JP2005134402A - Prior presentation system for road-related information for vehicles - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a prior presentation system for road-related information for vehicles which can present more complicated contents of optional semantic information, regarding arrival-expected road or recommended road, without losing the presentation timing. <P>SOLUTION: This prior presentation system of road-related information for vehicles is provided with a map memory means 1 which has road-related information stored, a positional information detecting means 2 for detecting the car position to estimate the position on map of the map memory means, associated with the position where the car is traveling, and a presentation means 3 which obtains the optional semantic information regarding the road, where arrival of the car is expected based on the road-related information. The presentation means 3 issues advance notice sound, when presentation timing is reached, and then announces the semantic information by voice, after the advance notice sound, where the presentation timing is a function of average vehicle speed in traveling. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  This invention is mounted on a vehicle such as an automobile or a moving body, calculates a recommended travel route to an arbitrary starting point, current position, or destination, and presents the current position, route, or course, etc. The present invention relates to a prior presentation device.

  As a conventional device of this type, there has been one proposed in Non-Patent Document 1. This is done by inputting the current position data and destination data of the vehicle, calculating the shortest route between them, and instructing to turn right / left according to the route data when it is 10 to 15 seconds before the point where the required action should be taken. It was something to do.

Another example is disclosed in Patent Document 1, for example. This is to input the current location data and destination data of the vehicle, calculate the shortest route between them, and instruct a right turn / left turn etc. according to the route data when the vehicle display position is a certain distance before a predetermined intersection. there were.
IEICE 8 / '79, “General Control System for Automobile” (P870 to P887) Japanese Patent Laid-Open No. 58-2223017

  However, since the conventional vehicle road related information prior presentation device is configured as described above, the position detection error is included in various values in the presentation timing in any device, so that it passes through the intersection. And presenting a fatal problem in so-called route guidance such as presenting a right / left turn at a different intersection far before the intersection to be presented. In addition, as a cause of presentation after passing through an intersection, processing time until display is necessary, calculation of presentation timing requires time, and the like. Furthermore, when presenting, there is a problem that the form to be presented fluctuates and is not constant if it is performed based on the instantaneous vehicle speed. There is a possibility that the driver may miss the display simply by displaying it, such as deceleration, direction change, etc. If this is done, there is a serious safety problem that the driver cannot cope with the sudden movement of the vehicle. Or, it had the problem that it could not be realized without infrastructure on the road.

  The present invention has been made to solve the above-described problems. The road / intercept / position on the road data of the vehicle is detected and estimated based on the road map data, and the position detection error is estimated one by one. An object of the present invention is to provide a vehicle road-related information pre-presenting device having a stage of presenting a recommended route or previous road network-related information to a driver at an appropriate timing just before a predetermined distance or a predetermined time in anticipation of a detection error. And

  The vehicle road related information prior presentation device according to the present invention is a map storage means for storing road related information, detects a position of the vehicle, and determines a position on the map of the map storage means corresponding to the position where the vehicle is traveling. Based on the road-related information, the position-related information detection means to be estimated and any road-related information on which the vehicle is predicted to be found are obtained based on the road-related information. Presenting means for announcing the vehicle, and the presentation timing is a function of the average vehicle speed during travel.

  Further, the vehicle road related information pre-presentation device according to the present invention includes a map storage means for storing road related information, a position of the vehicle, and a map on the map storage means corresponding to the position where the vehicle is traveling. Position-related information detection means for estimating the position of the map and obtaining an error in the position on the map, and any semantic information related to the road on which the vehicle is predicted to arrive is obtained based on the road-related information, and the presentation timing expecting the error If it arrives, it is provided with the presentation means which emits a warning sound and announces the semantic information by voice after the warning sound.

  Furthermore, the road related information pre-presentation device for a vehicle according to the present invention is a map storage means for storing road related information, and detects the position of the vehicle, on the map of the map storage means corresponding to the position where the vehicle is traveling. A position-related information detecting means for estimating a position and calculating a position error on a map, and a remaining distance to an arbitrary point where an error is expected based on arbitrary semantic information about a road on which a vehicle is predicted to arrive or It is provided with a presenting means for calculating a predicted required time, generating a warning sound, and making a voice announcement of the remaining distance or the predicted required time after the warning sound.

