JP2006090988A - Navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform effective route guidance by transferring clearly a feeling of movement to the guiding direction to a driver. <P>SOLUTION: A navigation system 1 is equipped with a navigation unit 2 for generating an 'acoustic image control for signal' changing the moving speed of an acoustic image corresponding to a sentence sample structure of a voice guidance (for example, a sentence sample structure such as the length of the sentence sample of the voice guidance or a section of a break of the voice guidance) and/or an environment wherein the voice guidance is heard (for example, an environment wherein an acoustic image of voice guidance is moved and controlled to the backward direction or to the direction of a driver's seat, or an environment of speed information of own vehicle or the like); and a speaker control part 4 for outputting the voice guidance by adjusting the output intensity by speakers SP1-SP4 based on the 'acoustic image control signal'. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention moves the sound image of the voice guidance that prompts the vehicle operation in the guidance direction according to the behavior of the host vehicle estimated from the guidance direction based on the preset scheduled route information and the position information of the host vehicle. The present invention relates to a navigation apparatus that performs sound image localization control to guide a route of a host vehicle.

  2. Description of the Related Art Conventionally, a navigation device that registers a planned route of a host vehicle and performs route guidance by voice is known. This navigation device identifies an intersection where the host vehicle makes a right or left turn based on a planned route, map information, and the current position, and notifies the driver in advance to drive the host vehicle along a set route. .

  At this time, both the screen display and the voice output are used together for the notification to the driver. However, since it is not preferable to watch the display while driving the vehicle, the notification by voice is very useful. Thus, in such a navigation device, it is required to increase the amount of information in voice output and realize effective route guidance without placing a burden on the vehicle operation by the driver.

  Therefore, in patent document 1, the direction of a voice is utilized as information by controlling so that the guidance voice of a navigation device is heard from a relative angle direction to a driver. Similarly, Patent Document 2 discloses a technique for outputting sound data by localizing a sound image in the direction of road guidance, and Patent Document 3 also changes the localization direction of the notification sound according to the route situation. A technique for performing route guidance is disclosed.

  Furthermore, in recent years, the sound image of the voice guidance that prompts the vehicle operation in the guidance direction is moved according to the behavior of the host vehicle estimated from the guidance direction based on the preset scheduled route information and the position information of the host vehicle. Navigation devices have been developed that perform sound image localization control (ie, movement control (direction control) that gives a movement feeling in the guidance direction) to guide the route of the host vehicle.

JP 7-57190 A JP-A-6-176296 JP-A-8-110237

  However, since the above-described conventional technology is merely for performing sound image localization control for moving the sound image of the voice guidance uniformly, it is not always possible to give the driver a proper sense of movement. There is a problem that there is a limit to effective route guidance.

  For example, in the above-mentioned conventional technology, a relatively short voice guidance of “This is the right direction” is based on the moving speed of the sound image when outputting the voice guidance “This is the next intersection, the right direction”. If the sound image localization control for moving the sound image is performed, the voice output of the voice guidance is finished before the movement of the sound image is converged, so that it is not possible to give the driver a proper sense of movement. Also, if sound image localization control is performed to move the sound image of a relatively long voice guidance, “Following, the first signal is to the right.” The voice guidance is output even though the movement of the sound image has converged. It will cause a sense of incongruity to continue being done.

  In general, the seat position where the driver is seated is not in the center of the vehicle but on the right side (or left side) of the vehicle, so the space where the sound image can be moved in front of the driver is asymmetrical It becomes. For this reason, when route guidance in the driver's seat direction (for example, right direction) is performed, even if the sound image of the voice guidance is moved from the front of the driver to the right by the example, the right side of the driver is a door. Because of the proximity to the window, the moving distance of the sound image is limited, and it is difficult to effectively transmit the feeling of movement in the guiding direction (right direction).

  From these facts, in addition to transmitting information according to the meaning of the voice, how to realize “movement feeling control” excellent in information transmission by moving the sound image, that is, to the driver in the guidance direction How to clearly convey the sense of movement is an extremely important issue.

  Accordingly, the present invention has been made to solve the above-described problems (problems) caused by the prior art, and clearly conveys a sense of movement in the direction of guidance to the driver, thereby providing effective route guidance. An object of the present invention is to provide a navigation device capable of performing the above.

  In order to solve the above-described problems and achieve the object, the navigation device according to the first aspect of the present invention is based on the planned route information set in advance and the position information of the host vehicle. A navigation device that performs sound image localization control that moves a sound image of a voice guidance that prompts a vehicle operation in the guidance direction in accordance with the behavior of the vehicle to guide the route of the host vehicle, wherein the sentence guidance structure and / or the voice guidance It is characterized by comprising sound image control means for changing the moving speed of the sound image according to the environment where the voice guidance is heard.

  According to a second aspect of the present invention, in the navigation device according to the first aspect, the sound image control means changes the moving speed of the sound image in accordance with the length of a sentence example of the voice guidance. .

  According to a third aspect of the present invention, in the navigation device according to the first or second aspect of the invention, the sound image control means changes the moving speed of the sound image in the section of the voice guidance to the moving speed of the sound image in another section. It is characterized by a higher height.

