JPH1151681A - Car navigation system and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To start route guidance smoothly through researching after deviation from a route by determining a guide starting point from the distance required for starting guidance and the road information in the traveling direction depending on the vehicle speed when a vehicle has deviated from a route and then searching a route. SOLUTION: When display output and voice output processing of route guidance is being executed before arriving at a goal, current position of vehicle is acquired through automatic researching (S21), and a decision is made whether a vehicle has deviated from a route (S22) by matching the current position with a route to be guided. When a decision is made whether a vehicle has deviated from a route, route guidance is interrupted (S23) and the distance D along the road (the distance required before starting route guidance according to a researched route) is calculated based on the current traveling speed. A guidance starting point determining means sets a guidance starting point (S26) at point S separated forward from current position by the distance D along the road and then a route researching means researches the route (S27).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle for searching for a route from a departure point or a current position to a destination, providing route guidance according to the searched route, and re-searching when a deviation from the route is detected. The present invention relates to a navigation device and a recording medium.

[0002]

2. Description of the Related Art In a vehicle navigation system, a route search from a departure place or a current position to a set destination is performed, and guidance is performed according to the searched route. In the route guidance, the current position is tracked and the matching process with the guidance route is performed, and the route and the current position mark are overwritten according to the guidance point and other points and instructions, an intersection guide map, a city map, and feature object guidance. Display information is output by switching screens such as figures, and audio information related thereto is output, and route guidance is performed by display output and audio output. Such a vehicle navigation device cannot provide appropriate guidance if the current position deviates from the guidance route. Therefore, the vehicle navigation device is provided with a departure route detection function and a re-search function. The route or the entire route to the destination is searched again.

[0003]

However, the re-search function in the conventional vehicular navigation system detects a deviation from the route and starts the re-search, but the vehicle further advances from the point where the re-search was executed. Therefore, when the re-search is completed and route guidance is given, the vehicle has passed the next guidance point, and there is a problem that guidance cannot be properly received.

[0004] Further, it is conceivable to advance the guidance point by a predetermined distance from the re-search start point. However, since a straight road does not always exist a sufficient distance, it is necessary to always advance the guidance by a predetermined distance to start guidance. There is a problem that can not be.

It is conceivable to change the predetermined distance in accordance with the moving speed of the vehicle. However, the effect can be exerted only in an area where there is a road of a sufficient length without an intersection.

[0006]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and aims to smoothly start route guidance by re-searching when a route deviates.

For this purpose, the present invention searches for a route from a departure point or a current position to a destination, provides route guidance along the route, and determines whether a vehicle is traveling on the searched route. Based on the determination result, when the vehicle deviates from the route, the speed of the vehicle is detected, the distance required until the start of guidance is determined according to the speed of the vehicle, and the traveling direction of the vehicle from the currently traveling road is determined. , And a route is searched by determining a guidance start point from the determined distance and the obtained road information.

In addition, the guidance start point is determined from the acquired road information to a point extended by the determined distance along the guide-unnecessary road, and the acquired road within a range of the determined distance is determined. Judgment was made as to whether there was an intersection that did not have a guide-free road in the information, and if there was an intersection that did not have a guide-free road, it was extended to a road in a direction closer to the guidance direction when the vehicle deviated from the intersection or route It is characterized in that it is determined at a point.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an embodiment of a vehicular navigation device according to the present invention, FIG. 2 is a diagram showing a configuration example of guide road data and the like, FIG. 3 is a diagram showing a configuration example of road attribute data and the like, and FIG. FIG. 5 is a diagram showing a configuration example of intersection data, and FIG. 5 is a diagram showing a configuration example of guidance phrase data. The navigation device according to the present invention includes an input / output device 1 for inputting and outputting information relating to route guidance and information for selecting and executing various functions, and a current position detection device (current position detection) for detecting information relating to the current position of the vehicle. Means) 2. Navigation data required for route calculation, display / voice guidance data required for route guidance, and programs (OS and / or
Or an application) or the like, and a central processing unit 4 that performs a route search process and a display / voice guidance process necessary for route guidance and controls the entire system. ing. First, each configuration will be described.