  Further, the vehicle road related information pre-presentation device according to the present invention includes a map storage means for storing road related information, a position of the vehicle, and a map on the map storage means corresponding to the position where the vehicle is traveling. A position-related information detecting means for estimating a position error on the map and at least one of a curvature of a curve, a road gradient, a slope, and a road width change for a road on which a vehicle is predicted to reach Based on road-related information, the features on the road network or road form and their feature positions are determined, the danger is predicted based on the features and the contents of the feature positions and the vehicle speed of the vehicle, It is provided with a presenting means for emitting a warning sound and announcing a warning related to danger after the warning sound.

  The vehicle road related information prior presentation device according to the present invention is a map storage means for storing road related information, detects a position of the vehicle, and determines a position on the map of the map storage means corresponding to the position where the vehicle is traveling. Based on the road-related information, the position-related information detection means to be estimated and any road-related information on which the vehicle is predicted to be found are obtained based on the road-related information. Since the presentation timing is a function of the average vehicle speed at the time of traveling, the user can incline attention immediately before listening to the announcement, so that the user does not hear it.

  Further, the vehicle road related information pre-presentation device according to the present invention includes a map storage means for storing road related information, a position of the vehicle, and a map on the map storage means corresponding to the position where the vehicle is traveling. Position-related information detection means for estimating the position of the map and obtaining an error in the position on the map, and any semantic information related to the road on which the vehicle is predicted to arrive is obtained based on the road-related information, and the presentation timing expecting the error If the user arrives at the site, the user is provided with a presentation means for emitting a warning sound and announcing the semantic information after the warning sound. .

  Furthermore, the road related information pre-presentation device for a vehicle according to the present invention is a map storage means for storing road related information, and detects the position of the vehicle, on the map of the map storage means corresponding to the position where the vehicle is traveling. A position-related information detecting means for estimating a position and calculating a position error on a map, and a remaining distance to an arbitrary point where an error is expected based on arbitrary semantic information about a road on which a vehicle is predicted to arrive or It is equipped with a presentation means that calculates the estimated required time, emits a warning sound, and announces the remaining distance or the predicted required time by voice after the warning sound, so the user can incline attention immediately before listening to the announcement I wo n’t hear you.

  Further, the vehicle road related information pre-presentation device according to the present invention includes a map storage means for storing road related information, a position of the vehicle, and a map on the map storage means corresponding to the position where the vehicle is traveling. A position-related information detecting means for estimating a position error on the map and at least one of a curvature of a curve, a road gradient, a slope, and a road width change for a road on which a vehicle is predicted to reach Based on road-related information, the features on the road network or road form and their feature positions are determined, the danger is predicted based on the features and the contents of the feature positions and the vehicle speed of the vehicle, It is provided with a presentation means that emits a warning sound and announcing warnings related to danger after the warning sound, so that the user can incline attention immediately before listening to the announcement. Never reveal.

Embodiment 1 FIG.
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  The present invention has a functional block configuration as schematically shown in FIG. 1 and can be configured and operated by a combination of a hard logic circuit, sensors, an input device, a map storage device, and an output device. Since it is practical to use a processing device based on a microcomputer instead of a logic circuit and to realize the characteristic means of the present invention by a computer program stored in a semiconductor memory, that is, by sequential processing, As a more detailed embodiment, a system using a microcomputer shown in FIG. 2 will be described.

  In FIG. 1, 1 is a map storage means, 2 is a position related information detection means interconnected to the map storage means 1, and 3 is a presentation means interconnected to the map storage means 1 and the position related information detection means 2. is there. In FIG. 2, 100 is a vehicle speed sensor, 200 is a direction sensor, 210 is a GPS receiver, 220 is a beacon receiver, 300 is a CRT, 400 is a touch panel, 500 is a speaker, and 600 is a CD-ROM storing a map database. A driver for driving it, 700 is a traffic information receiver, 1000 is a microcomputer system having CPU 1100 as a core, resources such as various sensors, CD-ROM drive, interface circuit with touch panel, CRT controller, image memory, etc. 1200, a RAM 1300 for storing intermediate results of computation, a ROM 1400 for storing a program, a non-illustrated nonvolatile storage RAM, a system timer, a clock source, and the like. In the ROM 1400, for example, a computer program whose processing procedure is shown in FIGS. 3, 4, and 5 is incorporated.

  Hereinafter, the operation of the embodiment will be described using the processing flowchart of the computer program shown in FIGS. First, these programs are interrupted at predetermined intervals such as 0.1 seconds by a system timer.

