Navigation system

Abstract

To provide a navigation system for performing guidance instructions required for a user who drives a vehicle without using map data mounted on a navigation terminal.SOLUTION: Only position coordinates (position information) of a position that is on a traveling route in which a vehicle travels and requires navigation are stored in a navigation file. Navigation information comprises three or more position coordinates, one route is configured by connecting the position coordinates by a straight line, and guidance instructions are given to a driving user so as to travel on the route. The contents of guidance instructions are determined by an angle composed of two straight lines with position coordinates for performing guidance instructions as the apex, or are determined by three elements, namely an angle composed of two straight lines with position coordinates of a position next to a position for performing guidance instructions as the apex and the separation distance between position coordinates of a position for performing guidance instructions and position coordinates of a position next to a position for performing guidance instructions in addition to the angle concerned.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a navigation system, and more specifically, to a navigation system that provides guidance instructions necessary for a user driving a vehicle without using road data (road network) for navigation, such as links and nodes included in a map installed in a navigation terminal.

Background Art

[0002] In a vehicle navigation system, the main focus is on guiding the shortest-time or optimally considered route to a destination or waypoint by specifying them. In addition, there are known navigation systems that, like Patent Document 1, quickly change driving indicators prioritized according to the convenience and judgment of the user, or that, like Patent Document 2, calculate the optimal route by setting evaluation values for waypoints.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Common to conventional navigation systems is that they are configured on the premise of using a road network installed in a navigation terminal or acquired from a server via a network, and thus various problems have arisen. First, there are often differences between the road network installed in the navigation terminal and the road conditions at the time of driving, and there are cases where proper route guidance cannot be provided. In particular, when the navigation terminal does not have a method for updating the road network installed therein, the difference will increase day by day. Second, in the case of complex routes or work vehicles (e.g., packer trucks for garbage collection, etc.) that drive to the same location, since the driving order cannot be correctly transmitted, the use of the navigation system has been judged inappropriate.

[0005] Therefore, in order to solve these problems, it is considered that the use of the road network itself is a problem, and it has been found that if it is possible to provide necessary guidance instructions to users who need route guidance without using this road network, these problems can be solved, and the present invention has been completed. An object of the present invention is to provide a navigation system that provides necessary guidance instructions to users who need route guidance without using the road network data installed in the terminal.

Means for Solving the Problems

[0006] The invention according to claim 1 is a navigation system that provides necessary guidance instructions to users who need route guidance based on navigation information stored in a navigation file. The navigation file stores only the position coordinate points on the route traveled by the vehicle driven by the user and at positions where navigation is required. The navigation information consists of three or more position coordinate points, and a route is formed by connecting these position coordinate points in order with straight lines, and the driving user is guided to drive on that route. , that the vehicle should turn right, turn left, or make a U-turn to provide guidance instructions i. The content of the guidance instruction at the position coordinate point of the point (1) where the vehicle should turn right, turn left, or make a U-turn is the straight line connecting the position coordinate point of the point (1) and the position coordinate point of the point (0) where the vehicle made a right turn, left turn, or U-turn closest to it, and the straight line connecting the position coordinate point of the point (1) and the position coordinate point of the point (2) where the vehicle should turn right or left next. The angle formed by these two straight lines is defined as the first angle. The straight line connecting the position coordinate point of the point (1) and the position coordinate point of the point (2), and the straight line connecting the position coordinate point of the point (2) and the position coordinate point of the point (3) where the vehicle should turn right or left next to the point (2) form an angle defined as the second angle. Whether it is a U-turn is determined by the first angle, the second angle, and the distance between the position coordinate point of the point (1) and the position coordinate point of the point (2). It is a navigation system.

[0007] According to the present invention, the information stored in the navigation file is only the position coordinates of the positions where navigation is required, and the road network data installed in the navigation terminal is not used. Therefore, there is no need to add new information such as updating road network data that changes over time, and it is possible to provide the necessary guiding instructions to the user driving the vehicle. In particular, even in the case of a complex route or a work vehicle that repeatedly visits the same location, as long as the position coordinates are appropriately set, it can be used as a navigation system.