The input / output device 1 centralizes navigation processing according to the driver's intention so that the driver can output guidance information from at least one of a voice and / or a screen when necessary. It has a function of instructing the processing device 4 and printing out the processed data and the like. As means for realizing the function, the input unit includes a touch switch 11 and an operation switch for inputting a destination as a telephone number or coordinates on a map, and for requesting route guidance. Of course, as the input means, an input means such as a remote controller may be used instead of the touch switch 11 or the operation switch.
These may be used in combination. Further, a video camera 15 for capturing a landscape image in front of the vehicle is provided. The output unit includes a display (display output unit) 12 that displays input data on a screen and automatically displays route guidance on a screen in response to a driver's request, and stores data and information processed by the central processing unit 4. A printer 13 for printing out data stored in the device 3 and a speaker (sound output means) 16 for outputting route guidance by voice are provided.

Here, it is possible to add a voice recognition device for enabling voice input and a recording card reader for reading data recorded on an IC card or a magnetic card. Further, a data communication device for exchanging data with an information source such as a personal computer in which driver-specific data such as map data and destination data are stored in advance can be added.

The display 12 is composed of a color CRT or a color liquid crystal display, and is necessary for navigation such as a route setting screen, a section map screen, an intersection map screen based on map data and guidance data processed by the central processing unit 4. In addition to outputting all screens in color display, buttons for setting route guidance, switching guidance screens during route guidance, and selecting and calling various functions are displayed on this screen. In particular, the passing intersection information such as the passing intersection name is displayed in color in a pop-up on the section map screen at any time.

The display 12 is provided in an instrument panel near the driver's seat, and the driver checks the present location of the vehicle by looking at the displayed map.
In addition, it is possible to obtain information on a route from now on. The display 12 is provided with a touch switch 11 corresponding to the display of the function button, and is configured to execute the above-described operation based on a signal input by touching the button. The input signal generating means including the button and the touch switch constitutes an input unit, but a detailed description thereof is omitted here.

The current position detecting device 2 detects or receives information on the current position of the vehicle, and includes an absolute direction sensor 24 composed of a geomagnetic sensor and the like, and a relative direction sensor composed of a steering sensor, a gyro and the like. 2
5, a speed sensor 26 for detecting a vehicle speed (or a traveling distance) from the number of rotations of wheels, a GPS receiving device 21 using a satellite navigation system (GPS), and a communication device. The communication device comprises a VICS receiving device 22 and a data transmitting / receiving device 23 which are traffic information acquiring means.
(Vehicle Information & Comm
unication System) transmits road traffic information to vehicles in real time using FM multiplexing (text broadcasting), radio beacons, and optical beacons. FM multiplexing transmits coarse information over a wide area, and transmits information on radio beacons and optical beacons. Is detailed information of a narrow area within a radius of about 10 km around the beacon, and can be received when the vehicle passes through the beacon. The VICS transmission data indicates the degree of congestion (for example, the degree of congestion such as impassability, congestion, congestion, heavy traffic, or normal congestion), the start position of congestion, the length of congestion, It is composed of regulations (construction information, road closures, etc.) and travel time (time required at a predetermined speed). The data transmission / reception device 23 is, for example, a mobile phone or a personal computer, and exchanges information necessary for navigation with a traffic information center (for example, ATIS) at the request of the driver.

The information storage device 3 stores a navigation program and data in a CD-ROM (hereinafter simply referred to as a CD), a DVD (digital video disk), an optical C
D and an external storage medium such as an IC card. The program includes a map drawing unit, a route search unit, a route guidance unit, a current position calculation unit, a destination setting operation control unit, and the like. The program includes an application unit that performs signal processing for navigation, an OS unit, and the like. A program for performing processing such as search, display output control required for display guidance of route, program for voice output control required for voice guidance and data necessary for it, and further necessary for route guidance and map display Display information data. The data stores all data necessary for navigation, such as map data, intersection data, road data, and various types of guidance data.

More specifically, a program (route) that sets a destination and a passing point based on the position information from the current position detecting device 2 and the input signal from the input device 11 and executes a route search using the searched road data. A search means), a program for converting the searched road data based on the traffic information acquired from the communication device and executing the route search again, and a program for converting the searched route into a three-dimensional drawing (route information conversion) Means) or map drawing and map matching,
A program for determining the audio output timing and the content of the audio phrase along the route, and further, a feature is recognized from an image captured from the video camera 15 which is an image photographing means, and a feature is recognized on the image of the recognized feature. A program or the like for determining the relative movement direction of the vehicle or determining an approach route from the movement direction is stored, and by activating the programs stored in the information storage device 3, each function of the navigation in the present invention is executed. You. That is, in the present embodiment, a program for realizing the functions of the present invention is stored in the information storage device 3 which is an external storage medium.