In FIG. 3, in step 1, the travel distance ΔL is calculated from the count-up value of the output pulse of the vehicle speed sensor 100 that is generated every time a certain distance is traveled.
In step 2, the vehicle speed V is calculated.

    V = ΔL / Δt

In step 3, the moving average Vav of the vehicle speed V is calculated.
In step 4, the azimuth sensor 200, for example, the geomagnetic azimuth sensor, or the rate gyro sensor detects the geomagnetic azimuth or the relative azimuth to estimate the vehicle azimuth Ω.
In step 5, the movement vector represented by the vehicle heading and the movement distance is added to the previous position to calculate a new position of the vehicle. The initial value of the previous position is used by reading the battery backup memory storing the position immediately before the system is stopped.

In addition, when there is a new detection of the absolute position or the detection of a corrected position by operating the GPS receiver 210, the beacon receiver 220, or the touch panel 400, the position is corrected.
In step 6, the travel distance L1 and the elapsed time T1 from when the vehicle on the new road on the road network of the CD-ROM 1600 map is located are integrated.
In step 7, the travel distance L2 and the elapsed time T2 after the position is corrected or corrected (the expected value of the error is reduced) are integrated.
In step 8, it is checked whether or not it is time for collation, that is, whether or not the vehicle has traveled more than a predetermined distance, for example, 10 meters from the position when the previous pass 1 was executed. If it is time for collation, the process proceeds to step 9; otherwise, the process proceeds to step 24.

  In step 9, the correlation coefficient between the trajectory, that is, the position series and the shape of the neighboring road on the map corresponding to the latest position (for example, the standard deviation of the direction of each of the trajectory intercept and the road intercept for each of the neighboring roads. Is calculated, and the degree of similarity is calculated using them). Based on the correlation coefficient, the road, the position on the road, the traveling direction on the road, etc. are estimated and calculated, and the position series is calculated backward. When the obtained trajectory is bent at a predetermined angle such as 45 degrees to 135 degrees and the road on the map is also bent within the range of such a bent angle, the position is corrected on the road. Here, it is expected that the error of the estimated position accumulated in the position after being bent is reduced. If there are multiple roads that bend in the vicinity and the correlation coefficient is similar, the position correction is suspended, and the position is corrected when the correlation coefficient becomes significantly larger than others. It is corrected to. The position correction here uses the absolute position information by various receivers in step 5 here, and the position correction that has been further corrected, or has been suspended, with reference to the absolute position, It may be corrected to the proper position.

In step 10, the turning (bending) in step 9 is checked. If the vehicle is turning, the process proceeds to step 11; otherwise, the process proceeds to step 12.
In step 11, a parameter K22 is set by reading a value corresponding to the turning angle for position error calculation stored in an appropriate storage means such as a constant table of the ROM 1400.
In step 12, it is checked whether an absolute position is newly detected. That is, the reception result of the GPS receiver 210 or the beacon receiver 220 in step 5 is checked here. If detected, the process proceeds to step 13, and if not detected, the process proceeds to step 14.
In step 13, a value corresponding to the absolute position detection accuracy is set in the parameter K22. For example, when the GPS receiver 210 detects the absolute position, a value proportional to the DOP (position detection accuracy degradation index) value is set.

In step 14, it is checked whether or not the position has been corrected by an appropriate means such as the touch panel 400. If it has been corrected, the process proceeds to step 15, and if not corrected, the process proceeds to step 17.
In step 15, the position correction accuracy is set to the value of the parameter K22. This accuracy is set when the user corrects the position, or an appropriate value is determined in advance.
In step 16, the travel distance L2 after the position correction or correction is cleared.
In step 17, it is checked whether the position of the vehicle has moved to a new road on the map. If it has moved, the process proceeds to step 18; otherwise, the process proceeds to step 24.

  In step 18, with respect to a road that is predicted to reach in the direction of travel of the newly transferred road, such as a road up to three intersections ahead of the road, a road other than the road at the next intersection. Information on the road to the next intersection is retrieved from the CD-ROM 600 as map storage means. The data of the facility having the location attribute is similarly searched under the condition of the vicinity of the predicted arrival road. In the case of an application in which a recommended route is obtained separately, information on roads that are included in the recommended route to any distant location according to the user's designation is retrieved. This search may be performed when a route is searched.

