Navigation system, route search method

Abstract

To provide a navigation system which prevents a general vehicle from blocking a travel route of an emergency vehicle even when a plurality of emergency vehicles travel from a plurality of locations.SOLUTION: A navigation system is to search for a route for an emergency vehicle to rush to a destination where an event occurs. The navigation system is configured to: acquire positional information of the destination; generate routes from respective bases to the destination through searching for routes for respective emergency vehicles when causing the emergency vehicles to rush to the destination from the plurality of bases; identify an earliest arrival route, among the plurality of routes, through which an emergency vehicle can reach the destination earlier than the other routes; set a part of the earliest arrival route included in a predetermined range from the destination as an integrated route; research for routes other than the earliest arrival route by reducing costs of a node and a link included in the integrated route; compare travel time of the researched routes with travel time of the pre-researched routes corresponding to the researched routes; select either the researched routes or the pre-researched routes corresponding to the researched routes; and output the earliest arrival route and the selected researched routes or the pre-researched routes corresponding to the researched routes.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a navigation technology for generating a route from a departure point to a destination of an emergency vehicle and an avoidance route for ordinary vehicles that avoids the route, thereby quickly moving the emergency vehicle to the destination. [Background technology]

[0002] For example, when an emergency vehicle such as an ambulance or police car approaches from behind during an emergency, the law requires that ordinary vehicles move to the side of the road, stop temporarily, and give way to the emergency vehicle. Normally, drivers of ordinary vehicles become aware of the approach of an emergency vehicle by hearing the alarm sound made by the emergency vehicle, and move their ordinary vehicles to the left and stop temporarily.

[0003] However, if loud music or the like is being played inside the vehicle, it is assumed that the driver may not be able to hear the warning sound. Or, even if the driver notices the warning sound, it is assumed that he or she does not know what to do. In this case, the general vehicle does not stop temporarily and does not give way to the emergency vehicle, so the emergency vehicle cannot move quickly. Also, on a one-lane road or the like that is narrow to begin with, even if the general vehicle moves to the edge of the road and stops, the emergency vehicle cannot move quickly.

[0004] In order to solve this problem, Patent Documents 1 and 2 disclose inventions in which, when an event occurs that requires the dispatch of an emergency vehicle, such as a fire, a general vehicle is notified of the emergency vehicle's dispatch route to the event site, and the emergency vehicle's dispatch route and a detour route that bypasses the emergency vehicle route are displayed on the display unit of a navigation device installed in the general vehicle. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2005-283394 A [Patent Document 2] JP 2009-168506 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the case of a large-scale fire or accident, it is conceivable that multiple emergency vehicles will rush to the scene from multiple bases. In this case, since each emergency vehicle travels to its destination from multiple bases along its own dispatch route, when the invention disclosed in the above-mentioned patent document is applied, the dispatch routes of the multiple emergency vehicles are displayed on the navigation device of the general vehicle. Depending on the current location of the general vehicle, it may not be possible to bypass each dispatch route, which may hinder the rapid movement of the emergency vehicles.

[0007] In addition, it is expected that the number of autonomous vehicles will increase in the future. There is a demand for a mechanism to control autonomous emergency vehicles and general vehicles with a telematics system and move emergency vehicles quickly.

[0008] In one aspect, the present invention aims to provide a navigation system, a route search method, and a navigation system that prevent general vehicles from obstructing the route of emergency vehicles, even when multiple emergency vehicles are traveling from multiple locations. [Means for solving the problem]

[0009] (1) A navigation system according to an aspect of the present disclosure is a navigation system that provides a navigation device mounted on an emergency vehicle with a route to a destination where an event has occurred. The navigation system includes a plurality of navigation devices mounted on each of a plurality of emergency vehicles, and a management server that communicates with each of the navigation devices. The management server includes an acquisition unit, a reception unit, a route search unit, a specification unit, a setting unit, a re-search unit, a selection unit, and a management server communication unit. The acquisition unit acquires location information of the destination. The reception unit accepts a designation of an emergency vehicle to be dispatched to the destination. When an emergency vehicle is dispatched from a plurality of bases to the destination according to the accepted designation, the route search unit performs route search for each emergency vehicle and generates a route from each base to the destination. The specification unit specifies an earliest arrival route that arrives at the destination earliest among the plurality of routes. The setting unit sets a part of the earliest arrival route included in a first predetermined range from the destination as a unified route. The re-search unit reduces the costs of nodes and links included in the unified route, and re-searches for other routes other than the earliest arrival route to generate a re-searched route. The selection unit compares the travel time of the re-searched route with the travel time of the route before re-searching, and selects either the re-searched route or the route before re-searching. The management server communication unit transmits route information including the earliest arrival route and the re-searched route or the route selected by the selection unit to each corresponding navigation device. Each navigation device includes a communication unit and a navigation unit. The communication unit receives the route information from the management server. The navigation unit provides route guidance based on the route information.