[0017] All or a part of the program for realizing the function of the present invention and all or a part of the data are received from the information center or another vehicle via the data transmitting / receiving device 23, and the data in the navigation device is received. You may make it memorize | store in the flash memory 41 and RAM42 which are recording media.

The central processing unit 4 includes a CPU 40 for executing various arithmetic processing, and a flash memory 41 for reading and storing programs from a CD of the information storage device 3. The flash memory 41 erases an existing program and makes it rewritable even if the CD program is changed. Further, the first ROM 43a storing a program (program reading means) for performing a program check and update process of the flash memory 41, the set point coordinates of the destination, the road code No. And the like, and a RAM 42 for temporarily storing searched route guidance information and data being processed, and a second ROM 43b for storing display information data necessary for route guidance and map display.
Note that a program for performing the above-described update processing may be stored in an external storage device.

Further, an image memory 44 storing image data to be used for screen display on a display, a CPU 4
The image processor 45 extracts image data from the image memory based on the display control signal from 0, performs image processing, and outputs the image data to the display 12, the sound read out from the RAM 42 based on the sound output control signal from the CPU 40,
A speech processor 46 for synthesizing a phrase, a single sentence, sound, etc., converting it into an analog signal and outputting it to the speaker 16, a communication interface 47 for exchanging input / output data by a communication device, and a current position detection device 2. A sensor input interface 48 for taking in sensor signals, a clock 49 for writing date and time in internal diagnostic information, and the like are provided.

The photographed image is converted from an analog signal to a digital signal by the CPU
2 is stored. From this image data, features at intersections and branch points are recognized, and image recognition processing is executed. In this image recognition processing, the feature is recognized by referring to the color and shape information of the image data file stored in the information storage device 3.

In the central processing unit 4, when data acquired by each sensor of the current position detecting device 2 is fetched from the sensor input interface 48, the CPU 40 calculates the current position coordinates at regular intervals based on the data. The data is temporarily written to the RAM 42. The current position coordinates are obtained by performing a map matching process in consideration of detection errors of various data. The output values of the various sensors are constantly corrected. Here, route guidance is performed by screen display and voice output, and the presence or absence of voice output is configured to be selectable by the driver.

The program required for navigation may be stored in the ROM 43a of the central processing unit 4 in advance, or may be stored in the information storage device (storage medium) 3. When a program is stored in the information storage device 3, for example, if a program is read from the information storage device 3 and stored in the flash memory 41, the new program is updated by replacing the information storage device 3. Can be executed. In addition, the program read from the information storage device 3 may be temporarily stored in the RAM 42 to process the navigation function.

FIGS. 2 to 5 show examples of the structure of main data files stored in the information storage device. As shown in FIG. , Road number, length, road attribute data, shape data address, size and guidance data address,
It is composed of data of each size, and is stored as data necessary for calculating a route by the route search unit and performing route guidance.

The road number is set for each direction (outbound, return) for each road between the branch points. The road attribute data is road guidance auxiliary information data, and as shown in FIG. 3A, information on an overpass / underpass including whether the road is an overpass, an underpass, an underpass, or an underpass, This is data indicating information on the number of lanes, information on the city and the suburbs. As shown in FIG. 2B, the shape data has coordinate data including east longitude and north latitude for each of the number m of nodes when divided by a plurality of nodes (nodes) on each road. As shown in FIG. 2C, the guidance data includes an intersection (or branch point) name, traffic light data, landmark data, attention data, road name data, road name voice data, an address of destination data, and a size of destination data. Consists of data.

The notice data of the guidance data is shown in FIG.
As shown in (C), it is data indicating information such as a railroad crossing, a tunnel entrance, a tunnel exit, a width reduction point, or none, and alerts the driver at a railroad crossing other than a junction, a tunnel, or the like. Data for Road name data is
As shown in FIG. 3 (B), information on road types of expressways, urban expressways, toll roads, and general roads (national roads, prefectural roads, and others) and whether the expressway, the urban expressway, or the toll road is a main line or an attachment road. , And is composed of road type data and a type number which is individual number data for each road type. As shown in FIG. 2D, the destination data includes a destination road number, a destination name, an address of destination name audio data, a size and a destination direction data, and travel guidance data.