  In step 19, for example, the road length CL or the required time TL to the next intersection (feature point A) of the road is retrieved from the CD-ROM 600. In the case of an application in which a recommended route is obtained separately, the length of the recommended route, that is, the road length to the destination, or the required time is calculated in advance. Alternatively, the length of the route to the point where the driving ends on the road, that is, the branch point or the intersection, and the point where the recommended route does not advance along the road (feature point A), or The required time is retrieved or further calculated. If there is road traffic information received by the traffic information receiver 700 from the outside, it is used in the same manner.

In step 20, the attribute of the predicted predicted road is examined. For example, if there is a section in which a certain speed limit is set and there is data, its content (meaning), presentation start time, presentation end time or Presentation intervals and the like are registered for each content.
In step 21, the characteristics of the road shape of the predicted arrival road are calculated and registered, and the contents (meaning), the characteristics, the presentation time / position, etc. are registered. For example, the bending angle of the road section is evaluated, and the angle and a position 200 meters before the bending (an example of XS described later) are registered.

In steps 22 and 23, the travel distance L1 and the elapsed time T1 after the position is newly moved to the road are cleared.
In step 24, the vehicle position estimation error g is calculated by the following equation, for example.

g = K21 · L + K22
Here, K21 is the maximum error rate of the vehicle speed sensor, for example, 0.005.

  In step 25, an estimation error is expected to be positive in the travel distance L1 or the elapsed time T1.

L1 '= L1 + g
T1 '= T1 + g / Vav

  In step 26, the estimation error g is expected to be negative in the travel distance L1.

L1 "= L1-g
T1 "= T1-g / Vav

  In step 27, for example, the position DL of the vehicle or the required time DT on the road which is standardized by the road length CL or the required time TL up to the feature point A and deformed and displayed on the arbitrary scale D is calculated.

DL = D · (CL−L1 ′) / CL
DT = D · (TL−T1 ′) / CL

  In step 28, the normalized position error g1 or the normalized time error gt is similarly calculated from the estimated error g.

g1 = D · g / CL
gt = D · g (Vav · TL)

  In FIG. 4, in step 29, the presentation start position Xth or the presentation start time Tth is calculated.

Xth = CL- (CL-XS). {Vav / V0 + exp (-Vav / V1)}
Tth = CT- (CT-XS). {1 / V0 + exp (-Vav / V1) / Vav}
V0 and V1 are each an arbitrary speed (constant)

In step 30, the travel distance L1 ′ that is expected to be positive is compared with the presentation start position Xth that takes into account the average vehicle speed. Alternatively, a similar elapsed time T1 ′ is compared with the presentation start time Tth. If L1 ′ ≧ Xth, the process proceeds to step 31; otherwise, the process proceeds to step 35.
In step 31, it is checked whether the estimation error g is larger than a predetermined value. If it is larger, the process proceeds to step 32, and if it is not larger, the process proceeds to step 33.
In step 32, it is checked whether or not there is an intersection in the error range centering on the position. If there is no intersection, the process proceeds to step 33;

  In step 33, information related to the predicted arrival road is in an arbitrary form according to the registered contents, for example, up to the feature point of the running road, the first intersection and nearby facilities, etc. are deformed, and the running direction is set upward. Then, it is arbitrarily enlarged or reduced to a part of the screen, superimposed and presented. In this case, for example, the information is displayed in a superimposed manner on the CRT 300 together with a warning sound from the speaker 500, or after a warning is given from the speaker 500 in advance with a warning sound, the information is announced by voice. In addition, “presenting” is added to registration.

The information related to the predicted arrival road is further presented as follows, for example.
A centrifugal force is predicted and calculated based on the curvature of the extracted bent road and the current vehicle speed V, and a warning is issued if the centrifugal force exceeds a predetermined value. In addition, the reason for the warning, the distance or time allowing the error to the dangerous position, etc. are presented. Alternatively, the vehicle speed in the safe zone is further calculated and the safe vehicle speed is presented. Alternatively, control for reducing the vehicle speed is performed via a vehicle speed braking device (not shown), and the vehicle speed is gradually reduced. In this case, it is desirable to reduce the vehicle speed to a safe (recommended) speed. As a risk factor, in addition to the curvature of the road, there may be a slope, a slope, a road width change, etc., or a combination thereof. Further, not only vehicle control such as deceleration or acceleration, but also control for changing the direction of the vehicle when the estimation accuracy is high.

In step 34, for example, the presentation is canceled and the registration is deleted. Alternatively, it is presented in a representation that the error is large, or the semantic information has a width in position.
In step 35, it is checked whether there is any other registration other than presenting. If registered, the process returns to step 29, and if not, the process proceeds to step 36.