[0008] The position coordinates may directly use the geographical coordinate system in the probe information, or the geographical coordinate system may be replaced with a rectangular coordinate system or the like. The navigation system includes a receiving terminal that receives probe information (GNSS information) from the outside, a separation distance calculation unit that extracts the position information (latitude and longitude) of the vehicle from the probe information and obtains the separation distance from the coordinates for providing guiding instructions, and a guiding unit that determines the content of the guiding instructions and provides guiding instructions to the user of the navigation system.

[0009] The first angle is the angle of the angle formed by the straight line connecting the position coordinate point of the position where the guiding instruction is given and the position coordinate point of the position where the guiding instruction was given most recently, and the straight line connecting the position coordinate point of the position where the guiding instruction is given and the position coordinate point of the position where the guiding instruction will be given next. The second angle is the angle of the angle formed by the straight line connecting the position coordinate point of the position where the guiding instruction is given and the position coordinate point of the position where the guiding instruction will be given next, and the straight line connecting the position coordinate point of the position where the guiding instruction will be given next to the position where the guiding instruction is given and the position coordinate point of the position where the guiding instruction will be given next. To explain clearly with a specific example, if there are points A, B, C, and D, and the position coordinate point of the position where the guiding instruction is given is B, the first angle refers to the angle B formed by the straight line connecting A and B and the straight line connecting B and C. The second angle refers to the angle C formed by the straight line connecting B and C and the straight line connecting C and D. The separation distance refers to the straight-line distance between B and C. This In the invention, the content of the guiding instruction is determined based on the first angle, the second angle, and the separation distance.

[0010] In a navigation system, the most important thing is to correctly guide the user driving the vehicle on the route. However, the places where guidance is needed are where the vehicle should turn right or left at intersections and where a U-turn should be made. is. At intersections Regarding the places where the vehicle should turn right or left, if the announcement content can be determined according to the deflection angle of the route at the position where the guidance instruction is given, there is no need to store the content of the guidance instruction in the navigation file, nor is it necessary to have a separate file storing the content of the guidance instruction. Therefore, the file capacity used in the navigation system can be reduced, and it is possible to configure a compact and user-friendly navigation system. Moreover, even for a complex or circuitous route where the user has to pass the same road several times, the user can drive without getting lost.

[0011] In particular, It is possible to appropriately guide not only the places where the vehicle should turn right or left at intersections but also the places where a U-turn should be made. Specifically, the turning direction (turning right or left) is determined from the first angle, and the angle of the next turn is determined from the second angle. When the turning directions are different according to the first angle and the second angle, since it is not a U-turn, a guidance instruction can be issued each time. However, when the turning directions are the same according to the first angle and the second angle, it is impossible to determine whether it is simply turning in the same direction or making a U-turn. Therefore, by obtaining the distance between the two places, it is possible to determine whether it is simply turning in the same direction or making a U-turn. For example, when the two guidance instructions are the same and the distance between the two places is as short as about several meters, it is determined that a U-turn should be made, and the driver is given a guidance instruction to that effect. Thus, it is possible to appropriately guide not only the places where the vehicle should turn right or left at intersections but also the places where a U-turn should be made.

[0012] Claims 2When passing through the position at the position coordinate point on the route, it is regarded as having passed through the position at the position coordinate point before the said position coordinate point on the route, and is excluded from the route. In claim 1 It is the navigation system described.

[0013] Claim 2 According to the invention described in claim, when passing through the position at the position coordinate point on the route, it is regarded as having passed through the position at the position coordinate point before the said position coordinate point on the route, and is excluded from the route. That is, the already traveled route is deleted at any time, and it is limited to the currently traveled route and the position coordinate points for navigation several points ahead. As a result, even when passing through the same intersection or road many times, it is possible to appropriately guide the route to be advanced.