As shown in FIG. 2E, among the destination data, the destination direction data is invalid (do not use the destination direction data), unnecessary (do not guide), go straight, rightward,
This is data indicating information on a diagonally right direction, a right returning direction, a left direction, a diagonally left direction, and a left returning direction. As shown in FIG. 3 (D), the traveling guidance data stores data for guiding which lane to travel when there are a plurality of lanes. The traveling guidance data is rightward, leftward, or centerwise. This is data indicating the information of measles.

In the data structure shown in FIG. 2 and FIG. 3, the information on the intersection is stored in the road data. However, the intersection data as shown in FIG. Information on the presence / absence, connected roads, and the like may be stored. However, if the road data is provided with connection information, it is easier to provide data such as that a certain road cannot enter a certain road, and the data amount can be reduced. FIG. 5 shows an example of guidance phrase data that makes it easy to edit guidance text in route guidance. In this way, when the guidance sentence data is output by dividing the guidance sentence into phrases such as a distance phrase, a direction phrase, and a feature phrase, and providing guidance phrase data, for example, "turn right at approximately 300 m" In this way, the phrases can be combined to set and output a guide message according to the situation of the guide point.

FIG. 6 is a diagram for explaining a processing flow of the entire system of the vehicle navigation device according to the present invention.
FIG. 7 is a diagram for explaining a route set by the route search of FIG. By the CPU 40 of the central processing unit 4,
First, when the navigation program is read from the CD-ROM in the initialization processing, stored in the flash memory 41, and started, the current position is detected by the current position detection device 2 as shown in FIG. Is displayed, and the name and the like of the current position are displayed (step S11). Next, a process of setting a destination using a telephone number, an address, a facility name, a registered point, and the like is performed (step S12), and a route search process from the current position to the destination is performed (step S13). As a result of the route search, the route to the destination is set as guide road number data in which road numbers to be guided are arranged, for example, as shown in FIG. When the route is determined, the process of displaying and outputting the route guidance is performed until the vehicle arrives at the destination while tracking the current position by the current position detecting device 2 (step S14).

The present invention relates to an automatic re-search in the case where the guidance / display in step S14, for example, has passed a guidance intersection to be turned and has deviated from the route. FIG. 8 is a diagram for explaining an example of automatic re-search,
FIG. 9 is a diagram for explaining a re-search start point in automatic re-search, FIG. 10 is a diagram for explaining an example in the case where a guidance intersection exists within a range of a road distance, and FIG. 11 is a diagram of a re-search process. It is a figure showing an example of a display in a case.

In the automatic re-search while the process of displaying and outputting the route guidance is being executed until the vehicle arrives at the destination, the current position of the vehicle is acquired as shown in FIG. 8 (step S21). Then, it is determined whether the current position is out of the route by performing a matching process with the guidance route (step S22). When it is determined that the route is off the route, first, the route guidance is interrupted (step S23), the current traveling speed (vehicle speed) is acquired by the traveling distance calculating means (step S24), and based on the acquired traveling speed. The road distance D is calculated (step S25). The road distance D is equivalent to a traveling distance until route guidance can be performed by a new route searched again. Therefore, the distance is obtained by multiplying the vehicle speed by the required time. If the vehicle speed is high, the road distance D becomes longer. Specifically, when the vehicle enters the guidance intersection that should be turned almost at the same time as the guidance starts, the route will again deviate as described above, so the time required for the vehicle speed will be at least the time required for the re-search. This is the time obtained by adding the time for outputting the voice guidance. In other words, it is possible to start guidance after re-searching from a point where a sufficient distance for outputting voice guidance to a guidance intersection to be turned is left. In addition, a time during which the vehicle can be stopped comfortably from the current vehicle speed may be added. Therefore, when this road distance D is calculated, the guidance start point determining means sets a point S ahead of the current position by the road distance D as the guidance start point (step S26), and the route re-search means determines the route. An out-of-range re-search process is executed (step S27). When a new route is searched by the re-search process, the interruption of the route guidance is released (step S28),
Based on the re-searched route, the process of displaying and outputting route guidance is started (step S29).