In step 36, the travel distance L1 ″ with a negative error is compared with the presentation end position XE. Alternatively, the elapsed time T1 ″ is compared with a similar presentation end time TE. If L1 ″> XE or T1 ″> TE, the process proceeds to step 37, and if vice versa, the process proceeds to step 38.
In step 37, the presentation is stopped and the registration is deleted.
In step 38, it is checked whether there is any other registration being made and not deleted. If there is no unerased registration, the process returns to step 36, and if it is not, the process returns.

  In FIG. 5, in step 39, for example, the position of the vehicle is set as the center of the screen of the CRT 300, and the display map is scrolled as the position moves. That is, the window that determines which part of the display buffer memory (not shown) is to be displayed is shifted as it moves. When an area where a shortage of the map is predicted is created in the display buffer memory, new display map data is newly read from the CD-ROM 600. In the center of the screen of the CRT 300, a vehicle symbol is displayed toward the direction of the vehicle in the map coordinate system. Further, the information of the standardized position DL and the standardized position error g1 is displayed on the display of the road having the length D to the feature point A. Alternatively, the information of the standardized elapsed time TL and the standardized time error gt are displayed in an overlapping manner. These may be displayed numerically rather than graphically.

In step 40, it is checked whether there is any newly registered content (semantic information such as attributes, features on the road network or road form, or position). Items that are already being presented are not included. If there is a registered content, the process proceeds to step 41, and if not, the process returns.
In step 41, data processing is started for quick presentation of content (semantic information) that takes time to process. Alternatively, for data that takes a long time to retrieve, for example, reading of complicated graphic data, data reading from the CD-ROM 600 is started. At the end of processing, a flag is raised. And it returns after that.

In FIG. 6, in step 42, it is checked whether or not to display a route according to the contents held by the user's selection result. If it is the route display mode, the process proceeds to step 43, and if not, the process returns.
In step 43, it is checked whether the departure point or destination has been set. If it has been set, the process proceeds to step 45; otherwise, the process proceeds to step 44.

In step 44, the departure point or destination is set.
In step 45, it is checked whether the route should be corrected. If the path is to be corrected, proceed to step 46, otherwise return.
In step 46, a recommended route from the departure point to the destination is searched for in consideration of traffic information, and then the process returns.

As described above, the following effects are achieved.
1. Arbitrary semantic information related to the predicted arrival road or the recommended route can be presented at the timing when the position estimation error is expected, so that the user can accurately grasp the semantic information.
2. Since the remaining distance to the arbitrary point on the predicted arrival road or the recommended route or the estimated required time can be presented at a timing that allows for the position estimation error, the user can determine the remaining distance or the estimated required time without delay. .
3. Since the presentation form of arbitrary semantic information related to the predicted arrival road or the recommended route can be changed in accordance with the position estimation error, the user can trust the presentation contents.

4). Arbitrary semantic information related to the predicted arrival road or recommended route can be presented at a predetermined distance more than a predetermined distance at low speeds and at a predetermined time more than a predetermined time at high speeds. Presented to. Alternatively, since control for changing the motion of the vehicle is performed at the same timing, there is no inconvenience in changing the motion at any vehicle speed.
5). Since the presentation form of arbitrary semantic information related to the predicted arrival road can be changed according to the degree of the estimated position error and the density of the road network, the user can trust the presented content more.
6). Arbitrary semantic information related to the predicted arrival road or the recommended route can be processed in advance of the point in time to be presented, so that the presentation timing is not lost. Alternatively, more complicated presentation content can be presented.

7). Since the presentation start timing and the presentation end timing can be given for each arbitrary attribute information related to the predicted arrival road or the recommended route, more detailed presentation can be realized.
8). Arbitrary semantic information related to the predicted arrival road or recommended route can be used as a function of the average vehicle speed, so that the presentation form based on the instantaneous vehicle speed does not fluctuate.
9. Arbitrary semantic information regarding the predicted arrival road or the recommended route is presented after the warning sound is generated, so that the user can incline attention immediately before listening to the announcement, so that the user does not hear it.
10. Predicting danger from any feature information and vehicle speed related to the predicted arrival road or recommended route, and issuing a warning at the timing when the position estimation error is expected, so that the user can operate the vehicle for risk prevention in advance with high reliability. it can.