  According to a fourth aspect of the present invention, there is provided a navigation device according to the first, second or third aspect of the invention, wherein the sound image control means is configured such that when the guidance direction is rearward relative to the driver, The sound image is moved at a speed lower than the speed at which the sound image is moved in the direction.

  The navigation device according to a fifth aspect of the present invention is the navigation device according to any one of the first to fourth aspects, wherein the sound image control means is arranged in the direction of the passenger seat when the guidance direction is the direction of the driver seat. The sound image is moved at a speed lower than the speed at which the sound image is moved.

  A navigation device according to a sixth aspect of the present invention is the navigation device according to any one of the first to fifth aspects, further comprising speed information acquisition means for acquiring speed information of the host vehicle, wherein the sound image control means The moving speed and / or moving trajectory of the sound image is changed according to the speed information of the host vehicle acquired by the speed information means.

  A navigation device according to a seventh aspect of the present invention is the navigation device according to any one of the first to sixth aspects, wherein the guidance corresponding to the guidance direction is based on an environment where the voice guidance is heard and / or a position of the host vehicle. Voice output control means for controlling the voice output of a plurality of output voices including the voice guidance according to the distance to the position is further provided.

  The navigation device according to an eighth aspect of the present invention is the navigation device according to the seventh aspect, wherein the voice output control means reverses the phase of the output voice on the passenger seat side when performing sound image localization control of the voice guidance. Control is performed to output sound.

  Further, the navigation device according to the invention of claim 9 is the navigation device according to claim 7 or 8, wherein the sound output control means is in accordance with the distance from the position of the host vehicle to the guidance position corresponding to the guidance direction. A frequency band to be outputted as voice guidance is determined, and a filtering process is performed to extract a voice signal in the determined frequency band from the voice guidance.

  The navigation device according to a tenth aspect of the present invention is the navigation device according to the seventh, eighth, or ninth aspect, wherein the audio output control means is responsive to a distance from the position of the host vehicle to a guidance position corresponding to the guidance direction. Then, a volume level of a reverberant sound added to the voice guidance is determined, and a reverberation adding process for adding the reverberant sound of the determined volume level to the voice guidance is performed.

  The navigation device according to an eleventh aspect of the present invention is the navigation device according to any one of the seventh to tenth aspects, wherein the voice output control means outputs the sound image of the voice guidance from the position of the host vehicle. The reduction rate of the output level of another audio output is changed according to the distance to the guidance position corresponding to the guidance direction.

  A navigation device according to a twelfth aspect of the present invention is the navigation device according to any one of the seventh to eleventh aspects, wherein the voice output control means relates to another voice output when outputting the sound image of the voice guidance. According to the output level adjustment information, the output level of another audio output is lowered.

  A navigation device according to a thirteenth aspect of the present invention is the navigation device according to any one of the seventh to twelfth aspects, further comprising output level calculation means for calculating an output level of another voice output, wherein the voice output control means is When outputting the sound image of the voice guidance, the output level of the other voice output is lowered according to the output level calculated by the output level calculating means.

  A navigation device according to a fourteenth aspect of the present invention is the navigation device according to any one of the seventh to thirteenth aspects, further comprising noise level detection means for detecting a noise level for the voice guidance, wherein the voice output control means includes: The output level of the voice guidance is changed according to the noise level detected by the noise level detection means.

  In the navigation device according to a fifteenth aspect of the present invention, the noise level detection means according to the fourteenth aspect is based on speed information of the own vehicle, an output from a microphone installed in the own vehicle, or a combination thereof. And detecting the noise level.

  According to a sixteenth aspect of the present invention, in the navigation device according to any one of the seventh to fifteenth aspects, the voice output control means competes for a voice output request for the voice guidance and a voice output request for a hands-free voice. In this case, control is performed so that hands-free sound is output with priority.

  A navigation device according to a seventeenth aspect of the present invention is the navigation device according to any one of the seventh to sixteenth aspects, wherein priority is given to the setting of the priority order related to the audio output when the audio output requests of a plurality of output audios compete. The voice output control means further includes an output voice based on the priority received by the priority setting accepting means when the voice guidance output request and the hands-free voice output request compete. It is characterized by controlling so that the voice is output with priority.

  The navigation device according to an invention of claim 18 is the navigation device according to any one of claims 1 to 17, wherein the sound image control means is a distance from the position of the host vehicle to a guide position corresponding to the guide direction. Accordingly, the sound image position when performing the sound image localization control is changed upward or downward.

  The navigation device according to the invention of claim 19 is the navigation device according to any one of claims 1 to 18, wherein the sound image control means is configured to be relative to the driver when an ETC exists as a guide point for route guidance. Then, the sound image localization control is performed in the direction in which the ETC gate exists.

  The navigation device according to a twentieth aspect of the present invention is the navigation device according to any one of the seventh to twentieth aspects, wherein the sound image control means and the sound output control means include the driver's age, the driver's listening characteristics, and / or Or, depending on the frequency of departure from the scheduled route, the moving speed and / or trajectory of the sound image, the frequency band for outputting voice as the voice guidance, the volume level of reverberant sound added to the voice guidance, and the voice guidance The voice output level of a plurality of output voices included, the speech speed of the voice guidance, or a combination thereof is changed.