For example, as shown in FIG. 9, it is assumed that the vehicle is going straight ahead at the intersection where the vehicle is to turn right at the intersection. In this case, even if a route deviation is detected immediately after passing through the intersection and re-search is executed immediately from that point, if the intersection is close, it will reach the intersection before a new route can be searched again. Become. Further, even if the re-search is completed before entering the intersection, there is no time to output the guidance of the intersection, or even if the guidance is output, there is a case where the driver does not have enough time to respond sufficiently. . Therefore, the road distance D is determined when the vehicle has deviated from the currently guided route, and when the re-search is started, the traveling speed of the vehicle, the output time of the guidance voice, the route search time, and the like are considered. The distance is calculated so that the driver can listen to the route guidance after the re-searching and can appropriately execute the route instruction. In addition, a point that is a distance D from the re-search start point is referred to as a guidance start point S. Therefore, in the case of the present invention, when a deviation from the route with the intersection as shown in FIG. 9 is detected, the re-search is executed with the point ahead of the road distance D as the re-search start point S. The route guidance is performed from the departure point S to the intersection.

Further, a road distance D is calculated, and information on the road currently traveling and an azimuth sensor 2 serving as current position detecting means are calculated.
When a road is postponed in the traveling direction of the vehicle based on road information of another road connected to the traveling direction of the vehicle detected from 4, 25 or the GPS receiver 21, and there is no straight road more than the road distance D For example, as shown in FIG. 10, when there is a T-junction, it is determined whether or not there is a guide-unnecessary road for a road entering this T-junction. If there is a guide-free road, the road distance D is advanced from the approach road toward the guide-free road. Referring to FIG. 10 in more detail, in this figure, the vehicle has deviated from the first route at the guide point, and a T-shaped road exists up to the road distance D calculated based on the vehicle speed. FIG. Furthermore, here, the road information shows a case where the right turn direction is an unguided road with respect to the approach road of the vehicle at the intersection, and at this time, the re-search means extends the road distance D in the right turn direction. . Then, with the point where D ₁ + D ₂ = D is set as the guidance start point S, the re-search means searches for a new route returning to the original route so as to pass from the re-search guidance start point to the guidance start point S. I do.

In the above description, the case where the guide information is unnecessary in the road information has been described. However, even when the guide unnecessary information is not included, for example, in FIG. In this case, since there is only one road for the approach road, the road is naturally increased in the left turn direction. In addition, on a road having no guidance unnecessary information and no entry prohibition information, the re-searching means obtains a guidance direction (previous exit direction) from the current route information when the vehicle deviates from the route, and determines a direction close to the direction. You can also extend the distance in the direction of the exit road you have.

The time required for the re-search is very short especially for the peripheral search. In this case, the re-search is performed without confusion even if the driver is not notified of the departure of the route and the execution of the re-search. Route guidance can be started. However, in the case of a departure from the route, it is undeniable that the driver feels confused. Therefore, between the time when the departure from the route is detected and the start of the route guidance, for example, as shown in FIG. Information, information on a point where guidance is started, information on a current position, and the like may be notified. Of course, FIG.
It goes without saying that not only the display mode shown in FIG. 7 but also other display modes and sound notification may be performed as necessary.

FIG. 12 is a diagram showing another embodiment in which the point setting is adjusted according to the presence or absence of a guideless road. FIG. 13 is a diagram showing an example of adjusting the point setting in accordance with the presence or absence of a guideless road.
In the example shown in FIG. 12, when the vehicle is off the route, first, the traveling speed of the vehicle is obtained and the road distance D is calculated (Step S).
31) A search is made for a road from the current position of the vehicle to a distance D calculated in the traveling direction (step S32), and it is checked whether there is an intersection without a guidance-free road (step S33). As shown in FIG. 12 (A), when there are no intersections without guide-free roads, that is, at each intersection, there is a guide-free road, and a travel of a distance D from the current position in the traveling direction along the guide-free road is performed. Fig. 1
As shown in FIG. 2 (C), a point S is set by extending the guideless road from the current position of the vehicle toward the traveling direction by a distance D (step S34). When there is an intersection without a guide-free road as shown in FIG. 12B, the traveling direction cannot be determined. Therefore, as shown in FIG. It is set (step S35). A re-search is started under the conditions for creating a route that does not require guidance up to the point S set in this way (step S36).