[0010] (2) The navigation system of (1) above further provides a general navigation device mounted on the general vehicle with a detour route that detours around the route of the emergency vehicle based on the position information and route information indicating the current position of the emergency vehicle. The navigation system further includes a general navigation device and a navigation server that communicates with the general navigation device. The management server communication unit further receives position information from each emergency vehicle and transmits the position information and route information to the navigation server. The navigation server includes a navigation server communication unit, a determination unit, and a detour route search unit. The navigation server communication unit receives the position information and route information from the management server communication unit, and receives general position information indicating the current position of the general vehicle from the general navigation device. The determination unit determines whether the position indicated by the general position information is within a second predetermined range from the position indicated by the position information or the route information. If the position indicated by the general position information is within the second predetermined range, the detour route search unit searches for a detour route and generates detour route information. The navigation server communication unit transmits the position information and the detour route information to the general navigation device. The general navigation device includes a general navigation communication unit and a general navigation unit. The general navigation communication unit receives position information and detour route information from the navigation server communication unit. The general navigation unit navigates the detour route based on the received position information and detour route information.

[0011] (3) A route search method according to an aspect of the present disclosure is a route search method that causes a computer to search for a route for an emergency vehicle rushing to a destination where an event has occurred. The route search method acquires location information of the destination, accepts a designation of an emergency vehicle to be rushed to the destination, and when the emergency vehicle is rushed from a plurality of bases to the destination according to the designation, performs route search for each emergency vehicle to generate a route from each base to the destination, identifies an earliest arrival route that arrives at the destination earliest among the plurality of routes, sets a part of the earliest arrival route that is within a predetermined range from the destination as a unified route, reduces the costs of nodes and links included in the unified route, re-searches for other routes other than the earliest arrival route, compares the travel time of the re-searched route with the travel time of the corresponding route before re-searching, selects either the re-searched route or the corresponding route before re-searching, and outputs the earliest arrival route and the selected re-searched route or the corresponding route before re-searching. Effect of the Invention

[0012] By using the navigation system or route search method of the present invention, emergency vehicles will travel on unified routes as much as possible, and general vehicles will have more detour patterns that bypass emergency vehicle routes, thereby enabling emergency vehicles to move more quickly. [Brief description of the drawings]

[0013] [Figure 1] 1 is a diagram showing an example of the configuration of a navigation system 10. FIG. [Diagram 2] FIG. 2 is a diagram illustrating an example of a configuration of a management server 5. [Diagram 3] 1 is a diagram showing an example of a configuration of a navigation device 1. FIG. [Figure 4] FIG. 4 is a sequence diagram showing an example of the operation of the navigation system 10 (up to route guidance for emergency vehicles). [Diagram 5] FIG. 11 is a diagram illustrating an example of a route search process. [Figure 6] FIG. 1 is a diagram showing an example of the positional relationship between a person making a call to 119 and a location where an event has occurred. [Figure 7]FIG. 2 is a diagram showing an example of the positional relationship between a location where an event occurs and each base where an emergency vehicle is stationed. [Figure 8] FIG. 2 is a diagram showing an example of each route from each base to a destination. [Figure 9] FIG. 13 is a diagram showing an example in which a part of the identified earliest arrival route is set as a unified route. [Figure 10] FIG. 13 is a diagram showing an example of each route re-searched by reducing the cost of the unified route. [Figure 11] FIG. 2 is a diagram showing an example of the configuration of a navigation server 6. [Figure 12] FIG. 4 is a sequence diagram showing an example of the operation of the navigation system 10 (up to displaying a detour route for general vehicles). [Figure 13] FIG. 11 is a diagram illustrating an example of a detour route search process. [Figure 14] FIG. 2 is a diagram showing an example of a route before a general navigation device 2 displays a detour route. [Figure 15] FIG. 11 is a diagram showing an example of the positional relationship between an emergency vehicle and a general vehicle when a detour route search is performed; [Figure 16] FIG. 2 is a diagram showing an example of an emergency vehicle position and a detour route displayed on a general navigation device 2. [Figure 17] FIG. 11 is a diagram showing an example of the positional relationship between a unified route and general vehicles when a detour route search is performed; [Figure 18] FIG. 2 is a diagram showing an example of a unified route and a detour route displayed on a general navigation device 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Note that the same components shown in the drawings are given the same reference numerals, and repeated description will be omitted.

[0015] [Configuration of Navigation System 10] As shown in FIG. 1, the navigation system 10 includes a navigation device 1 mounted on each of a first emergency vehicle 11, a second emergency vehicle 12, and a third emergency vehicle 13, a management server 5 possessed by an information center 4, a navigation server 6, a map server 7, and a general navigation device 2 mounted on each of a first general vehicle 14, a second general vehicle 15, and a third general vehicle 16.

[0016] The first emergency vehicle 11, the second emergency vehicle 12, and the third emergency vehicle 13 are emergency vehicles arranged at different bases. The first emergency vehicle 11, the second emergency vehicle 12, and the third emergency vehicle 13 may be a group of multiple emergency vehicles arranged at each base. When the first emergency vehicle 11, the second emergency vehicle 12, and the third emergency vehicle 13 are collectively described, they are simply referred to as "emergency vehicles."

[0017] An emergency vehicle is a vehicle for responding to emergency events such as rescue operations, fires, and accidents. An emergency vehicle is equipped with red warning lights and a speaker that outputs an alarm sound. When rushing to a destination where an event has occurred, the emergency vehicle turns on the red warning lights and sounds an alarm while traveling.