Effect of the Invention

[0014] According to the present invention, the information stored in the navigation file is only the position coordinates of the position where navigation is required, and map data including a road network is not used for the navigation terminal. Therefore, there is no need to add new information such as updating map data including a road network that changes over time, and it is possible to give the guidance instructions necessary for the user driving the vehicle. In particular, since car navigation generally aims to move to the vicinity of the destination in the shortest or fastest way, it is not suitable for applications that require moving along a pre-specified route such as garbage collection or route delivery. For places where no road network is provided, route guidance can only be provided up to "near the destination". However, by using the present invention, even for a route where no road network is provided, navigation can be performed. Therefore, even in the case of a complex route such as making right and left turns over a short distance or a commercial vehicle that travels the same point many times, as long as the position coordinates are set appropriately, it can be used as a navigation system.

[0015] Moreover, the first angle, The content of the guidance instruction is determined by three factors: the second angle, and the distance between the position coordinates of the point where the guidance instruction is given and the position coordinates of the point where the next guidance instruction is given. As a result, not only can the appropriate guidance be provided for when to turn right or left at an intersection, but also for when to make a U-turn.

[0016] Also, in the invention according to claim 2 it is limited to the currently traveling route and the coordinate points for navigation several points ahead, and by showing an arrow or the like flowing forward in the traveling direction, it is possible to appropriately guide the route to be traveled even when passing through the same intersection or road multiple times.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Modes for Carrying Out the Invention

[0018] (Embodiment 1) The navigation system according to Embodiment 1 of the present invention is used in a route where a U-turn is not required. This navigation system is composed of an arithmetic device, a storage device, an input device, an output device, and a control device, and is equipped with a navigation terminal introduced with an OS that can be stable for 24 hours. The navigation terminal is equipped with a navigation program. The navigation program has functions to extract the vehicle's position information (latitude and longitude) from GPS information, read the latitude and longitude (guidance position coordinates) of the position for guidance instructions from a navigation file, determine the content of the guidance instructions at the guidance position coordinates, and provide necessary guidance. The guidance function is performed by display (screen display), which is an output device, and voice guidance.

[0019] The navigation file stores the guidance position coordinates in the order of the guidance instructions. At least three sets of position coordinates (the position coordinates of the starting point, the position coordinates of the arrival point, and the guidance position coordinates) are stored. The navigation file is stored in a CSV (Comma Separated Value) file for easy management. The navigation file can be created on the navigation terminal or on a terminal other than the navigation terminal (for example, a desktop terminal installed in another location). In this case, it is necessary to store the navigation file in the navigation terminal. However, methods such as reading a navigation file stored in an external media device into the navigation terminal or reading a navigation file into the navigation terminal via a network line, whether wired or wireless, are also acceptable.

[0020] Here, in the navigation system according to Embodiment 1, a method for determining the content of the guidance instructions will be described. Note that the first and last position coordinates stored in the navigation file indicate the start and arrival. Here, a method for determining right turns, left turns, and straight-ahead movements will be described.

[0021] Based on Figure 1, a method for determining whether the guidance instruction is a right turn, a left turn, or a straight-ahead movement will be described. First, taking the position coordinates of the point where the guidance instruction is given as an end point, using the route to reach that point as the base axis, taking the position coordinates of the point where the guidance instruction is given as an end point, and using the subsequent route as the refraction axis, calculate the angle (the first angle) formed by the two axes. Next, determine whether it is a straight line, a right turn, or a left turn based on that angle. Based on Fig. 1(a), with the traveling direction taken as 0 degrees in the clockwise direction from the concept of azimuth angle, the angles will be explained. Specifically, set the angles for straight line determination, right turn determination, and left turn determination. For example, in the case of a straight line, set it from 330 degrees to 30 degrees; for a right turn, from 30 degrees to 180 degrees; and for a left turn, from 180 degrees to 330 degrees. Then, by applying the angle obtained earlier to the set values, determine the content of the guidance instruction.

[0022] Regarding the navigation method based on a specific navigation system, it will be explained based on the route map shown in Fig. 2. Note that this figure shows the route from point α where the vehicle departs, passing through the round marks shown from A to H in sequence, and reaching point β. Points D and E are the points for U-turns.

[0023] Point A is the location where a right turn guidance is given. When a straight line on the route from the departure point α to point A and a straight line connecting point A and the next guidance point B are connected, calculate the angle formed by the two straight lines (the angle at point A). According to Fig. 2, the angle is approximately 105 degrees. Applying this to the determination of the guidance instruction in Fig. 1(a), it corresponds to a right turn, so an instruction of "Turn right" is issued.