11. Predicting danger from any feature information on the predicted road or recommended route and vehicle speed, and presenting warning and safety (recommended) speeds at the timing that estimates the position estimation error In addition, it is possible to know the degree of vehicle operation for risk prevention.
12 Predicting danger from any feature information and vehicle speed on the predicted road or recommended route, and performing control to reduce the vehicle speed at the timing when the position estimation error is expected. The vehicle will automatically decelerate, making driving easier and safer.
13. Predicting that the motion of the vehicle should be changed based on any feature information and vehicle speed related to the predicted arrival road or recommended route, and performing the control to change the motion of the vehicle at the timing when the position estimation error is expected, the vehicle will It automatically performs motion change control for risk prevention etc. at a highly reliable prior timing, making driving easier.

It is a block diagram which shows the outline of a function structure of one embodiment of this invention. It is a block diagram which shows the actual hardware structure of one embodiment of this invention. It is a flowchart which shows the processing program integrated in ROM of one Embodiment of this invention. It is a flowchart which shows the processing program integrated in ROM of one Embodiment of this invention. It is a flowchart which shows the processing program integrated in ROM of one Embodiment of this invention. It is a flowchart which shows the processing program integrated in ROM of one Embodiment of this invention.

Explanation of symbols

1 map storage means, 2 position related information detection means, 3 presentation means.

Claims (7)

Map storage means for storing road-related information;
Position-related information detecting means for detecting a position of the vehicle and estimating a position on the map of the map storage means corresponding to the position where the vehicle is traveling;
Presenting means for obtaining arbitrary semantic information related to a road on which the vehicle is predicted to arrive based on the road-related information, generating a warning sound when the presentation timing is reached, and announcing the semantic information after the warning sound And
The vehicle road related information prior presentation device, wherein the presentation timing is a function of an average vehicle speed during traveling. Map storage means for storing road-related information;
Position-related information detecting means for detecting a position of the vehicle, estimating a position on the map of the map storage means corresponding to a position where the vehicle is traveling, and obtaining an error of the position on the map;
Arbitrary semantic information related to the road on which the vehicle is predicted to arrive is obtained based on the road-related information, and when the presentation timing that anticipates the error is reached, a warning sound is emitted, and the semantic information is voiced after the warning sound. A vehicle road-related information pre-presentation device comprising: a presenting means for announcing at a vehicle. Map storage means for storing road-related information;
Position-related information detecting means for detecting a position of the vehicle, estimating a position on the map of the map storage means corresponding to a position where the vehicle is traveling, and obtaining an error of the position on the map;
Based on any semantic information about the road on which the vehicle is predicted to arrive, the remaining distance to the point where the error is expected or the estimated required time is calculated, a warning sound is generated, and the remaining sound is output after the warning sound. A vehicle road-related information pre-presentation device comprising: a presenting unit that announces a distance or the estimated required time by voice. Map storage means for storing road-related information;
Position-related information detecting means for detecting a position of the vehicle, estimating a position on the map of the map storage means corresponding to a position where the vehicle is traveling, and obtaining an error of the position on the map;
Based on the road-related information, a feature on the road network or road form including at least one of curve curvature, road gradient, slope, and road width change and the feature position of the road on which the vehicle is predicted to arrive The risk is predicted based on the characteristics and the contents of the characteristic position and the vehicle speed of the vehicle, and a warning sound is generated at a presentation timing that anticipates the error, and a warning related to the danger is provided after the warning sound. A vehicle road-related information pre-presentation device comprising: a presenting means for announcing the sound by voice. The presentation timing may be an approach to a characteristic attribute point based on the road-related information, an approach to a feature point on a road network based on the road-related information, or a feature point on a road form based on the road-related information. The vehicle road related information prior presentation device according to any one of claims 1 to 2, wherein the vehicle road related information prior presentation device is related to any of the situations of approach. The approach to the characteristic attribute point is either an arrival near the destination or an approach to the facility designated by the user,
The approach to the feature point on the road network is the approach to the start / end point of the speed limit section,
The approach to the feature point on the road form is an approach to a point where the recommended route is not a road, an approach to a point where the curvature of the road is a predetermined value or more, an approach to a point where the road gradient is a predetermined value or more, 6. The vehicle road related information prior presentation device according to claim 5, wherein the vehicle road related information pre-presentation device is either an approach to a point where the slope of the road is equal to or greater than a predetermined value or an approach to a point where the road width changes. 4. The road related information prior presentation device for a vehicle according to claim 1, wherein the road related information is information received from outside by a receiving means.

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