[0018] Examples of emergency vehicles include ambulances, fire engines, patrol cars, emergency work vehicles used by electric power companies, gas companies, flood control agencies, road management companies, telecommunications companies, road service cars, blood storage vehicles used by the Japanese Red Cross Society and the Blood Donation Service Foundation, organ transport vehicles, doctor's cars for dispatching doctors, and various emergency vehicles owned by the Self-Defense Forces.

[0019] The emergency vehicle is equipped with a navigation device 1. The navigation device 1 performs a route search process to generate route information indicating a route from a current position to a destination, and can provide route guidance. The navigation device 1 also has a communication function, and can provide route guidance based on route information received from a management server 5. The functional configuration of the navigation device 1 will be described later.

[0020] The first general vehicle 14, the second general vehicle 15, and the third general vehicle 16 are vehicles traveling to different destinations. When the first general vehicle 14, the second general vehicle 15, and the third general vehicle 16 are collectively described, they will be simply referred to as "general vehicles."

[0021] The navigation device 1, management server 5, navigation server 6, map server 7, and general navigation device 2 each have a communication function and can connect to other communication devices via a network 8. It is assumed that in the navigation system 10, more than the number of navigation devices 1 and general navigation devices 2 shown in the figure are connected to the management server 5, navigation server 6, and map server 7 via the network 8.

[0022] The network 8 is a communication path that allows data communication. The network 8 is composed of the Internet, an intranet, a wireless LAN, a mobile communication network, etc. The map server 7 is a server that provides map information used for route guidance of the navigation device 1 and the general navigation device 2. The map server 7 stores the latest map information, and provides the latest map information in response to requests from the navigation device 1 and the general navigation device 2 via the network 8.

[0023] Information Center 4 is a public institution that accepts 119 calls by telephone from the requester and decides on a response based on the details of the event reported by the requester. The public institution that responds to 119 calls varies depending on the location from which the 119 call was made. For example, if a requester calls 119 in Kobe City, Hyogo Prefecture, the call will be connected to the Crisis Management Center in Kobe City Hall, so the Crisis Management Center corresponds to Information Center 4.

[0024] A receptionist is on standby at Information Center 4, who receives 119 calls from requesters and listens to the details of the event and the location of the event from the requester. The receptionist determines the emergency vehicle to be dispatched and the destination of the emergency vehicle based on the details of the event and the location of the event that he / she has heard from the requester. Note that a computer equipped with a reception function may listen to the call from the requester instead of the receptionist and determine the emergency vehicle to be dispatched and the destination.

[0025] When a call to 119 is made from a mobile phone, the mobile phone terminal notifies information center 4 of the location of the call obtained by performing positioning such as GPS positioning. When a call is made from a landline, the telephone network system obtains location information of the house where the landline is installed based on address information of the house that is stored in advance in association with the telephone number, and notifies information center 4. The location information may be information expressed in latitude and longitude, or may be information expressed in plane rectangular coordinates.

[0026] However, there are cases where the notified location information does not match the location of the event reported by the requester. The requester often reports an event such as a fire from a location far away from the location of the event. In this case, the notified location information is used as reference information for the location of the event, and the location of the event is identified from the content of the requester's report.

[0027] The information center 4 has a management server 5. The management server 5 is a computer equipped with a CPU (Central Processing Unit), memory, and a storage medium, and realizes various functions by the CPU executing programs stored in the storage medium.

[0028] [Administration Server 5 Configuration] 2, the management server 5 includes a management server communication unit 51, a management server control unit 52, and a management server storage unit 53. The management server communication unit 51 has a communication function for communicating with other communication devices via the network 8. The management server control unit 52 includes an acquisition unit 521, a reception unit 522, a route search unit 523, a specification unit 524, a setting unit 525, a re-search unit 526, a selection unit 527, and an output unit 528.

[0029] The acquisition unit 521 has a function of acquiring destination information 531 indicating the destination included in the call from the requester to "119." Note that the reception staff or the reception staff computer may determine the destination from the report from the requester and input the destination information 531.

[0030] The reception unit 522 has a function of receiving a designation of an emergency vehicle to be dispatched to a destination from a reception staff member or a reception staff computer.

[0031] The route search unit 523 has a function of searching for a route from a base to a destination for an emergency vehicle to be dispatched to the destination, and generating route information. When dispatching an emergency vehicle from multiple bases to a destination, the route information is generated by searching for a route from each base to the destination in the shortest time. Note that the search algorithm for the route to be dispatched in the shortest time may be realized using a known algorithm such as the Dijkstra method, the Bellman-Ford method, or the A* algorithm.

[0032] The route search unit 523 searches for a route that will arrive in the shortest time using the network data 530 stored in the management server storage unit 53. The network data 530 includes information on links and nodes. The links include identification information for identifying the links, type information indicating the type (for example, national roads, prefectural roads, expressways, general roads, etc.), name information indicating the name of the link, as well as road width, cost, and location information. The nodes include identification information of the connecting links, name information of intersections (if any), as well as cost and location information.

[0033] Cost is an evaluation value used in route searches, and is a numerical value that quantifies the "difficulty of travel" of a link or node. There are various methods for evaluation to determine cost. Evaluation tables with different weightings for evaluation items are used depending on the purpose of the search. For example, if you want to search for the shortest route, you use a table with weighting that gives a high cost value for the length of the route. On the other hand, if you are searching for a route to reach a destination in the shortest time, you use a table with weighting that gives a high cost value for evaluation elements such as the number of traffic lights, the time the traffic lights are red, the width of the road, and the frequency of congestion, in addition to the distance. Other tables for determining cost include a table that prioritizes routes with fewer branches (right and left turns) and a table that prioritizes routes with less congestion.

