guide image. Repeat the process. Here, when the destination and the guidance route are set in the memory 14, the guidance image generation unit 17 also displays the guidance route graphic representing the portion of the guidance route within the map display range in the guidance image. When the destination is included in the map display range, a destination mark indicating the destination is further included in the guidance image and displayed.

FIG. 4d shows an example of the guidance image displayed in this way.
As shown in the drawing, the guide image 40 is a map image 41 that represents a map around the current position, and a current position mark 42 that represents the current position. When a guide route or a destination is set, the guide image includes a guide route graphic 43 representing the guide route. When the destination is included in the map display range, the destination mark is also included in the guidance image.

  The embodiment of the present invention has been described above.

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 2 ... Speaker, 3 ... Operation part, 4 ... Display apparatus, 5 ... Vehicle state sensor, 6 ... GPS receiver, 11 ... Memory | storage device, 12 ... Current position calculation part, 13 ... Route search part, 14 ... Memory, 15 ... Audio generator, 16 ... Controller, 17 ... Guide image generator, 18 ... GUI controller.

Claims (2)

A navigation device mounted on a vehicle,
A current position calculation unit for calculating a current position of the vehicle;
Based on the map data representing the road network composed of each road including the road on the site and the parking lot passage on the site, the route from the current position to the set destination is searched and used as a guide route A guide route setting unit to be set;
A route guidance unit that performs route guidance of the guidance route,
The map data represents a road network by a set of links,
The guidance route setting unit includes:
For the parking lot corridors and roads on the site, only the ones included in the site containing the current location or the site containing the destination are searched,
Using the link cost of each link determined so that the link cost of each link constituting the parking lot passage in the site is larger than the maximum link cost of the link constituting the road in the site ,
A navigation device characterized in that a route from the current position to a set destination is searched so that the sum of link costs of each link constituting the route is minimized and set as a guide route . A route guidance method for performing route guidance in a navigation device mounted on a vehicle,
The navigation device calculates a current position of the vehicle;
The navigation device searches for a route from the current position to the set destination based on map data representing a road network composed of roads including a road on the site and a passage in a parking lot on the site. And a guide route setting step to set as a guide route,
The navigation device includes a route guidance step for performing route guidance of the guidance route;
In the guide route setting step,
For the parking lot corridors and roads on the site, only the ones included in the site containing the current location or the site containing the destination are searched,
Using the link cost of each link determined so that the link cost of each link constituting the parking lot passage in the site is larger than the maximum link cost of the link constituting the road in the site ,
A route guidance method, wherein a route from the current position to a set destination is searched so that a sum of link costs of each link constituting the route is minimized and set as a guide route.