JP7116642B2 - Route guidance device and route guidance method - Google Patents

Description

TECHNICAL FIELD The present invention relates to technology of a route guidance device and a route guidance method.

"An information acquisition unit that acquires map information including a plurality of road links and automatic driving propriety information indicating propriety of automatic driving for each of the plurality of road links, and based on the map information and the automatic driving propriety information, Searching for a plurality of candidate routes from a first point to a second point where road links capable of automatic driving are continuous, and branching from a node on the route to a road link on another candidate route for each of the plurality of candidate routes. a route search unit that calculates the number of branches to be taken, and presents information about the plurality of candidate routes based on the number of branches." is described in Patent Document 1. It is

JP 2018-017641 A

In the above technology, a route search assuming automatic driving is performed, and in preparation for the case where it becomes difficult to continue automatic driving, a route that connects to another route that can be automatically driven is displayed. However, in a situation where priority is given to early arrival at the destination regardless of automatic driving, it is not possible to call attention in a timely manner even if there is a manually operated route that allows earlier arrival.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a route guidance device and a route guidance method that can timely call attention if there is a manually operated route that can be reached earlier.

The present invention includes a plurality of means for solving at least part of the above problems, and examples thereof are as follows. In order to solve the above problems, a route guidance device according to the present invention includes map information, information on a recommended detour road that is recommended to be detoured when performing automatic driving, and detour recommended for the recommended detour road. A storage unit that stores the reason and information on recommended roads recommended when performing automatic driving, a route search unit that searches for a route between predetermined two points using the map information, and the recommended road. Using the information and the map information, the automatic driving route search unit searches for a route between the predetermined two points including the road on which automatic driving is performed, and the recommended detour road is searched by the route search unit. When included in the route, a detour reason recording unit that stores the reason why the detour corresponding to the recommended detour road is recommended in the storage unit, and a route that guides the route searched by the automatic driving route search unit. The route searched by the route search unit and the detour reason recording unit record the route searched by the route search unit at a predetermined distance before the branch of the route searched by the guidance unit, the route searched by the route search unit, and the route searched by the automatic driving route search unit. and a detour route introduction unit that outputs the reason for recommending the detour.

According to the present invention, even during automatic driving, if there is a manual driving route that allows earlier arrival, it is possible to timely alert the driver. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

It is a figure which shows the structure of the detour proposal system to which embodiment which concerns on this invention is applied. It is a figure which shows the data structure example of a map information storage part. FIG. 9 is a diagram showing an example data structure of a recommended detour link information storage unit; It is a figure which shows the example of a data structure of an automatic driving recommendation link information storage part. It is a figure which shows the data structure example of a detour reason information storage part. It is a figure which shows the functional structure of an arithmetic processing part. It is a figure which shows the example of the flow of an automatic operation route selection process. It is a figure which shows the flow of detour route introduction processing. It is a figure which shows the example of a detour route introduction screen.

An in-vehicle device 100, which is a route guidance device, according to the present invention will be described below with reference to the drawings. Note that FIGS. 1 to 9 do not show the entire configuration of the in-vehicle device 100, and some of the configuration is omitted for ease of understanding. In principle, the same members are denoted by the same reference numerals throughout the drawings for describing the embodiments, and repeated descriptions thereof may be omitted. In addition, in the following embodiments, the constituent elements (including element steps, etc.) are not necessarily essential, unless otherwise specified or clearly considered essential in principle. Needless to say. In addition, when saying "consisting of A", "consisting of A", "having A", or "including A", other elements are excluded unless it is explicitly stated that only those elements are included. It goes without saying that it is not something to do. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc. of components, etc., unless otherwise specified or in principle clearly considered otherwise, the shape is substantially the same. It shall include things that are similar or similar to, etc.

In general, it is desirable that the driving route of a vehicle for automatic driving should avoid lane changes, right turns, and narrow streets, which are difficult to drive, in preparation for the occurrence of unforeseen circumstances during automatic driving. On the other hand, if priority is given to routes with short travel distances and travel times, the degree of difficulty of automated driving will increase in many cases. In other words, by giving priority to routes that are convenient for automatic driving, automatic driving is made possible, but in reality, manual driving by the driver makes it possible to reach the destination earlier than the routes that are convenient for automatic driving. There may be routes that can be reached.