[0024] Similarly, when a straight line on the route from point A to point B and a straight line connecting point B and the next guidance point C are connected, calculate the angle formed by the two straight lines (the angle at point B). According to Fig. 2, the angle is approximately 255 degrees. Applying this to the determination of the guidance instruction in Fig. 1(a), it corresponds to a left turn, so an instruction of "Turn left" is issued.

[0025] Similarly, when a straight line on the route from point B to point C is connected by a straight line to point D that gives the next guidance instruction from point C, the angle formed by the two straight lines (the angle at point C) is obtained. According to FIG. 2, the angle is approximately 270 degrees. Similar to applying this to the angle of the guidance instruction in FIG. 1(a), since it corresponds to a left turn, an instruction to "turn left" is issued.

[0026] Since the guidance for other routes is also performed in the same way, the description is omitted. However, in the navigation system according to the first embodiment, even in the case of a complex route or a work vehicle that travels the same point multiple times, as long as the position coordinates are set appropriately, it can be used as a navigation system.

[0027] In the navigation system according to the first embodiment, although the method of determining whether it is going straight, turning right, or turning left from the angle as shown in FIG. 1(a) has been described, As shown in FIG. 1(b), it is also possible to take a form in which a U-turn can be determined. For example, in the case of going straight, it is set from 330 degrees to 30 degrees, in the case of turning right, from 30 degrees to 165 degrees, in the case of turning left, from 195 degrees to 330 degrees, and in the case of a U-turn, from 165 degrees to 195 degrees. Since other configurations are the same, they are omitted. In this case, not only the determination of turning right or left but also the unconditional determination of a U-turn is possible, which is useful.

[0028] (Second Embodiment) The navigation system according to the second embodiment of the present invention is used in a route where a U-turn is required. Regarding the basic configuration, only the method of determining the guidance instruction is different, and the rest is the same as in the first embodiment, so it is omitted.

[0029] In the navigation system according to the second embodiment, the guidance instruction is performed based on the content of the guidance instruction at the point where the guidance instruction is given, the content of the guidance instruction at the next point, and the distance between the point where the guidance instruction is given and the next point. Specifically, when the content of the guidance instruction at a guidance instruction point is the same as the content of the guidance instruction at the next point, and the distance between the guidance instruction point and the next point is within the threshold value (for example, within 10 m), a U-turn is made.

[0030] Regarding the specific navigation method, based on the route map shown in FIG. 2, the route from point C to point F in order will be described.

[0031] At point D, when a straight line on the route from point C to point D and a straight line connecting point D to point E where the next guidance instruction is given are connected, the angle formed by the two straight lines (the angle at point D) is obtained. According to FIG. 2, the angle is approximately 90 degrees. Applying this to the determination of the guidance instruction in FIG. 1(a) corresponds to a right turn. Next, in order to determine whether it corresponds to a U-turn, when the next point E corresponds to the same right turn as point D, it is necessary to determine that it is a U-turn. Therefore, when a straight line on the route from point D to point E and a straight line connecting point E to point F where the next guidance instruction is given are connected, the angle formed by the two straight lines (the angle at point E) is obtained. According to FIG. 2, the angle is approximately 90 degrees. Applying this to the determination of the guidance instruction in FIG. 1(a), point E also corresponds to a right turn. Therefore, it can be determined that the content of the guidance instructions at points D and E is the same.

[0032] Next, the distance between point D and point E is measured. According to FIG. 2, the distance between point D and point E is equal to or less than the threshold value of the U-turn determination distance (for example, 3 m). Therefore, at point D, it is determined to be a U-turn, and an instruction "Make a U-turn" is issued. Then, at point E, since an instruction to make a U-turn has already been issued, an instruction to "Turn right" is not given.