FIG. 14 is a diagram for explaining an example of route departure processing, and FIGS. 15 and 16 are diagrams for explaining an example of route recalculation processing. In the route departure process, as shown in FIG. 14, first, when a route departure is detected, it is checked whether or not the auto reroute mode is on (step S51).
This is an example of having an automatic re-search mode switch and a re-search switch so that the driver can select the auto re-route mode by the automatic re-search mode.
The determination of the state is performed. If the switch of the automatic re-search mode is on, the re-search process is automatically performed (step S52), and the re-searched route is displayed (step S53).

If the mode is not the auto reroute mode, re-search processing is performed (step S54), and it is checked whether or not the re-search switch is on (step S55). If it is not on, the process returns to step S54; It is determined whether the vehicle is on the latest route (step S56). If the vehicle is not on the latest route, the process returns to step S54. If the vehicle is on the latest route, the re-searched route is displayed (step S56). S57). As described above, when the mode is not the auto reroute mode, the re-search process is performed before the re-search switch is turned on, and the latest route can be output at the same time as the re-search switch is turned on. If the result of determination in step S55 is that the re-search switch is not on, the process may wait until it is turned on without returning to step S54.

In the re-search processing in steps S52 and S54, for example, as shown in FIG. 15, first, search data around the current position of the vehicle is read (step S58), and a previous guidance route sequence is obtained (step S59). And
The traveling direction and the search cost at each intersection are calculated in the direction to return to the previous guide route (step S60). In the route search, the search cost is usually set by a required time for passing through the road (number), a distance, ease of driving (road width, road type such as a national road, the number of traffic signals, etc.), a fee, and the like. If the search cost is set, for example, by distance, the ease of running according to the difference in road width, road type, etc., is converted into distance. Therefore, even if they are physically the same length, for example, the conversion distance is set shorter on a highway than on a main road, but longer on a branch road. With respect to these converted distances, for a road returning to the previous guide route, the distance is further reduced by a fixed value or a magnification, so that the search cost is reduced and it is easy to select the optimum route candidate for the road. Next, the road and direction of the current position of the vehicle are acquired (step S61), an intersection connected to the current road in the traveling direction is selected, and a route returning to the previous route is determined based on the traveling direction to each intersection and the search cost (step S61). Step S62). As a result of these processes, a road sequence of the guidance route is re-created (step S63).

In the re-search process, since the search is performed using only the surrounding search data, the route may not be searched due to a traffic stop or the like. FIG. 16 shows an example in which the entire route to the destination is re-searched so that such inconvenience does not occur. In this process, the current road and direction of the vehicle are obtained (step S64), the destination road is obtained (step S65), and the search road data is read between the current position and the destination (step S66). Then, select the intersection where the current location road connects in the direction of travel,
The entire route to the destination is determined based on the traveling direction to each intersection and the penalty (synonymous with the search cost) (step S67), and the road line of the guide route is re-created (step S68).

It should be noted that the present invention is not limited to the above embodiment, and various modifications are possible. For example, in the above-described embodiment, a point ahead of the current position by the road distance D is set as the starting point of the re-search, but the starting point of the guidance output of the intersection, the feature, etc. ahead is used as the starting point for the re-search. You may do so.

[0041]

As is apparent from the above description, according to the present invention, when a route deviates due to overtaking at a guidance intersection or the like, a margin time longer than a time corresponding to a re-search time or a guidance output time. Is calculated and the re-search is executed from the position in front of it, so when you start guidance on the re-search route, you may suddenly approach the guidance intersection, or you may deviate from the re-search route. Can be prevented. Moreover, since the road distance is calculated according to the vehicle speed, it is possible to always output the route guidance with a margin regardless of the vehicle speed.

[Brief description of the drawings]

FIG. 1 is a diagram showing an embodiment of a vehicle navigation device according to the present invention.

FIG. 2 is a diagram illustrating a configuration example of guide road data and the like;

FIG. 3 is a diagram showing a configuration example of road attribute data and the like.

FIG. 4 is a diagram illustrating a configuration example of intersection data.