In particular, by giving priority to the ease of automated driving, it is faster to switch to manual driving and take another route even during automated driving when a detour route is selected. It may be important for the driver to recognize and judge the

FIG. 1 shows the structure of a route guidance device to which an embodiment of the present invention is applied. An in-vehicle device 100 detachably mounted on a moving body is an information processing device capable of acquiring current position information and the like. However, the route guidance device to which the present invention is applied is not limited to the vehicle-mounted device 100 shown in FIG. For example, it may be various control devices incorporated in a moving object.

The in-vehicle device 100 includes an arithmetic processing unit 1, a display 2, a storage device 3, an audio input/output device 4 (including a microphone 41 as an audio input device and a speaker 42 as an audio output device), an input device 5, and a ROM. (Read Only Memory) device 6, vehicle speed sensor 7, gyro sensor 8, GPS (Global Positioning System) receiver 9, FM multiplex broadcast receiver 10, beacon receiver 11, network communication device 12, It has

The arithmetic processing unit 1 is a central unit that performs various processes. For example, the current location is calculated based on information output from various sensors 7 and 8 and GPS receiver 9 . Further, map data required for display is read out from the storage device 3 or the ROM device 6 based on the obtained current position information.

Further, the arithmetic processing unit 1 develops the read map data into graphics, and superimposes a mark indicating the current location thereon and displays it on the display 2 . Also, using the map data stored in the storage device 3 or the ROM device 6, the optimum route connecting the current location or the starting point instructed by the user and the destination (or transit point or stopover point) Search for a recommended route that is Also, the user is guided using the speaker 42 and the display 2 .

The arithmetic processing unit 1 of the in-vehicle device 100 has a configuration in which each device is connected by a bus 25 . The arithmetic processing unit 1 includes a CPU (Central Processing Unit) 21 that executes various processes such as numerical calculation and control of each device, and a RAM (Random Access Memory) that stores map data read from the storage device 3, arithmetic data, and the like. ) 22 , a ROM 23 for storing programs and data, and an I/F (interface) 24 for connecting various hardware to the arithmetic processing unit 1 .

The display 2 is a unit that displays graphics information generated by the arithmetic processing unit 1 and the like. The display 2 is configured by a liquid crystal display, an organic EL (Electro Luminescence) display, or the like.

The storage device 3 may be an HDD (Hard Disk Drive) or an SSD (Solid
State Drive), a non-volatile memory card, or other storage media that are at least readable and writable.

In this storage medium, a map information storage unit 200, which is reference map data (including link data of links constituting roads on the map and reference link costs) required for a normal route search device, and a detour route A recommended link information storage unit 300, an automatic driving recommended link information storage unit 400, and a detour reason information storage unit 500 are stored.

FIG. 2 is a diagram showing an example data structure of the map information storage unit 200. As shown in FIG. The map information storage unit 200 is partitioned by area ID 201, which is an area partitioned on the map. In the area, a version 202 specifying the new/old information constituting the map and partitioning the inside of each area are stored. It contains an identification code (mesh ID) 210 of the mesh that is the area that is marked. In addition, for each mesh ID 210, link data 220 including each link constituting the road included in the mesh and the node that is the connection point thereof is included.

The link data 220 includes, for each link ID 221 that is an identifier of a link, a start node/end node 222 that is coordinate information of two nodes that form a link, a road type 223 that indicates the type of road that includes the link, and the length of the link. link length 224 indicating the link length 224, link cost 225 including pre-stored travel time or travel distance of the link, start connection link/end connection link 226, speed limit 227 indicating the speed limit of the road including the link, etc. I'm in. The start connection link/end connection link 226 is information specifying a start connection link that is a link that connects to the start node of the link and an end connection link that is a link that connects to the end node of the link. .

Here, by distinguishing between the start node and the end node of the two nodes that make up the link, the upward direction and the downward direction of the same road are managed as separate links. is not limited to For example, the start node and the end node of the two nodes forming the link may not be distinguished.

In addition to the link data 220, the map information storage unit 200 also includes incidental information such as the presence, location, and service content of facilities such as POIs (Points Of Interest).