  According to the present invention, since the moving speed of the sound image is changed in accordance with the sentence structure of the voice guidance and / or the environment in which the voice guidance is listened to, the feeling of movement in the guidance direction is clearly shown to the driver. There is an effect that it is possible to obtain a navigation device that can transmit and perform effective route guidance.

  In addition, according to the present invention, since the moving speed of the sound image is changed according to the length of the voice guidance sentence example, the timing for converging the sound image of the voice guidance in the guidance direction and the voice output of the voice guidance are terminated. Thus, there is an effect that a navigation device capable of more clearly transmitting a sense of movement in the guidance direction to the driver can be obtained.

  Further, according to the present invention, since the moving speed of the sound image in the section of the voice guidance is higher than the moving speed of the sound image in the other section, the section of the voice guidance is accentuated with the movement of the sound image. As a result, it is possible to obtain a navigation device capable of improving the ease of listening to voice guidance while smoothly transmitting a sense of movement in the guidance direction to the driver.

  Further, according to the present invention, when the guidance direction is backward relative to the driver, the sound image is moved at a lower speed than the speed when moving the sound image in the other direction. There is an effect that a navigation device capable of smoothly transmitting a feeling of movement in the guidance direction to the driver is obtained.

  Further, according to the present invention, when the direction of guidance is the direction of the driver's seat, the sound image is moved at a speed lower than that when moving the sound image in the direction of the passenger seat. There is an effect that a navigation device capable of smoothly transmitting a sense of movement in the guidance direction to a person is obtained.

  In addition, according to the present invention, the speed information of the host vehicle is acquired, and the moving speed and / or the moving trajectory of the sound image is changed according to the acquired speed information of the host vehicle. There is an effect that it is possible to obtain a navigation device capable of transmitting the corresponding movement feeling and the movement feeling according to the driver's visual field.

  Further, according to the present invention, the voice output of a plurality of output voices including the voice guidance is controlled according to the environment in which the voice guidance is heard and / or the distance from the position of the host vehicle to the guidance position corresponding to the guidance direction. As a result, it is possible to obtain a navigation device capable of improving the ease of listening to voice guidance while realizing effective distance control.

  In addition, according to the present invention, when performing sound image localization control of voice guidance, control is performed so as to output the voice by inverting the phase of the output sound on the passenger seat side. The moving distance can be virtually increased, and there is an effect that a navigation device capable of more clearly transmitting the sense of movement of the sound image in the direction of the driver seat can be obtained.

  Further, according to the present invention, a frequency band to be output as voice guidance is determined according to the distance from the position of the host vehicle to the guidance position corresponding to the guidance direction, and an audio signal in the determined frequency band is determined. Since the filter processing extracted from the voice guidance is performed, it is possible to convey the sense of distance from the position of the own vehicle to the guidance position corresponding to the guidance direction by timbre, and while maintaining the volume level, the effective distance There is an effect that a navigation device capable of feeling control is obtained.

  Further, according to the present invention, the volume level of the reverberant sound added to the voice guidance is determined according to the distance from the position of the host vehicle to the guidance position corresponding to the guidance direction, and the determined volume level is determined. Since reverberation processing is performed to add reverberant sound to voice guidance, it is possible to transmit the sense of distance from the position of the vehicle to the guide point with the length of reverberation time, while maintaining the volume level and effect. It is possible to obtain a navigation device capable of performing a sense of distance control.

  Further, according to the present invention, when outputting a sound image of voice guidance, the rate of decrease in the output level of other voice output is changed according to the distance from the position of the host vehicle to the guidance position corresponding to the guidance direction. Therefore, there is an effect that it is possible to obtain a navigation device capable of improving the ease of hearing the voice guidance.

  Further, according to the present invention, when outputting the sound image of the voice guidance, the output level of the other voice output is lowered in accordance with the output level adjustment information related to the other voice output. There is an effect that a navigation device capable of improving the ease of listening to the voice guidance with a simple configuration without being provided can be obtained.

  Further, according to the present invention, when the output level of another voice output is calculated and the sound image of the voice guidance is output, the output level of the other voice output is reduced according to the calculated output level. Therefore, the attenuation control according to the actual volume level of the other voice output can be performed, and it is possible to obtain a navigation device that can further improve the ease of listening to the voice guidance.

  Further, according to the present invention, since the noise level for the voice guidance is detected and the output level of the voice guidance is changed according to the detected noise level, it is possible to further improve the ease of listening to the voice guidance. There is an effect that a possible navigation device is obtained.

  Further, according to the present invention, since the noise level is detected based on the speed information of the own vehicle, the output from the microphone installed in the own vehicle, or a combination thereof, the speed and traveling environment of the own vehicle are Even when it fluctuates every moment, it is possible to obtain a navigation device capable of improving the ease of listening to voice guidance.

  Further, according to the present invention, when the voice output request for voice guidance and the voice output request for hands-free voice conflict, control is performed so that hands-free voice is output with priority. There is an effect that a navigation device that can prevent the hands-free call from being obstructed can be obtained.

  In addition, according to the present invention, when the voice output request of a plurality of output voices competes, the priority setting related to the voice output is accepted, and when the voice guidance output request and the hands-free voice output request compete, Since the output sound based on the accepted priority order is controlled so as to be output with priority, the navigation apparatus capable of outputting the sound with priority on the output sound requested by the user can be obtained. Play.