[0033] Since the guidance for these other routes is also carried out in the same way, the explanation is omitted. However, in the navigation system according to the second embodiment as well, even in the case of a business vehicle that travels a complex route or the same point multiple times, as long as the position coordinates are set appropriately, it can be used as a navigation system. Moreover, even at locations where a U-turn is required, appropriate instructions can be given. Even for a complex route that is expected to be as difficult to handle as in the navigation system according to the first embodiment, proper operation is possible.

[0034] (Embodiment 3) Embodiment 3, as a modification of the navigation systems according to Embodiment 1 and Embodiment 2, will explain, based on FIG. 3, a method of performing navigation for the currently traveling route and the coordinate points several points ahead, and a method of displaying a route guidance (such as a flowing arrow) toward the front of the traveling direction. First, assume that the vehicle has arrived near the starting coordinate of the route for navigation and starts traveling in the traveling direction on the route for navigation. At this time, it may automatically determine the arrival at the navigation route start point of this route, or the arrival at the navigation route start point may be indicated by a button or the like. As a result, the first straight line for navigation is determined. Then, a route guidance display is performed toward the front of the navigation route for the line up to the three points ahead in terms of right / left turns and U-turn points (coordinates). When the indication of the right / left turn and U-turn points three points ahead is a U-turn, this route guidance display (such as a flowing arrow) targets up to the right / left turn and U-turn points four points ahead. Also, when the traveling position has passed the right / left turn and U-turn points nearest in proximity, the route guidance display that has been shown up to that coordinate point is not performed. As a result, only the target route for navigation becomes clear, so even when traveling the same road or intersection multiple times, the user can travel without confusion.

[0035] In FIG. 3(1), point γ indicates the current position of the navigation terminal, and it is assumed that the vehicle is traveling from point A to point B. At this time, route guidance is provided from the immediately previous right / left turn and U-turn point A to the next right / left turn and U-turn point B, and from point B to point D three points ahead. Since point D is a point indicating a U-turn at this time, the route guidance is provided up to point E. Also, no route guidance is provided for the route up to point A that has already been passed through.

[0036] FIG. 3(2) shows the case where the navigation terminal has moved to point β. In this case, no route guidance is provided up to the immediately previous right / left turn and U-turn point B, and the route guidance is extended up to point F.

Claims

1. In a navigation system that provides necessary guidance instructions to users who need route guidance based on navigation information stored in a navigation file, the navigation file stores only the position coordinate points on the route traveled by the vehicle driven by the user and at positions where navigation is required, the navigation information consists of three or more position coordinate points, and a route is formed by connecting these position coordinate points in order with straight lines, and the navigation system provides guidance instructions to the driving user to travel on that route.

2. The content of the guidance instruction at the position coordinate point of the position where the guidance instruction is provided is determined by the angle of the angle formed by the straight line connecting the position coordinate point of the position where the guidance instruction is provided and the position coordinate point of the position where the guidance instruction was provided most recently, and the straight line connecting the position coordinate point of the position where the guidance instruction is provided and the position coordinate point of the position where the guidance instruction will be provided next, according to the navigation system described in Claim 1.

3. The content of the guidance instruction at the position coordinate point of the position where the guidance instruction is provided is taking the angle of the angle formed by the straight line connecting the position coordinate point of the position where the guidance instruction is provided and the position coordinate point of the position where the guidance instruction was provided most recently, and the straight line connecting the position coordinate point of the position where the guidance instruction is provided and the position coordinate point of the position where the guidance instruction will be provided next as the first angle, taking the angle of the angle formed by the straight line connecting the position coordinate point of the position where the guidance instruction is provided and the position coordinate point of the position where the guidance instruction will be provided next, and the straight line connecting the position coordinate point of the position where the guidance instruction will be provided next to the position where the guidance instruction is provided and the position coordinate point of the position where the guidance instruction will be provided next as the second angle, determined by the first angle, the second angle, and the separation distance between the position coordinate point of the position where the guidance instruction is provided and the position coordinate point of the next position of the position where the guidance instruction is provided, according to the navigation system described in Claim 1.

4. When passing through the position at the position coordinate point on the route, it is regarded as having passed through the position at the position coordinate point on the route before the said position coordinate point, and excluded from the route, according to the navigation system described in any one of Claims 1 to 3.

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