FIG. 3 is a diagram showing a configuration example of a recommended detour link information storage unit. The detour-recommended link information storage unit 300 stores information specifying a link sequence recommended to be detoured during automatic driving and the reason for the detour. Specifically, in the recommended detour link information storage unit 300, recommended detour information 302 and constituent link information 303 specifying links forming a link string are stored in association with each other according to the link string ID 301. . For example, information such as “number of lane changes”, “distance required to change lanes”, “number of pedestrian crossings”, etc. is stored as the detour recommendation information 302 as detour recommendation reasons for a certain link string ID. In other words, in addition to using a predetermined cost value as a reference, this cost value is increased according to the driving order of roads (detoured (avoided) roads), and roads that are not suitable for autonomous driving are adopted. This information is changed so that it is difficult for Detour recommendation information is associated with a link string consisting of one or more links because the number of required lane changes differs depending on the direction of travel before and after driving a certain link. This is because it is necessary to vary the information used for determining whether or not the vehicle is suitable for automatic driving. In other words, a certain link may belong to a plurality of link sequences, and in such cases, it can be said that each link sequence has a different progression pattern before and after the link.

Although such recommended detour information is stored in advance, it may be updated with different information depending on the time zone such as daytime or nighttime, may be updated periodically, or may be updated in real time due to traffic jams, accidents, road closures, and the like. It may vary depending on traffic information.

FIG. 4 is a diagram showing a configuration example of an automatic driving recommended link information storage unit. The automatic driving recommended link information storage unit 400 stores information specifying links recommended for traveling during automatic driving and reasons for recommending the links. Specifically, in the automatic driving recommended link information storage unit 400 , a recommendation reason 402 is stored in association with the link ID 401 . For example, a recommendation reason 402 is stored as a recommendation reason for a certain link ID, such as "walkers cannot enter". In other words, in addition to using a predetermined cost value as a reference, this cost value is reduced according to the characteristics of the road (roads to be driven preferentially), making it easier for roads suitable for autonomous driving to be adopted. This is information that changes to

Such recommendation reasons are stored in advance, but may be updated with different information depending on the time zone such as daytime or nighttime, may be updated periodically, or may be updated on a real-time basis such as traffic jams, accidents, and road closures. It may vary depending on the information.

FIG. 5 is a diagram illustrating a configuration example of a detour reason information storage unit. The detour reason information storage unit 500 stores a notification node that identifies a point to which the detour reason is to be notified and information that identifies the detour reason, which is the information to be notified. Specifically, the detour reason information storage unit 500 stores the detour reason 502 in association with the notifying node ID 501 . For example, a reason such as “frequent lane changes” is stored as the detour reason 502 as a recommendation reason for a certain node ID. It should be noted that such a detour reason is based on a predetermined criterion (for example, the number of lane changes is one or less, the lane change required distance is 50 m or less and the number of crosswalks is 1 or less).

Returning to FIG. 1, description will be made. The voice input/output device 4 includes a microphone 41 as a voice input device and a speaker 42 as a voice output device. The microphone 41 acquires voices outside the in-vehicle device 100 such as voices uttered by the user or other passengers.

The speaker 42 outputs the message to the user generated by the arithmetic processing unit 1 as voice. A microphone 41 and a speaker 42 are separately arranged at predetermined parts of the moving body. However, they may be housed in an integrated housing. The in-vehicle device 100 can include multiple microphones 41 and multiple speakers 42 .

The input device 5 is a device that receives an instruction from a user through a user's operation. The input device 5 includes a touch panel 51, a dial switch 52, and other hardware switches (not shown) such as scroll keys and scale change keys. Further, the input device 5 includes a remote controller capable of remotely instructing the in-vehicle device 100 to operate. The remote controller includes dial switches, scroll keys, scale change keys, and the like, and can transmit information on operating each key or switch to the in-vehicle device 100 .

The touch panel 51 is mounted on the display surface side of the display 2 so that the display screen can be seen through. The touch panel 51 identifies a touch position corresponding to the XY coordinates of the image displayed on the display 2, converts the touch position into coordinates, and outputs the coordinates. The touch panel 51 is configured by a pressure-sensitive or electrostatic input detection element or the like. Note that the touch panel 51 may be capable of realizing multi-touch, which is capable of detecting a plurality of touch positions at the same time.

The dial switch 52 is configured to be rotatable clockwise and counterclockwise, generates a pulse signal for each rotation of a predetermined angle, and outputs the pulse signal to the arithmetic processing unit 1 . The arithmetic processing unit 1 obtains the rotation angle from the number of pulse signals.

The ROM device 6 is composed of at least a readable storage medium such as a ROM such as a CD-ROM or a DVD-ROM, or an IC (Integrated Circuit) card. This storage medium stores, for example, moving image data, audio data, and the like.

The vehicle speed sensor 7, the gyro sensor 8, and the GPS receiver 9 are used by the in-vehicle device 100 to detect the current location (for example, the vehicle position). The vehicle speed sensor 7 is a sensor that outputs a value used to calculate the vehicle speed. The gyro sensor 8 is composed of an optical fiber gyro, a vibrating gyro, or the like, and detects the angular velocity due to the rotation of the moving body.