  Further, according to the present invention, the sound image position when performing sound image localization control is changed upward or downward according to the distance from the position of the host vehicle to the guidance position corresponding to the guidance direction. There is an effect that a navigation device capable of performing effective distance control while maintaining the volume level is obtained.

  In addition, according to the present invention, when the ETC exists as a guide point to be route-guided, the sound image localization control is performed in the direction in which the ETC gate exists relative to the driver. There is an effect that it is possible to obtain a navigation device that can be intuitively perceived and that can contribute to shortening the passage time of the toll gate.

  According to the present invention, according to the driver's age, the driver's listening characteristics and / or the deviation frequency from the planned route, the moving speed and / or moving locus of the sound image, the frequency band for outputting voice as voice guidance, Since the volume level of reverberation sound added to the voice guidance, the voice output level of multiple output voices including voice guidance, the speech speed of voice guidance, or a combination of these are changed, the driver's age, driving It is possible to obtain a navigation device capable of performing route guidance that follows the listener's listening characteristics and scheduled route transmission.

  Exemplary embodiments of a navigation device according to the present invention will be explained below in detail with reference to the accompanying drawings. In the following, the concept of terms used in the present embodiment will be described first, then the outline and features of the navigation system according to the present invention will be described, and then the navigation system according to the first and second embodiments will be described. Finally, various modified examples (Example 3) will be described as other examples.

(Explanation of terms)
Hereinafter, the concept of terms used in this embodiment will be briefly described. “Moving sensation control” used in the present embodiment refers to audio output control that gives a sense of movement (direction sensation) in the guidance direction to the contents of the audio guidance (navigation audio). , Up to the point (for example, a guide point such as an intersection, a signal, or a junction point of a road) where guidance instructions (for example, instructions for vehicle operation such as turning right or left, turning) are to be performed in the contents of the voice guidance (navigation voice) Voice output control that gives a sense of distance.

  In addition, the “guide point” used in the present embodiment refers to a point where it is determined that voice guidance should be given to the driver based on the planned route, current position, and map information of the host vehicle. Indicates a point (for example, a guide point such as an intersection or a road junction) at which a guidance instruction (for example, an instruction such as turning right or left or turning) is to be executed.

  In contrast to this, the “voice guidance output point” used in the present embodiment refers to an optimum point for outputting voice guidance. For example, in this embodiment, a planned route point near the “guide point” is set as a short distance voice guidance output point, a planned route point within 300 m from the vicinity of the “guide point” is set as a medium distance voice guidance output point, The planned route point within 700 m from the 300 m point of the “guide point” is set as a long distance voice guidance output point.

(Overview and features)
First, the outline and features of the navigation device according to the present invention will be described. FIG. 1 is a schematic configuration diagram illustrating a schematic configuration of the navigation system 1 according to the first embodiment. As shown in the figure, the navigation system 1 is configured to operate the vehicle in the guidance direction in accordance with the behavior of the host vehicle estimated from the guidance direction based on the preset route information and the position information of the host vehicle. The vehicle is routed by performing sound image localization control that moves the sound image of the voice guidance that prompts the user.

  Here, the navigation system 1 according to the present invention has a main feature in the sound image control processing for changing the moving speed of the sound image according to the sentence structure of the sound guidance and / or the environment where the sound guidance is heard. Through the processing, a sense of movement in the guidance direction is clearly transmitted to the driver so that effective route guidance can be performed.

  This main feature will be described in detail. In the navigation system 1, the sentence structure of the voice guidance (for example, the sentence structure such as the length of the voice guidance sentence or the section of the voice guidance break) and / or the voice guidance are heard. The moving speed of the sound image of the voice guidance is changed according to the environment (for example, the environment in which the sound image of the voice guidance is controlled to move backward or in the direction of the driver seat, or the environment such as speed information of the host vehicle).

  For this reason, the sound image is moved at an appropriate moving speed according to the sentence structure of the voice guidance to be output and the environment in which the voice guidance is heard, and the feeling of movement in the guidance direction is clearly transmitted to the driver. be able to.

  Therefore, in the example of the prior art described above, by moving the sound image of the voice guidance uniformly, it does not give the driver a sense of movement that causes missed or misunderstood, but the sentence structure of the voice guidance. Since the moving speed of the sound image is changed according to the environment in which the voice guidance is heard, it is possible to clearly convey the feeling of movement in the guidance direction to the driver. Thus, effective route guidance can be performed.

  Next, the navigation system according to the first embodiment will be described. In the first embodiment, a navigation apparatus that performs movement feeling control (direction feeling control) that changes a moving speed of a sound image according to a sentence structure of voice guidance and / or an environment in which the voice guidance is heard will be described. Here, after describing the configuration of the navigation system according to the first embodiment, procedures of various processes of the navigation system will be described.

(Configuration of navigation system)
FIG. 1 is a schematic configuration diagram illustrating a schematic configuration of the navigation system 1 according to the first embodiment. As shown in the figure, the navigation system 1 includes a navigation unit 2, an audio unit 3, a speaker control unit 4, and speakers SP1 to SP4.