FIG. 5 is a diagram showing a configuration example of guidance phrase data.

FIG. 6 is a diagram for explaining a processing flow of the entire system of the vehicle navigation device according to the present invention.

FIG. 7 is a diagram for explaining a route set by the route search in FIG. 6;

FIG. 8 is a diagram illustrating an example of automatic re-search.

FIG. 9 is a diagram for explaining a re-search start point in automatic re-search.

FIG. 10 is a diagram for explaining an example in a case where a guidance intersection exists within a range of a road distance.

FIG. 11 is a diagram showing a display example in the case of a re-search process.

FIG. 12 is a diagram showing another embodiment in which point setting is adjusted according to the presence or absence of a guidance-free road.

FIG. 13 is a diagram illustrating an example of adjustment of point setting based on the presence or absence of a guidance-free road.

FIG. 14 is a diagram illustrating an example of a route departure process.

FIG. 15 is a diagram illustrating an example of a route recalculation process.

FIG. 16 is a diagram illustrating an example of a route recalculation process.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 input / output device, 2 current position detecting device, 3 information storage device, 4 central processing device, 11 touch switch, 12
... Display, 13 ... Printer, 15 ... Video camera, 16 ... Speaker, 21 ... GPS receiver, 22 ... V
ICS information receiving device, 23 ... data transmitting / receiving device, 24 ...
Absolute direction sensor, 25: relative direction sensor, 25: distance sensor, 40: CPU, 41: flash memory, 42:
RAM, 43a: first ROM, 43b: second ROM, 4
4 image memory, 45 image processor, 46 audio processor, 47 communication interface, 48 input interface

Claims (6)

[Claims] 1. Searching a route from a departure point or a current position to a destination, performing route guidance along the route, and determining whether a vehicle is traveling on the searched route,
If the vehicle deviates from the route based on the determination result,
Detect the speed of the vehicle, determine the distance required until the start of guidance according to the speed of the vehicle, obtain the road information of the road in the traveling direction of the vehicle from the currently traveling road, and the determined distance and A navigation device for a vehicle, wherein a guidance start point is determined from the acquired road information to search for a route. 2. A vehicle navigation device that searches for a route from a departure point or a current position to a destination and provides route guidance along the searched route. Information storage means for storing the current position detection means for detecting the position and the moving speed of the vehicle, based on the detection result of the current position detection means, whether or not the vehicle is traveling on the searched route Route deviation determining means for determining, and a route for calculating a route from a current position detected by the current position detecting means when it is determined from the result of the route deviation determining means that the vehicle is off the searched route. Re-searching means, when it is determined that the vehicle is off the searched route from the determination result of the off-path determining means, based on the moving speed detected by the current position detecting means. Determining a guidance start point based on a travel distance calculating means for calculating a travel distance required for guidance start; a travel distance calculated by the travel distance calculation means; and road information stored in the information storage means. A navigation start point determining means for calculating the route, wherein the route re-search means calculates a route passing through the guidance start point determined by the guidance start point determining means. 3. The guidance start point determining means determines a point extended by the determined distance along a guide unnecessary road from the acquired road information as the guidance start point. The vehicle navigation device according to any one of the preceding claims. 4. The guidance start point determining means determines whether there is an intersection having no guideless road in the acquired road information within the determined distance, and determining whether or not there is a guideless road. 3. If there is an intersection that is not required, the intersection is determined as the guidance start point.
The vehicle navigation device according to any one of the preceding claims. 5. The guide start point determining means determines whether or not the acquired road information includes an intersection having no guide-free road within the determined distance, and determining whether the guide-free road exists. 3. The vehicle navigation device according to claim 2, wherein when there is an intersection that does not exist, a point extended to a road in a direction close to the guidance direction when the vehicle deviates from the route is determined as the guidance start point. 6. Search for a route from a departure point or a current position to a destination, provide route guidance along the route, and determine whether a vehicle is traveling on the searched route,
If the vehicle deviates from the route based on the determination result,
Detect the speed of the vehicle, determine the distance required until the start of guidance according to the speed of the vehicle, obtain the road information of the road in the traveling direction of the vehicle from the currently traveling road, and the determined distance and A computer-readable recording medium recording a program for determining a guidance start point from the acquired road information and searching for a route.