The GPS receiver 9 receives signals from GPS satellites and measures the distance between the mobile body and the GPS satellites and the rate of change in the distance for three or more satellites, thereby determining the current position, traveling speed, and progress of the mobile body. It measures orientation. The GPS receiver 9 is not limited to GPS, and may be a position information receiver using other satellites such as GLONASS (Global Navigation Satellite System).

An FM multiplex broadcast receiver 10 receives FM multiplex broadcast signals sent from an FM broadcasting station. FM multiplex broadcasting includes VICS (Vehicle Information Communication System: registered trademark) information, general traffic information, traffic regulation information, SA/PA (service area/parking area) information, parking lot information, weather information, and FM multiplexed general information. such as text information provided by radio stations.

The beacon receiver 11 receives general current traffic information such as VICS information, traffic regulation information, SA/PA (service area/parking area) information, parking lot information, weather information, emergency warnings, and the like. For example, it is a receiving device such as an optical beacon that communicates by light and a radio beacon that communicates by radio waves.

The network communication device 12 connects the in-vehicle device 100 to a network compatible with CAN (Controller Area Network) or the like, which is a control network standard in a mobile body (not shown), and is a control device in another mobile body connected to the network. It is a device that communicates by exchanging CAN messages and the like with an ECU (Electronic Control Unit).

FIG. 6 is a diagram showing the functional configuration of the arithmetic processing unit 1. As shown in FIG. The arithmetic processing unit 1 includes a basic control unit 101, an input reception unit 102, an output processing unit 103, a route search unit 104, an automatic driving route search unit 105, a route selection unit 106, and a detour reason recording unit 107. , a route guidance unit 108 and a detour route introduction unit 109 are included.

The basic control unit 101 is a central functional unit that performs various processes, and controls operations of other functional units according to the content of the processing. It also acquires information from various sensors, the GPS receiver 9, etc., and performs map matching processing, etc., to specify the current location. In addition, the date and time of movement and the position are associated with each other, and the movement history is stored in the storage device 3 for each link. Furthermore, the current time is output in response to a request from each processing unit.

The input reception unit 102 receives an input instruction from the user input via the input device 5 or the microphone 41, and performs processing corresponding to the content of the request along with the coordinate position of the touch, which is information related to the input instruction, and voice information. It is transmitted to the basic control unit 101 so as to be executed. For example, when the user requests a search for a recommended route, the request instruction is requested from the basic control unit 101 . That is, it can be said that the input receiving unit 102 is a contact instruction receiving unit that receives an instruction by a contact operation. In addition, the input reception unit 102 can also be said to be a voice instruction reception unit that receives instructions through voice operations.

The output processing unit 103 receives information constituting a screen to be displayed, such as polygon information, converts it into a signal for drawing on the display 2, and instructs the display 2 to draw.

The route search unit 104 stores a route connecting two points, that is, the current location or a departure point instructed by the user, and the destination (or a stopover point or a stopover point). and identify it as a standard route. In the route search, route search logic such as Dijkstra's algorithm is used to determine the link cost that is the minimum based on the link cost (travel time or travel distance) preset for a predetermined section (link) of the road. search for a different route.

The automatic driving route search unit 105 stores a route connecting two points, the current location or the departure point instructed by the user, and the destination (or a stopover point or a stopover point) in the map information storage unit 200 for automatic driving. A route for automated driving is searched using the modified cost information for automated driving. In the route search for automatic driving, the automatic driving route search unit 105 determines that the link is a reference link cost (travel time or travel distance) that is preset for a predetermined section (link) of the road. If the link is included in the detour recommended link string and the detour recommendation information 302 of the link string does not satisfy a predetermined standard, the link cost is increased, and if the link is a recommended link, the link cost is reduced and the link cost is reduced. is calculated, and route search logic such as the Dijkstra method is used to search for a route with the lowest link cost for automatic driving.

The route selection unit 106 adopts either a standard route or a route for automatic driving, and causes the route guidance unit 108 to perform route guidance. Specifically, the route selection unit 106 adopts the route for automatic driving during automatic driving and causes the route guidance unit 108 to perform route guidance, and during manual driving, that is, when driving by the driver, the standard route or the automatic driving route is selected. , or the selected route, and causes the route guidance unit 108 to perform route guidance.