  Among these, the navigation unit 2 includes a GPS (Global Positioning System) receiving unit 21, a route setting unit 22, a vehicle speed acquisition unit 23, a guide content creation unit 24, a guide voice output control unit 25, an attenuation control table 25a, and a sound image. A control unit 26, an audio control table 26a, and a guide display control unit 27 are provided. Here, the GPS reception unit 21, the route setting unit 22, the vehicle speed acquisition unit 23, the guide content creation unit 24, the guide voice output control unit 25, the sound image control unit 26, and the guide display control unit 27 may be configured by a microcomputer or the like. It may be configured by an electronic circuit. Further, this configuration is classified according to each function, and the physical configuration may be integrated or distributed in whole or in part.

  The GPS receiver 21 receives information from a GPS artificial satellite, acquires time information, and specifies position information of the host vehicle. Further, the GPS receiving unit 21 outputs the specified position of the own vehicle to the guide content creating unit 24.

  The route setting unit 22 is a processing unit that receives a user input from a user (for example, a driver) and sets and stores a planned route of the host vehicle. In addition, the route setting unit 22 outputs the set route and map information to the guide content creation unit 24.

  The vehicle speed acquisition unit 23 acquires vehicle speed information of the host vehicle and outputs the vehicle speed information to the guide content creation unit 24. The vehicle speed information may be acquired from a speedometer of the host vehicle or may be calculated from the transition of position information specified by the GPS receiver 21. For example, a certain vehicle speed may be estimated based on whether the host vehicle is traveling on a general road or the host vehicle is traveling on a highway, or legal speed information is obtained in conjunction with the route setting unit 22. The legal speed may be obtained and imitated with the vehicle speed information of the own vehicle.

  The guide content creation unit 24 is a processing unit that creates content to be notified to the driver of the host vehicle based on outputs from the GPS reception unit 21 and the route setting unit 22. Specifically, as information on a place where voice guidance to the driver should be performed (that is, guide point information), distance information from the current position of the own vehicle to the place (guide point) and the own vehicle take at the place. The direction information indicating the power direction is stored.

  Here, the guide point refers to a place where it is determined that voice guidance should be given to the driver based on the planned route, current position and map information of the own vehicle. For example, the own point is 300 m from the current position. When making a right turn at the previous intersection, the guide point is an intersection 300 meters ahead. Note that this determination method, that is, the determination method of “where voice guidance should be output” is the same as that of the prior art, and thus the description thereof is omitted here.

  Then, the guide content creation unit 24 determines the route guidance content based on the created guide point information. Further, the content (voice guidance) output by voice in the route guidance is output to the guide voice output control unit 24, and the content displayed on the display 33 is output to the guide display control unit 27.

  Based on the output of the guide content creation unit 24, the guide voice output control unit 25 determines from which direction the voice guidance is to be output to the driver and transmits it to the speaker control unit 4. Further, the guide display control unit 27 transmits the content to be displayed on the display to the audio unit 3 based on the output of the guide content creation unit 24.

  It should be noted that there are a plurality of “moving feeling / distance control” (that is, sound image localization control) and a plurality of “moving feeling / distance control” in the guide voice output control unit 25 and the sound image control unit 26 in order to perform the “moving feeling / distance control” more effectively. For the explanation of the “voice output control” relating to the output voice (for example, voice guidance, audio output, etc.) and the explanation of the attenuation control table 25a and the sound image control table 26a related thereto, after explaining the configuration of each unit This will be described in detail.

  The audio unit 3 includes a main control unit 31, an audio output control unit 32, and a display 33 therein. Here, the main control unit 31 and the audio output control unit 32 may be configured by a microcomputer or the like, or may be configured by an electronic circuit. In addition, this configuration is divided according to each function, and the physical configuration may be integrated.

  The main control unit 31 is a control unit that controls the audio unit 3 as a whole. For example, if the audio unit 3 is a DVD player, the main control unit 31 reads out music information stored on a DVD disc and outputs the music information to the audio output control unit 32. At the same time, video information and the like are read and displayed on the display 33. Further, the audio output control unit 32 transmits the music information output by the main control unit 31 to the speaker control unit 4. The audio unit 3 is not limited to a DVD player, and may have a function such as a compact disc, a hard disk, a radio, and a television.

  Further, the display 33 is shared with the route guidance image display by the navigation unit 2. Therefore, the main control unit 31 has a function of causing the display 33 to display the content received from the guide display control unit 27 inside the navigation unit 2. That is, the main control unit 31 performs integrated management of the display 33 as well as reading and outputting information from various media.

  Furthermore, the audio output control unit 32 includes an output level calculation unit (not shown) that calculates the actual output level of the audio signal input from the main control unit 31. Such output level calculation function can be easily realized by introducing an integration circuit or the like.

  Then, the output level calculation result of the audio signal in the output level calculation unit is transmitted to the guide voice output control 25. That is, the output level calculation unit transmits the actual volume level of the reproduced music to the guide audio output control unit 25, so that the guide audio output control unit 25 reproduces the reproduced music according to the actual volume level of the reproduced music. ATT amount (attenuation amount) can be determined.