[0034] The identification unit 524 has a function of identifying the earliest arrival route that arrives at the destination first among the multiple routes found. The earliest arrival route is a route that arrives at the destination first. For example, even if the distance is longer than other routes, if the route is the first to arrive because it departs from the base earlier or uses a highway, the route is identified as the earliest arrival route.

[0035] The setting unit 525 has a function of setting a part of the earliest arrival route included in the first predetermined range from the destination as a unified route (also called an emergency vehicle priority road). For example, a route that connects to the destination and includes an intersection included in a distance range of 300 m from the destination may be set as the unified route as the first predetermined range.

[0036] The re-searching unit 526 has a function of reducing the costs of the nodes and links included in the set unified route, and re-searching for other routes other than the earliest arrival route to generate a re-searched route. For example, if the unified route includes five nodes and four links, and the total cost value included in each node and link is 40, the re-searching unit 526 sets the total value to 0 and generates a re-searched route from the base to the destination.

[0037] The selection unit 527 has a function of comparing the travel time of the re-searched route with the travel time of the route before re-searching, and selecting either the re-searched route or the route before re-searching. The travel time is an estimated time when traveling from the base to the destination at the average speed of the emergency vehicle. Since the route generated before re-searching is the route that arrives in the shortest time, it is expected that the travel time of the re-searched route will be shorter when comparing the travel time of the re-searched route with the travel time of the route before re-searching.

[0038] Therefore, the selection unit 527 selects the re-searched route if the travel time of the re-searched route is shorter than the travel time of the route before the re-searching plus a predetermined time n1 (seconds). n1 (seconds) may be, for example, 120 (seconds) or 60 (seconds).

[0039] The output unit 528 has a function of outputting route information 532 including the earliest arrival route and either the selected re-searched route or the route before re-searching. The output route information 532 is transmitted to each navigation device 1 by the management server communication unit 51 via the network 8.

[0040] The management server storage unit 53 is configured as hardware such as a large-capacity storage medium such as a hard disk drive, etc. The management server storage unit 53 stores network data 530, location information 531, route information 532, and emergency vehicle location information 533.

[0041] [Configuration of navigation device 1] As shown in Fig. 3, the navigation device 1 includes a communication unit 111, a position detection unit 112, a navigation control unit 113, a navigation storage unit 114, and a touch panel display 115. Although not shown, the navigation device 1 is a computer with a man-machine interface function, and includes a CPU, memory, and storage medium, and realizes various functions by the CPU executing programs stored in the storage medium. Note that a general navigation device 2 mounted on a general vehicle has the same functional configuration as the navigation device 1, and therefore a description thereof will be omitted.

[0042] The communication unit 111 has a communication function of communicating with the management server 5 and the map server 7 via the network 8. The communication unit 111 receives route information from the management server 5, and transmits emergency vehicle position information indicating the current position of the emergency vehicle to the management server 5. The communication unit 111 receives map information from the map server 7. The communication unit 111 can also communicate with a probe center and a VICS (registered trademark) center, which are not shown.

[0043] The position detection unit 112 has a function of outputting sensor information related to the current position of the emergency vehicle in which the navigation device 1 is mounted. The position detection unit 112 is composed of a direction sensor that detects the traveling direction of the vehicle, a vehicle speed sensor that detects the vehicle speed, a GPS sensor that detects GPS signals from GPS satellites, and the like, and sequentially outputs sensor information for identifying the current position detected by each sensor to the navigation control unit 13.

[0044] The navigation control unit 113 has a position information generation unit 131, a navigation route search unit 132, and a navigation unit 133. The position information generation unit 131 has a function of generating emergency vehicle position information based on the sensor information output by the position detection unit 112.

[0045] The navigation route search unit 132 has a function of performing a route search using the network data 143 stored in the navigation storage unit 114. Note that route search is not performed when the navigation unit 133 provides route guidance based on route information received from the management server 5. For example, when an emergency vehicle does not travel along a route based on the route information received from the management server 5 but moves to a destination along a different route, the navigation route search unit 132 searches for a route from the current position to the destination and generates new route information.

[0046] The navigation unit 133 has a function of providing route guidance based on route information. Specifically, the navigation unit 133 generates an image in which the route that the emergency vehicle should travel is superimposed on a map, and a GUI that accepts various input operations, outputs them to the touch panel display 115, and outputs a voice guiding the vehicle along the route from a speaker (not shown).

[0047] The navigation unit 133 may also provide route guidance to assist automatic driving. In this case, the navigation device 1 may be connected to an external camera and various sensors installed in the vehicle in which the navigation device 1 is installed via an in-vehicle network such as a CAN. Furthermore, the navigation device 1 may also be connected to a vehicle control ECU that performs various controls for the vehicle in which the navigation device 1 is installed so as to be able to communicate bidirectionally. When an emergency vehicle moves by automatic driving based on route information, the navigation device 1 can provide route guidance to passengers in the emergency vehicle, thereby giving the passengers a sense of security. Route guidance for passengers during automatic driving may omit the information to be guided and, for example, guide only major course changes, such as turning at an intersection.