If the recommended detour road (recommended detour link string) is included in the standard route and the recommended detour information does not meet a predetermined standard when automatic driving is performed, the detour reason recording unit 107 associates the recommended detour information with the notification node. The reason why the detour is recommended for the recommended detour road is stored in the detour reason information storage unit 500 . In addition, the detour reason recording unit 107 identifies the node corresponding to the intersection immediately before the branching of the standard route and the automatic driving route, for example, the intersection immediately before the branching intersection as a notification node, associates it with the notification node, and detours. Store the reason.

The route guidance unit 108 uses the map information in the map information storage unit 200 to select the standard route searched by the route search unit 104 or the automatic driving route searched by the automatic driving route search unit 105 by the route selection unit 106. Based on the obtained route, the user is guided using the speaker 42 and the display 2 while displaying the recommended route so that the current position of the mobile object does not deviate from the route. Further, the route guidance unit 108 specifies the estimated arrival time at the destination for a given route.

The detour route introduction unit 109 outputs the standard route and the detour reason recorded in the detour reason information storage unit 500 to the output processing unit when the current location reaches just before the branch between the standard route and the automatic driving route. Let

Each functional unit of the arithmetic processing unit 1 described above, that is, the basic control unit 101, the input reception unit 102, the output processing unit 103, the route search unit 104, the automatic driving route search unit 105, the route selection unit 106, the detour reason recording unit 107, The route guidance section 108 and the detour route introduction section 109 are constructed by the CPU 21 reading and executing a predetermined program. Therefore, the RAM 22 stores a program for realizing the processing of each functional unit.

It should be noted that each of the components described above is the configuration of the in-vehicle device 100 classified according to the main processing content in order to facilitate understanding. Therefore, the present invention is not limited by the method of classifying the constituent elements or their names. The configuration of the in-vehicle device 100 can also be classified into more components according to the processing content. Also, one component can be grouped to perform more processing.

Moreover, each functional unit may be constructed by hardware (ASIC, GPU (Graphics Processing Unit), etc.). Also, the processing of each functional unit may be executed by one piece of hardware, or may be executed by a plurality of pieces of hardware.

The map information stored in the map information storage unit 200 is not limited to the data structure described above. And, it is sufficient if it has.

Alternatively, the in-vehicle device 100 may acquire map information as needed by communicating with a map information server device via the Internet, for example, without having map information. In that case, the in-vehicle device 100 includes a communication unit, and the communication unit communicates with the map information server device via a mobile phone network (LTE: Long Term Evolution), a wireless LAN (WiFi: registered trademark), or the like. conduct.

[Description of Operation] Next, the operation related to route selection processing for automatic driving will be described. FIG. 7 is a diagram showing the flow of automatic driving route selection processing. The automatic driving route selection process is started when the operator gives an instruction to start route setting to the in-vehicle device 100 after the in-vehicle device 100 is activated.

First, the input receiving unit 102 receives setting of a destination (step S001). Specifically, the input receiving unit 102 receives inputs of destinations from various destination input means such as addresses, telephone numbers, facility names, and genre designations.

Then, the automatic driving route search unit 105 acquires information indicating the current location (step S002). Specifically, the automatic driving route search unit 105 acquires GPS coordinate information from the GPS receiver 9 and identifies it as the current location.

Then, the automatic driving route searching unit 105 performs a route search by reflecting the weighting for automatic driving on the cost (searching for the automatic driving route X) (step S003). Specifically, the automatic driving route search unit 105 uses the current location acquired in step S002 as the departure point, and the destination (or transit point or stopover) accepted in step S001. , the route for automatic driving is searched for by using the cost information for automatic driving that is changed for automatic driving in the map information storage unit 200 .

In the route search for automatic driving, the automatic driving route search unit 105 determines that the link is a reference link cost (travel time or travel distance) that is preset for a predetermined section (link) of the road. If the recommended detour information included in the recommended detour link string does not meet a predetermined standard, the link cost is increased, and if the link is a recommended link, the link cost is decreased to calculate the link cost for automatic driving. Then, using a route search logic such as the Dijkstra method, a route with the lowest link cost for automatic driving is searched.

For example, if the recommended detour information contained in the recommended detour link string stored in the link ID 301 of the recommended detour link information storage unit 300 does not meet a predetermined standard, the link cost is increased or decreased. may be doubled to halve the link cost of the recommended link stored in the link ID 401 of the automatic driving recommended link information storage unit 400 . However, the present invention is not limited to this. For example, the detour recommended link may add a predetermined positive value to the link cost, and the recommended link may have the link cost set to zero.