  The speaker control unit 4 includes a microcomputer 41, a codec 42, a DSP (Digital Signal Processor) 43, and an amplifier 44 therein. The microcomputer 41, the codec 42, and the DSP 43 may be configured by a microcomputer or the like, or may be configured by an electronic circuit. In addition, this configuration is divided according to each function, and the physical configuration may be integrated.

  Among these, the codec 42 receives the “route guidance voice signal” received from the guide voice output control unit 25 in the navigation unit 2 and the audio output control unit 32 inside the audio unit 3 by the A / D unit 42 a included therein. The “audio output signal” is converted into a digital signal and output to the DSP 43 as sound data.

  The microcomputer 41 is a control unit that controls the speaker control unit 4 as a whole. Specifically, the “route guidance voice signal” from the navigation unit 2 and the “audio output signal” from the audio unit 3 are integrated. And control how much sound is output from which speaker and how much sound is reproduced. For example, when a “sound image control signal” accompanied by an “audio output attenuation signal” is received from the navigation unit 2, the DSP 43 is instructed to perform attenuation processing on the “audio output signal”, and “movement sense control” and “distance sense” The DSP 43 is instructed to perform the digital signal processing related to “control” on the “route guidance voice signal”.

  The DSP 43 performs “movement sense control” or “distance sense control” on the output (ie, “route guidance voice signal”) of the A / D unit 42 a based on the output of the microcomputer 41 (ie, “sound image control signal”). The digital signal processing is performed and output to the DA converter unit (D / A unit 42b) inside the codec 42. The output of the D / A section 42b is adjusted in output intensity by the amplifier 44 and is reproduced as voice guidance or music from the speakers SP1 to SP4.

  The speakers SP1 to SP4 are arranged in the vehicle interior, for example, as a right front speaker, a left front speaker, a right rear speaker, and a left rear speaker. These speakers can output sound so that sound can be heard from the driver in a desired direction and a desired distance by controlling the output intensity of each speaker. In this way, the sound that is output so as to be heard from the virtual position to the driver is hereinafter referred to as “sound image”, and the virtual position is referred to as “sound image position”.

  Here, the basic control in the guide voice output control unit 25 and the sound image control unit 26, that is, the outline until the voice guidance is output will be described. First, the guide content creation unit 24 creates guide point information from the position of the host vehicle and the planned route. Then, the guide voice output control unit 25 generates a “route guidance voice signal” indicating a waveform of the voice guidance based on the guide point information created by the guide content creation unit 24.

  Specifically, the guide voice output control unit 25 includes distance information from the current position of the host vehicle to the place (guide point), and guidance direction information indicating the direction that the host vehicle should take at the place. Create voice guidance based on “guide point information”. For example, the voice guidance 410 “Following, right direction”, the voice guidance 420 “Further intersection, right direction”, and the voice guidance 430 “Following, first signal, right direction” are created. .

  Further, the sound image control unit 26 generates a “sound image control signal” indicating the sound image creation position and movement content of the voice guidance based on the guide point information created by the guide content creation unit 24. A specific description of the generation of the “sound image control signal” will be described later.

  Furthermore, the guide voice output control unit 25 generates an “audio output attenuation signal” based on the output level calculation result of the audio signal received from the audio output control unit 32. A specific description of the generation of the “audio output attenuation signal” will be described later.

  Then, the guide voice output control unit 25 transmits an “audio output attenuation signal” to the speaker control unit 4, and the microcomputer 41 in the speaker control unit 4 that has received this “audio output attenuation signal” is instructed by the received signal. The audio output is attenuated based on the ATT amount.

  Subsequently, the guide voice output control unit 25 and the sound image control unit 26 transmit a “route guidance voice signal” and a “sound image control signal” to the speaker control unit 4, and the microcomputer 41 in the speaker control unit 4 performs this “path guidance”. Based on the “voice signal” and the “sound image control signal”, the output intensity is adjusted by the speakers SP1 to SP4 to output the voice guidance.

  In this way, voice output control including movement control (sound image localization control) of voice guidance is performed based on the “route guidance voice signal” and “sound image control signal”, and based on the “audio output attenuation signal”. In addition, attenuation control of audio output is performed.

  Next, “movement feeling / distance control” in the sound image control unit 26 will be described. FIG. 2 is an explanatory diagram illustrating a specific example of sound image localization control. In the figure, three sound image creation ranges 51, 52, and 53 are set for the driver 50. The sound image creation range 51 is used when guiding vehicle operations in the vicinity of the current position of the host vehicle. The sound image creation range 52 is used when guiding vehicle operations at a medium distance from the current position of the host vehicle, for example, 300 m ahead. Furthermore, the sound image creation range 53 is used when guiding vehicle operation at a long distance from the current position of the host vehicle, for example, 700 m ahead.

  The sound image creation range 51 has a movement start position 51a and a direction change position 51b therein. When the sound image is localized in the sound image creation range 51, first, the sound image is localized at the movement start position 51a, and the sound image position is moved together with the sound output. Thereafter, the moving direction of the sound image is changed from the direction change position 51b, thereby indicating in which direction the host vehicle should travel by the moving direction of the sound image.