[0048] The navigation storage unit 114 is configured as hardware such as a large-capacity storage medium such as a solid state drive (SSD), etc. The navigation storage unit 114 stores map information 141, route information 142, and navigation network data 143.

[0049] The touch panel display 115 is composed of a display unit 151 and an input unit 152, and has a function of displaying route information and a GUI generated by the navigation unit 133. The touch panel display 115 also has a function of detecting the position touched by a passenger when the passenger touches the GUI, and accepting instructions from the passenger. Note that a HUD (Head Up Display) may be used instead of the touch panel display 115. In this case, the HUD functions as the display unit 151.

[0050] [Operation of the navigation system 10 (from calling 119 to providing route guidance for emergency vehicles)] Here, an example of a specific operation up to route guidance for an emergency vehicle by the navigation system 10 will be described with reference to Figs. 4 to 10. The symbol "S" in the figures denotes a step. First, as shown in Fig. 4, a requester 22 who encounters an event such as a fire calls 119 from near the event site (S1). The 119 call includes destination information. Fig. 6 is a diagram showing, as a specific example, a fire breaks out in a high-rise building 21 in a certain town, and the requester 22 calls 119 on his mobile phone.

[0051] The information center 4 receives a 119 call from the requester 22, and the acquisition unit 521 acquires the event details and destination information (S2). The reception unit 522 receives a designation of an emergency vehicle to be dispatched from the reception staff or reception staff computer (S3).

[0052] FIG. 7 is a diagram showing, on a map, the location of high-rise building 21 and the locations 31 to 33 where designated emergency vehicles are stationed.

[0053] When the route search unit 523 receives a designation to dispatch an emergency vehicle from a plurality of bases (S4: Yes), it searches for a route from each base to the destination and generates route information (S5). The route search process from a plurality of bases in S5 will be described with reference to FIG.

[0054] First, the route search unit 523 searches for a route from each base where a specified emergency vehicle is located to the destination, and generates route information from each base (S51). Fig. 8 shows an example of routes 41-43 from each base 31-33 to the destination 30.

[0055] The identification unit 524 identifies the earliest arrival route from among the generated route information (S52). Among the routes 41 to 43 shown in Fig. 8, the identification unit 524 identifies the route 41, which has the shortest travel time and is estimated to arrive at the destination 30 earliest, as the earliest arrival route.

[0056] The setting unit 525 sets a part of the earliest arrival route included in a predetermined range from the destination as the unified route (S53). As shown in FIG.

[0057] The re-search unit 526 reduces the costs of the nodes and links of the unified route, re-searches for routes other than the earliest arrival route, and generates a re-searched route (S54). By reducing the costs of the nodes and links, the travel time for traveling the unified route is significantly reduced. For example, if the travel time for traveling the unified route is calculated to be one minute, the travel time may be calculated to be 10 seconds by the cost reduction process.

[0058] 10 is a diagram showing re-searched routes 52 and 53 generated by re-searching routes 42 and 43 other than the route 41, which is the earliest arriving route. As shown in the figure, the re-searched routes 52 and 53 are routes that include the unified route 50.

[0059] The selection unit 527 compares the travel time of the re-searched route with the travel time of the route before re-searching, and if the travel time of the re-searched route is less than the travel time of the route before re-searching (S55: Yes), it selects the re-searched route (S56).

[0060] If the travel time of the re-searched route is greater than the travel time of the route before re-searching (S55: No), the selection unit 527 selects the route before re-searching (S57).

[0061] When an emergency vehicle is dispatched from one base (S4: No), a normal route search is performed from the base to the destination, and route information is generated (S6).

[0062] The management server 4 stores the route information generated in S5 or S6 in the management server storage unit 53 (S7). The management server communication unit 51 transmits the stored route information to the navigation device 1 of each emergency vehicle (S8). The navigation device 1 of each emergency vehicle provides route guidance based on the received route information (S9).

[0063] When emergency vehicles deployed at multiple locations are dispatched to their destinations, the above route search method allows each emergency vehicle to travel along a route that includes as many unified routes as possible. This makes it easier for general vehicles to bypass the emergency vehicle's route, enabling the emergency vehicle to move quickly.

[0064] [Navi Server 6 Configuration] Next, the navigation server 6 that generates detour routes for ordinary vehicles to detour around the routes taken by each emergency vehicle will be described. Like the management server 5, the navigation server 6 is a computer equipped with a CPU, memory, and storage medium, and various functions are realized by the CPU executing programs stored in the storage medium. As shown in FIG. 11, the navigation server 6 includes a navigation server communication unit 61, a navigation server control unit 62, and a navigation server storage unit 63.

[0065] The navigation server communication unit 61 has a communication function for communicating with the management server 5 and the general navigation devices 2 mounted in each general vehicle via the network 8. The management server 5 generates route information 532 for the emergency vehicle, and transmits the route information 532 to the navigation server 6. The navigation server communication unit 61 receives the route information 532, and stores it in the navigation server storage unit 63.

[0066] While moving to the destination, each emergency vehicle generates emergency vehicle position information 533 at a predetermined time interval and sequentially transmits it to the management server 5. The predetermined time interval is, for example, one second. The management server 5 transmits the emergency vehicle position information 533 to the navigation server 6. The navigation server communication unit 61 receives the emergency vehicle position information 533 and stores it in the navigation server storage unit 63.