Then, the automatic driving route search unit 105 calculates a cost without weighting for automatic driving (hereinafter referred to as x' cost) for the automatic driving route X (step S004). Specifically, the automatic driving route search unit 105 calculates the cost of the automatic driving route X specified in step S003 using the reference link cost stored in the reference map information storage unit 200, Let x' be the cost. In other words, it can be said that, regarding the automatic driving route X, by calculating the cost using the standard cost that has not been modified for automatic driving, the predicted arrival time and travel distance that are realistic are specified.

Then, the route search unit 104 searches for a route using a normal cost (search for standard route Y) (step S005). Specifically, the route search unit 104 uses the current location acquired in step S002 as the starting point, and uses the destination (or transit point or stopping point) accepted in step S001 as a reference for a route connecting two points. A search is performed using the map information storage unit 200, which is the map information, and specified as a standard route.

In the route search, route search logic such as Dijkstra's algorithm is used to determine the link cost that is the minimum based on the link cost (travel time or travel distance) preset for a predetermined section (link) of the road. search for a different route.

Then, if the cost of the automatic driving route X (hereinafter referred to as x) is equal to or less than the cost of the standard route Y (hereinafter referred to as y), the route selection unit 106 sets the automatic driving route X as the guidance route, and y ( If the standard route Y cost) is smaller than x (the automatic driving cost of the automatic driving route X), the standard route Y is set as the guidance route (step S007).

Then, the detour reason recording unit 107 determines whether or not the x' cost, which is the unweighted cost for automatic driving, is greater than y (the cost of the standard route Y) for the automatic driving route X (step S008). If the x' cost is not greater than y (the cost of the standard route Y) ("No" in step S008), the detour reason recording unit 107 terminates the automatic driving route selection process.

If the x' cost, which is the unweighted cost for automatic driving for the automatic driving route X, is greater than y (the cost of the standard route Y) ("Yes" in step S008), the detour reason recording unit 107 associates the entry node (notification node) to the link immediately before the branch of the automatic driving route X and the standard route Y with the detour reason related to the link included in the standard route Y and stores it in the detour reason information storage unit 500 (step S009).

The above is the flow of the automatic driving route selection process. According to the automatic driving route selection process, the route that is preferentially adopted because the apparent cost is lower due to the weighting for automatic driving is actually lower than the route when manual driving is enabled. In the cost calculation method of , when the cost becomes high, the reason for detouring the lower cost standard route can be recorded.

FIG. 8 is a diagram showing the flow of detour route introduction processing. The detour route introduction process is started by the route guidance unit 108 periodically or at a predetermined timing during automatic operation.

First, the detour route introduction unit 109 determines whether or not the vehicle has arrived near the notification node (step S101). Specifically, the detour route introduction unit 109 acquires the current location from the GPS receiver 9, and within a predetermined distance (for example, within 20 meters) from the position specified by the notification node ID 501 of the detour reason information storage unit 500. Determine whether or not there is If it has not arrived near the notification node (“No” in step S101), the detour route introduction unit 109 ends the detour route introduction process.

When the vehicle has arrived near the notification node ("Yes" in step S101), the detour route introduction unit 109 determines whether the vehicle is slowing down or stopped (step S102). Specifically, the detour route introducing unit 109 acquires the traveling speed of the vehicle from the vehicle speed sensor 7, and determines whether or not it is below a predetermined speed (for example, within 5 km/h). If the vehicle is not slowing down or stopped ("No" in step S102), the detour route introducing unit 109 returns the control to step S101.

If the vehicle is slowing down or stopped ("Yes" in step S102), the detour route introduction unit 109 provides the reason for avoiding the standard route Y, the estimated arrival time according to the standard route Y, and the standard route Y is displayed (step S103). Specifically, the detour route introduction unit 109 reads out the detour reason 502 of the detour reason information storage unit 500, displays it as the reason for avoiding the standard route Y, superimposes the standard route Y on the map, and displays the standard route Y. The route guidance unit 108 calculates the difference between the estimated arrival time of manually driving the route Y and the estimated arrival time of automatically driving the automatic driving route X, and displays it on the screen together with them. .

The above is the flow of the detour route introduction process. According to the detour route introduction process, when the vehicle is traveling on an automatic driving route and comes before a branch to a manually operated route that is a detour route, the detour route, the predicted arrival time according to the route, and the reason for the detour are notified. be able to. Therefore, the occupants of the vehicle can choose to arrive at the destination early by selecting a detour route by manual operation.