  In the sound image creation range 51, the moving direction of the sound image is “front”, “right front”, “left front”, “right direction”, “left direction”, “right rear”, “left rear”, “rear”. It corresponds to 8 directions. For example, when notifying the driver to change the course in the “right direction” at the next intersection, voice information “next intersection is right front” is created, and the sound image position is set as shown in the sound image GV1. Sound localization is started at the movement start position 51a and the sound image position is moved during the output of the sound information to change the movement direction from the direction change position 51b to the right front.

  Similarly, the sound image creation range 52 has a movement start position 52a and a direction change position 52b inside, and when the sound image is localized, the sound image is first localized at the movement start position 52a and the sound image position is set together with the sound output. The moving direction of the sound image is changed from the direction change position 52b. Also in the sound image creation range 52, the moving direction of the sound image is “front”, “right front”, “left front”, “right direction”, “left direction”, “right rear”, “left rear”, “ This corresponds to the eight directions “backward”.

  Further, the sound image creation range 53 has a movement start position 53a and a direction change position 53b inside thereof. When the sound image is localized, the sound image is first localized at the movement start position 53a and the sound image position is moved together with the sound output. The moving direction of the sound image is changed from the direction change position 53b. Also in the sound image creation range 53, the moving direction of the sound image is “front”, “right front”, “left front”, “right direction”, “left direction”, “right rear”, “left rear”, “ This corresponds to the eight directions “backward”. Note that the sound image creation range 53 may be a point fixed to the driver 50. In that case, the sound output from the sound image creation range 53 is not accompanied by the movement of the sound image.

  Further, the size of the sound image creation range 51 is larger than that of the sound image creation range 52. Furthermore, the distance d20 from the driver 50 to the movement start position 52a of the sound image creation range 52 and the distance d21 from the direction change position 52b are the distance d10 from the driver 50 to the movement start position 51a of the sound image creation range 51, and the direction change. Each is larger than the distance d11 to the position 51b. Similarly, the size of the sound image creation range 52 is larger than the sound image creation range 53, and the distance d30 from the driver 50 to the movement start position 53a of the sound image creation range 53 and the distance d31 to the direction change position 53b are: It is larger than the distance d20 from the driver 50 to the movement start position 52a of the sound image creation range 52 and the distance d21 from the direction change position 52b.

  Therefore, when guiding the vehicle operation in the vicinity of the own vehicle, the sound is heard near the driver 50, and the moving amount of the sound image is increased, and when guiding the vehicle operation at a medium distance, The sound is heard at a medium distance from the driver 50, and the moving amount of the sound image is small. Furthermore, when guiding the vehicle operation at a long distance, the sound is heard from a distance, and the moving amount of the sound image becomes smaller or does not move.

  Therefore, the driver 50 can recognize information about the guided route not only by the contents of the voice but also by the movement of the sound image. Further, even for guidance voices to “right rear”, “left rear”, and “rear”, after the sound image position moves forward from the movement start positions 51a and 52a, it goes straight to the direction change positions 51b and 52b. Since the direction changes, the direction can be guided in accordance with the actual behavior of the host vehicle, and voice can be output from the front of the driver 50. Therefore, the amount of information in voice output can be increased without burdening the driver 50, and effective route guidance can be performed.

  Here, the navigation system 1 according to the first embodiment, in addition to the above-described “movement feeling control”, changes the moving speed of the sound image according to the sentence structure of the voice guidance and the environment in which the voice guidance is heard. It is characterized by performing “feel control” (sound image localization control). Hereinafter, this feature will be described in detail.

  The sound image control table 26 a is a table that stores sound image creation conditions for performing “movement control” according to the structure of the voice guidance sentence example and the environment in which the voice guidance is listened to. And the moving speed of the sound image corresponding to the “length” are stored in association with each other.

  Specifically, as shown in FIG. 3-1, the length of the voice guidance sentence example is “long” (20 characters or more) and the moving speed of the sound image “A (m / s)” is set. The speed of the sound image “B (m / s)” is set to “medium” (15 to less than 20 characters) of the sentence example, and the sound image is set to “short” (less than 15 characters) of the sentence example of the voice guidance. The moving speed “C (m / s)” is stored in association with each other. In the first embodiment, in order to make the time when the movement of the sound image converges and the time when the sound output ends, the moving speed of the sound image becomes higher as the length of the voice guidance sentence example becomes “longer”. In addition, the magnitude relationship between the parameters A, B, and C is “A> B> C”.

  Further, the sound image control table 26a stores a “guidance direction” and a gain to the moving speed of the sound image corresponding to the “guidance direction” in association with each other. Specifically, as shown in FIG. 3-2, the gain “−D (m / s)” to the moving speed of the sound image in the guidance direction “backward” is set to the guidance direction “driver direction” (for example, right direction). ) And a gain “−E (m / s)” to the moving speed of the sound image are stored in association with each other.

  Further, the sound image control table 26a stores the “speed” of the host vehicle and the movement amount (movement angle) of the sound image corresponding to the “speed” in association with each other. Specifically, as shown in FIG. 3C, the moving amount of the sound image “small” (that is, the setting for narrowing the moving angle) is set to the speed “high speed” (80 km / h or more) of the own vehicle. “Medium speed” (40 km / h or more to less than 80 km / h), the sound image moving amount “medium” (that is, the setting for making the moving angle normal) is set to the speed “low speed” (less than 40 km / h) The amount of movement of the sound image “large” (that is, the setting for widening the moving angle) is stored in association with each other.