[0067] Each general navigation device 2 generates general position information 631 indicating the position of each general vehicle in which it is installed at a predetermined time interval, and sequentially transmits the information to the navigation server 6. The navigation server communication unit 61 receives the general position information 631 and stores it in the navigation server storage unit 63.

[0068] The navigation server control unit 62 includes a determination unit 621 , a detour route search unit 622 , a detour route notification unit 623 , and a detour route stop unit 624 .

[0069] The determination unit 621 has a function of determining whether the position of a general vehicle indicated by the latest general position information 631 stored in the navigation server storage unit 63 is within a predetermined range from the position of the unified route included in the route information 532 or the position of the emergency vehicle indicated by the latest emergency vehicle position information 533. In other words, when a general vehicle exists within a predetermined range from the position of the unified route or the position of the emergency vehicle, the determination unit 621 determines that the general vehicle is approaching the unified route or the emergency vehicle.

[0070] When the determination unit 621 determines that a general vehicle is approaching a common route or an emergency vehicle, the detour route search unit 622 has a detour route search processing function for searching for a detour route for the approaching general vehicle and generating detour route information. The detour route search processing will be described later.

[0071] The detour route notification unit 623 has a function of notifying the generated detour route information to the target general navigation device 2. The detour route stopping unit 624 has a function of notifying the target general navigation device 2 of an instruction to stop displaying the detour route when all emergency vehicles have arrived at the destination and it is no longer necessary to display the detour route.

[0072] The navigation server storage unit 63 is configured as hardware such as a large-capacity storage medium such as a hard disk drive, etc. The navigation server storage unit 63 stores network data 530, general position information 631, route information 532, emergency vehicle position information 533, and detour route information 632.

[0073] [Operation of navigation system 10 (up to displaying detour routes for general vehicles)] Here, an example of the operation of the navigation system 10 from route guidance for emergency vehicles to display of detour routes for general vehicles will be described with reference to Figs. 12 and 13. Figs.

[0074] 12, first, the management server 5 transmits the generated route information 532 for emergency vehicles to the navigation server 6 (S11). The navigation server 6 stores the received route information 532 (S12).

[0075] The navigation device 1 of each emergency vehicle sequentially generates emergency vehicle position information 533 (S13) and transmits it to the management server 5 (S14). The management server 5 stores the received emergency vehicle position information 533 in the management server storage unit 53 (S15). The management server 5 transmits the stored emergency vehicle position information 533 to the navigation server 6 (S16).

[0076] The general navigation device 2 mounted in each general vehicle successively generates general position information 631 indicating the position of the general vehicle (S17). The general navigation device 2 has the same function as the navigation device 1, and has a functional unit that successively generates the general position information 631. The general navigation device 2 transmits the generated general position information 631 to the navigation server 6 via the network 8 (S18).

[0077] The navigation server 6 stores the general position information 631 received from the general navigation device 2 in the navigation server storage unit 63. The navigation server 6 stores the emergency vehicle position information 533 received from the management server 5 in the navigation server storage unit 63 (S19).

[0078] The navigation server 6 performs detour route processing (S20) based on the position information stored in the navigation server storage unit 63. The detour route search processing of S20 will be described with reference to FIG.

[0079] 13, the determination unit 621 determines whether the latest location of the general vehicle is within a second predetermined range from the latest location of the emergency vehicle or the unified route (S61). The second predetermined range is, for example, 300 m.

[0080] If the latest location of the general vehicle is within a second specified range from the latest location of the emergency vehicle or the unified route (S61: Yes), the detour route search unit 622 increases the cost values ​​of the nodes and links included in the specified range route in the driving direction from the latest current location of each emergency vehicle and the unified route, which are included in the network data 530 stored in the navigation server memory unit 63 (S62).

[0081] The cost value may be increased to, for example, the maximum upper limit. The predetermined range route in the driving direction is, for example, a range of 300 m from the latest current position of the emergency vehicle. If the latest position of the general vehicle is not within a predetermined range from the latest position of the emergency vehicle or the unified route (S61: No), the detour route search unit 622 does not search for a detour route.

[0082] Next, the detour route search unit 622 recalculates the route to the destination of the general vehicle that is determined by the determination unit 621 to be approaching the emergency vehicle or the unified route (S63). When the cost value of the predetermined range route in the driving direction from the latest current position of each emergency vehicle and the node and link included in the unified route is maximum, the detour route search unit 622 generates detour route information 632 indicating the predetermined range route in the driving direction from the latest current position of each emergency vehicle and the route that detours the unified route (S64). Note that, when it is more appropriate for a general vehicle to take the emergency vehicle route than other routes to reach the destination, the detour route also includes stopping once before entering the emergency vehicle's driving route and waiting for the emergency vehicle to pass.

[0083] The navigation server 6 stores the generated detour route information 632 in the navigation server storage unit 63. The navigation server 6 transmits the emergency vehicle position information 533 and the detour route information 632 stored in the navigation server storage unit 63 to the general navigation device 2 to be determined (S21).

[0084] The general navigation device 2 displays the emergency vehicle's location and the detour route on the display unit based on the received emergency vehicle location information 533 and detour route information 632 (S22).