In addition, since it is possible to know how much time will be shortened, it is possible to proactively determine the travel route in consideration of the reduction in travel time and the increase in labor due to manual operation. In addition, even if the reason for the detour is indicated when the route is set, there is a high possibility that the passenger will forget the reason for the detour after moving. can remember

FIG. 9 is a diagram showing an example of a detour route introduction screen. A detour route introduction screen 600 is an example of a screen output in step S103 of the detour route introduction process. On the detour route introduction screen 600, a vehicle mark 601 indicating the position and direction of travel of the vehicle, an automatic driving route 602, a manual driving route 603, and a display area 604 for the detour reason and estimated arrival time of the manual driving route. , a current date and time 605, and a display area 606 for the current driving mode and estimated arrival time are displayed.

Then, as a voice guidance 607, guidance such as "In the case of manual driving, there is another route with many lane changes. If you take the other route, you are expected to arrive at your destination 10 minutes earlier." In this voice output, there is a branch to the manual driving route, the reason for detouring the manual driving route, the estimated time of arrival by manually driving the standard route, and the arrival time by automatically driving the automatic driving route and the difference from the predicted time.

By outputting such a detour route introduction screen, the detour route can be efficiently introduced.

The above is the in-vehicle device 100 to which the embodiment of the present invention is applied. According to the in-vehicle device 100, even during automatic driving, if there is a manual driving route that allows earlier arrival, it is possible to timely alert the driver.

However, the invention is not limited to the above embodiments. Various modifications of the above embodiment are possible within the scope of the technical idea of the present invention. For example, the position of the notification node is assumed to be one node on the route of the intersection node with the branch point, but it is not limited to this, and two or more nodes on the route of the intersection node with the branch point It may be a node in front, or it may be displayed at a time assumed to be a predetermined time (for example, 1 minute) before reaching an intersection with a branch point.

Also, for example, in the above example, the standard route Y, which is the detour route, is determined at the time of destination setting and initial route search, but the present invention is not limited to this. For example, statistical traffic information (information that specifies traffic congestion trends according to the day of the week and date) or current traffic information (actually observed traffic congestion or road closures due to sudden accidents, etc.) implementation, etc.) may be used to check again whether the detour route (manual route) has an earlier scheduled arrival time before providing guidance. By doing so, it is possible to prevent a situation in which, even though the vehicle is switched to manual operation and entered the detour route, the vehicle is caught in a traffic jam and arrives late.

Also, for example, not limited to the guidance timing of the detour route described above, each time an intersection, a standard route re-searched using map information that is a reference for manual driving instead of automatic driving is compared with a route for automatic driving, If the re-searched standard route has an earlier predicted arrival time, it may be presented as a detour route.

DESCRIPTION OF SYMBOLS 1... Arithmetic processing part, 2... Display, 3... Storage part, 4... Voice input/output device, 5... Input device, 6... ROM device, 7... Vehicle speed sensor , 8... Gyro sensor, 9... GPS receiver, 10... FM multiplex broadcast receiver, 11... Beacon receiver, 12... Network communication apparatus, 21... CPU, 22. RAM 23 ROM 24 I/F 25 bus 41 microphone 42 speaker 51 touch panel 52 dial switch 100 In-vehicle device 200 Map information storage unit 300 Recommended detour link information storage unit 400 Automatic driving recommended link information storage unit 500 Detour reason information storage unit.

Claims (4)