[0085] On the other hand, if the emergency vehicle has arrived at the destination (S23: Yes), the navigation device 1 ends the route guidance for the emergency vehicle (S24). The navigation device 1 transmits an arrival notification to the management server 5 indicating that the emergency vehicle in which the navigation device 1 is mounted has arrived at the destination (S25). If the emergency vehicle has not arrived at the destination (S23: No), the navigation device 1 returns to the process of S13.

[0086] When the management server 5 receives arrival notifications from the navigation devices 1 of all emergency vehicles that rushed to the destination (S26: Yes), it transmits an instruction to stop the detour route processing to the navigation server 6 (S27). When the management server 5 does not receive arrival notifications from the navigation devices 1 of all emergency vehicles that rushed to the destination (S26: No), the management server 5 returns to the processing of S15.

[0087] When the navigation server 6 receives the detour route processing stop instruction from the management server 5, it ends the detour route search process (S28). Next, the navigation server 6 transmits an instruction to stop displaying the detour route to the general navigation device 2 (S29).

[0088] When the general navigation device 2 receives an instruction to stop displaying the detour route from the navigation server 6, it ends the display of the emergency vehicle position and the detour route (S30).

[0089] Here, specific examples of detour routes for the first general vehicle 14 will be described with reference to Figures 14 to 18. Figure 14 shows on a map the first general vehicle 14, the first emergency vehicle 11, the second emergency vehicle 12, the third emergency vehicle 13, the high-rise building 21 where a fire has broken out, the unified route 50, the first predetermined range route 71 which is a predetermined range route in the traveling direction of each emergency vehicle, the second predetermined range route 72, the third predetermined range route 73, the planned route 74 for the first general vehicle 14, a surrounding frame 75, a surrounding frame 76, and a general destination 77 which is the destination of the first general vehicle 14.

[0090] Fig. 15 is an enlarged view of a part of the map enclosed by the encircling frame 75 shown in Fig. 14. In the positional relationship between the first emergency vehicle 11 and the first general vehicle 14 shown in Fig. 15, the determination unit 621 determines that the current position of the first general vehicle 14 is a position within a second predetermined range from the first predetermined range route 71, and the detour route search unit 622 generates detour route information.

[0091] The travel direction predetermined range route 71 is composed of a plurality of nodes 711 and links 712. Predetermined cost values ​​are assigned to the nodes 711 and links 712 in advance, and these cost values ​​are increased in the detour route processing. For example, the cost values ​​may be increased to a maximum value.

[0092] When recalculating the route for the general vehicle, the detour route searching unit 622 does not generate route information that passes through the first predetermined range route 71 configured from the node 711 and the link 712 because the cost values ​​of the node 711 and the link 712 are high, but generates detour route information 632 that detours around the first predetermined range route 71 or stops just before entering the first predetermined range route 71. The navigation server 6 transmits the generated detour route information 632 and emergency vehicle position information 533 to the general navigation device 2.

[0093] The general navigation device 2 displays the position of the emergency vehicle and the detour route on the display unit based on the received emergency vehicle position information 533 and detour route information 632. Fig. 16 is a diagram showing an example of a screen 80 including the position of the emergency vehicle and the detour route displayed on the display unit of the general navigation device 2.

[0094] On the screen 80, an emergency vehicle icon 82 indicating the position of the emergency vehicle, an emergency vehicle driving route line 83, a vehicle icon 84 indicating the current position of a general vehicle, a general vehicle detour route line 85 indicating the driving route of a general vehicle, and a speech bubble 86 displaying an explanation of the detour route are superimposed on a map 81. The speech bubble 86 displays the explanation "Please stop for a moment to give priority to emergency vehicles."

[0095] Fig. 17 is an enlarged view of a portion of the map enclosed by the frame 76 shown in Fig. 14. In the positional relationship between the unified route 50 and the first general vehicle 14 shown in Fig. 17, the determination unit 621 determines that the current position of the first general vehicle 14 is within a second predetermined range from the unified route 50, and the detour route search unit 622 generates detour route information 632 that indicates a detour route 88 that does not include links 78, 79 that connect to the unified route 50. The navigation server 6 transmits the generated detour route information 632 and route information 532 to the general navigation device 2.

[0096] The general navigation device 2 displays the unified route 50 and the detour route 88 on the display unit based on the received route information 532 and detour route information 632. A screen 80 shown in Fig. 18 is displayed on the display unit of the general navigation device 2 mounted on the first general vehicle 14. On the screen 80, a priority road line 92 indicating the unified route 50, a general vehicle detour route line 90 indicating the detour route 88, a speech bubble 92 displaying an explanation of the detour route 88, and a speech bubble 93 displaying an explanation of the set priority road are displayed superimposed on a map 81.

[0097] The driver of the first general vehicle 14 checks the screen 80 and heads to the destination via the detour route 88 that avoids the common route 50, thereby preventing general vehicles from entering the common route 50, which is likely to be used by emergency vehicles. As a result, the emergency vehicle can quickly rush to the location of the event.

[0098] Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and should be understood as including various modified and alternative forms of the above embodiments. For example, the present invention includes those in which the components are modified and embodied within the scope of the present invention, those in which a plurality of components disclosed in the above embodiments are appropriately combined, and those in which some components are deleted from all the components shown in the embodiments, or some components are added to the components shown in the embodiments.