Map information, information on recommended detour roads that are recommended to be detoured when performing automatic driving, reasons for recommending detours for the recommended detour roads, and information on recommended roads that are recommended when performing automated driving and a storage unit for storing
a route search unit that searches for a route between two predetermined points using the map information;
An automatic driving route search unit that searches for a route between the predetermined two points including the road on which automatic driving is performed, using the recommended road information and the map information;
a detour reason recording unit for storing, in the storage unit, a reason why the detour corresponding to the recommended detour road is recommended when the recommended detour road is included in the route searched by the route search unit;
A route guidance unit that guides the route searched by the automatic driving route search unit;
The route searched by the route search unit and the detour recorded by the detour reason recording unit before a predetermined distance where the route searched by the route search unit and the route searched by the automatic driving route search unit diverge. A detour route introduction part that outputs the reason why is recommended,
with
The map information is associated with cost information required for passage for each predetermined section,
The automatic driving route search unit performs a route search by changing the cost of the section corresponding to the map information for the recommended detour road to a higher cost, and calculates the cost of the map information for the route obtained as a result of the route search. Using the information, calculate as the pre-change cost in the state where the change has not been applied,
The detour route introduction unit performs the output when the cost of the route searched by the route search unit is smaller than the pre-change cost of the route searched by the automatic driving route search unit,
A route guidance device characterized by: Map information, information on recommended detour roads that are recommended to be detoured when performing automatic driving, reasons for recommending detours for the recommended detour roads, and information on recommended roads that are recommended when performing automated driving and a storage unit for storing
a route search unit that searches for a route between two predetermined points using the map information;
An automatic driving route search unit that searches for a route between the predetermined two points including the road on which automatic driving is performed, using the recommended road information and the map information;
a detour reason recording unit for storing, in the storage unit, a reason why the detour corresponding to the recommended detour road is recommended when the recommended detour road is included in the route searched by the route search unit;
A route guidance unit that guides the route searched by the automatic driving route search unit;
The route searched by the route search unit and the detour recorded by the detour reason recording unit before a predetermined distance where the route searched by the route search unit and the route searched by the automatic driving route search unit diverge. A detour route introduction part that outputs the reason why is recommended,
with
The map information is associated with cost information required for passage for each predetermined section,
The automatic driving route search unit searches for a route by changing the cost of the section corresponding to the map information to a lower cost for the recommended road, and uses the cost information in the map information for the route obtained as a result of the route search. is calculated as the pre-change cost in the state where the change has not been applied,
The detour route introduction unit performs the output when the cost of the route searched by the route search unit is smaller than the pre-change cost of the route searched by the automatic driving route search unit,
A route guidance device characterized by: A route guidance method using a route guidance device,
In the route guidance device, map information, information on recommended detour roads that are recommended to be detoured when performing automatic driving, reasons for recommending detours for the recommended detour roads, and when performing automatic driving a storage unit for storing recommended road information, and a control unit,
The control unit
a route search step of searching for a route between two predetermined points using the map information;
An automatic driving route search step of searching for a route between the predetermined two points including the road on which automatic driving is performed, using the recommended road information and the map information;
a detour reason recording step of storing, in the storage unit, a reason for recommending the detour corresponding to the recommended detour road if the recommended detour road is included in the route searched in the route searching step;
A route guidance step of guiding the route searched in the automatic driving route search step;
A predetermined distance before the route searched in the route search step and the route searched in the automatic driving route search step diverge, the route searched in the route search step and the detour recorded in the detour reason recording step The reason why is recommended, the detour route introduction step that outputs the
and
The map information is associated with cost information required for passage for each predetermined section,
In the automatic driving route search step, for the recommended detour road, a route search is performed by changing the cost of the section corresponding to the map information to a higher cost, and the route obtained as a result of the route search is searched according to the map information. Using the cost information, calculate as the pre-change cost in the state where the change has not been applied,
In the detour route introduction step, if the cost of the route searched in the route search step is smaller than the pre-change cost of the route searched in the automatic driving route search step, the output is performed.
A route guidance method characterized by: A route guidance method using a route guidance device,
In the route guidance device, map information, information on recommended detour roads that are recommended to be detoured when performing automatic driving, reasons for recommending detours for the recommended detour roads, and when performing automatic driving a storage unit for storing recommended road information, and a control unit,
The control unit
a route search step of searching for a route between two predetermined points using the map information;
An automatic driving route search step of performing a route search between the predetermined two points including the road on which automatic driving is performed, using the recommended road information and the map information;
a detour reason recording step of storing, in the storage unit, a reason for recommending the detour corresponding to the recommended detour road if the recommended detour road is included in the route searched in the route searching step;
A route guidance step of guiding the route searched in the automatic driving route search step;
A predetermined distance before the route searched in the route search step and the route searched in the automatic driving route search step diverge, the route searched in the route search step and the detour recorded in the detour reason recording step The reason why is recommended, the detour route introduction step that outputs the
and
The map information is associated with cost information required for passage for each predetermined section,
In the automatic driving route search step, for the recommended road, a route search is performed by changing the cost of the section corresponding to the map information to a lower cost, and for the route obtained as a result of the route search, the cost of the map information Using the information, calculate as the pre-change cost in the state where the change has not been applied,
In the detour route introduction step, if the cost of the route searched in the route search step is smaller than the pre-change cost of the route searched in the automatic driving route search step, the output is performed.
A route guidance method characterized by:

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