[0099] In the above embodiment, the management server 5 and the navigation server 6 are described as separate servers, but the present invention may be applied to the management server 5 and the navigation server 6 as a single server group, and further, the present invention may be applied to a server group that also includes the map server 7.

[0100] In the above embodiments, the emergency vehicle and the general vehicle were both types of vehicles driven by a driver, but the present invention can also be applied even if one or both of the vehicles are autonomous vehicles that do not require a driver.

[0101] The selection unit 527 compares the travel time of the re-searched route with the travel time of the route before re-searching, but for example, even if the travel time of the re-searched route increases by about 30 seconds, a re-searched route that travels along the unified route may be selected. For example, the travel time of the re-searched route may be compared with the time obtained by adding n seconds (n is a fixed value) to the travel time of the route before re-searching.

[0102] The selection unit 527 may select the re-searched route when the difference between the first time when an emergency vehicle traveling on the earliest arrival route arrives at the unified route and the second time when other emergency vehicles arrive at the unified route is within a predetermined time (e.g., within 5 minutes).

[0103] The present invention may be a route search method performed by the management server 5, a program for causing a computer to execute a route search process, or a storage medium storing such a program.

[0104] The program can be stored and provided to a computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)).

[0105] The program may be provided to the computer by various types of transitory computer readable media. Examples of the transitory computer readable medium include an electric signal, an optical signal, and an electromagnetic wave. The transitory computer readable medium may provide the program to the computer via a wired communication path such as an electric wire and an optical fiber, or via a wireless communication path. [Explanation of symbols]

[0106] 1 Navigation devices 2. General navigation devices 4. Information Center 5 Management Server 6 Navi Server 7 Map Server 10. Navigation system 11 Emergency vehicle No. 1 12 Second emergency vehicle 13. Emergency Vehicle No. 3 14 First General Car 15 Second General Car 16 Third General Car 51 Management Server Communication Unit 52 Management Server Control Unit 53 Management Server Memory 61 Navigation Server Communication Unit 62 Navigation server control unit 63 Navigation Server Memory Unit 111 Communications Department 112 Position detection unit 113 Navigation control unit 114 Navigation memory unit 115 Touch Panel Display

Claims

1. A navigation system that provides a route to a destination where an event has occurred to a navigation device mounted on an emergency vehicle, comprising: The navigation system includes a plurality of navigation devices mounted on the plurality of emergency vehicles, respectively, and a management server that communicates with each of the navigation devices; The management server includes: An acquisition unit that acquires location information of the destination; a reception unit that receives a designation of the emergency vehicle to be dispatched to the destination; a route search unit that, when the emergency vehicle is to be dispatched from a plurality of bases to the destination according to the received designation, performs route search for each of the emergency vehicles and generates the route from each of the bases to the destination; An identification unit that identifies an earliest arrival route that arrives at the destination earliest from among the plurality of routes; a setting unit that sets a route from the destination to an intersection included in a first predetermined range as a unified route among the earliest arrival routes; a re-searching unit that reduces costs of nodes and links included in the unified route and re-searches for other routes than the earliest arriving route to generate a re-searched route; a selection unit that compares a travel time of the re-searched route with a travel time of the route before re-searching and selects either the re-searched route or the route before re-searching; a management server communication unit that transmits route information including the earliest arrival route and the re-search route or the route selected by the selection unit to each of the corresponding navigation devices; Each of the navigation devices is A communication unit that receives the route information from the management server; a navigation unit that provides guidance along the route based on the route information. A navigation system characterized by:

2. The navigation system further provides a general navigation device mounted in a general vehicle with a detour route that detours around the route of the emergency vehicle based on location information indicating a current location of the emergency vehicle and the route information; the navigation system further includes the general navigation device and a navigation server that communicates with the general navigation device; The management server communication unit further receiving the location information from each of the emergency vehicles; Transmitting the location information and the route information to the navigation server; The navigation server includes: a navigation server communication unit that receives the location information and the route information from the management server communication unit and receives general location information indicating a current location of the general vehicle from the general navigation device; a determination unit that determines whether the location indicated by the general location information is within a second predetermined range from the location indicated by the location information or the route information; a detour route search unit that searches for the detour route and generates detour route information when the location indicated by the general location information is within the second predetermined range; the navigation server communication unit transmits the location information and the detour route information to the general navigation device; The general navigation device includes: a general navigation communication unit that receives the location information and the detour route information from the navigation server communication unit; a general navigation unit that navigates the detour route based on the received position information and the detour route information, 2. The navigation system according to claim 1 .

3. A method for causing a computer to search for a route for an emergency vehicle rushing to a destination where an event has occurred, comprising: Obtain location information of the destination; Accepting a designation of an emergency vehicle to be dispatched to the destination; When the emergency vehicle is to be dispatched from a plurality of bases to the destination according to the received designation, a route search is performed for each of the emergency vehicles to generate the route from each of the bases to the destination, Identifying an earliest arrival route that arrives at the destination earliest among the plurality of routes; A route from the destination to an intersection included in a first predetermined range is set as a unified route among the earliest arrival routes; Reducing the costs of the nodes and links included in the unified route and re-searching for other routes than the earliest arriving route; comparing a travel time of the re-searched route with a travel time of the corresponding route before re-searching, and selecting either the re-searched route or the corresponding route before re-searching; outputting the earliest arriving route and the selected re-searched route or the corresponding route before re-searching; Route finding methods.

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