  Here, the sound image control unit 26 stores the “speed information” of the own vehicle acquired by the vehicle speed acquisition unit 23, the “guide point information” generated by the guide content generation unit 24, and the “image information control table 26a”. Based on the “sound image creation conditions”, a “sound image control signal” indicating the creation position of the voice image and the movement content of the voice guidance is generated.

  The generation of the “sound image control signal” will be specifically described. First, the sound image control unit 26 sets a sound image creation range corresponding to the voice guidance output point when the host vehicle approaches the voice guidance output point. For example, when the host vehicle approaches a voice guidance output point at a short distance, the sound image creation range is set to a short distance, that is, the sound image creation range 51 is set, and the host vehicle approaches a voice guidance output point at a medium distance. In this case, the sound image creation range is set to a medium distance, that is, the sound image creation range 52 is set. If the host vehicle approaches a long distance voice guidance output point, the sound image creation range is set to a long distance. That is, the sound image creation range 53 is set.

  Then, the sound image control unit 26 refers to the sound image control table 26a, and sets the moving speed of the sound image according to the length of the voice guidance sentence example. Specifically, when the length of the voice guidance sentence example is “long” (for example, the voice guidance to be outputted is voice guidance 430 “Following, the first signal, right direction” (21 characters)). In some cases, the moving speed of the sound image is set to “high speed”. As described above, when the sentence example of the voice guidance is long, by increasing the moving speed of the sound image, it is possible to prevent an uncomfortable feeling that the voice guidance continues to be output even though the movement of the sound image is converged. .

  On the other hand, when the length of the voice guidance sentence example is “medium” (for example, when the voice guidance to be output is voice guidance 420 “Further intersection, right direction” (18 characters)). Sets the moving speed of the sound image to “medium speed”.

  In addition, when the length of the voice guidance sentence example is “short” (for example, when the voice guidance to be output is the voice guidance 410 “Following to the right” (12 characters)), the sound image is moved. Set the speed to “Low”. Thus, by slowing down the moving speed of the sound image when the voice guidance sentence example is long, it is possible to prevent a situation in which the voice output of the voice guidance is finished before the movement of the sound image is converged.

  In other words, by changing the moving speed of the sound image according to the length of the voice guidance sentence example, the timing for converging the sound image of the voice guidance in the guidance direction and the timing for ending the voice output of the voice guidance are made to coincide with each other. The feeling of movement in the guiding direction can be transmitted more clearly.

  Furthermore, the sound image control unit 26 refers to the sound image control table 26a and resets the moving speed of the sound image according to the direction to be guided. Specifically, when the guiding direction is backward relative to the driver, the moving speed of the sound image at the current setting (for example, “A (m / s)”) is set as the corresponding gain “in the sound image control table 26a. D (m / s) ”is reset again (that is, resetting is performed so that the moving speed of the sound image is“ AD (m / s) ”). In this case, the “rearward” may be only the rearward direction, or may be the rearward direction including other direction components (that is, left rear or right rear).

  Similarly, the sound image control unit 26 uses the sound image moving speed (for example, “A (m / s)”) in the current setting in the sound image control table 26 a when the guidance direction is the direction of the driver seat. Resetting is performed to decrease the corresponding gain “E (m / s)” (that is, resetting so that the moving speed of the sound image is “AE (m / s)”). Note that when the guiding direction is not the backward direction or the direction of the driver's seat, the moving speed of the sound image in the current setting is maintained. In this case, the “direction of the driver's seat” may be only the direction of the driver's seat, or the direction of the driver's seat including other direction components (that is, when the driver's seat exists in the “right direction”). If so, it may be right front or right rear).

  In this way, when the guidance direction is backward relative to the driver, the sound image is moved at a speed lower than the speed when moving the sound image in the other direction. A feeling of movement in the guiding direction can be transmitted smoothly.

  In addition, when the direction of guidance is the direction of the driver's seat, the sound image is moved at a speed lower than the speed at which the sound image is moved in the direction of the passenger seat. A feeling of movement can be transmitted smoothly.

  Furthermore, the sound image control unit 26 refers to the sound image control table 26a and sets the moving amount (moving angle) of the sound image according to the speed of the host vehicle. Specifically, when the speed of the host vehicle is “high speed” (80 km / h or more), the moving amount of the sound image is set to “small”, and the speed of the host vehicle is “medium speed” (40 km / h or more). ˜80 km / h), the moving amount of the sound image is set to “medium”, and when the speed of the host vehicle is “low speed” (less than 40 km / h), the moving amount of the sound image is set to “ Set to Large.

  FIG. 4 is an explanatory diagram for explaining a change in the movement amount (movement angle). In this example, the change in the movement amount when the guidance direction is “right front” and the sound image creation range is set to the sound image creation range 51 is described.

  As shown in the figure, when the moving amount (moving angle) of the sound image is set to “small”, the sound image GV1.2 with a narrowed moving angle is selected, and the moving amount (moving angle) of the sound image is When “medium” is set, the normal sound image GV1.1 described above is selected, and when the moving amount (movement angle) of the sound image is set to “large”, the movement is performed. A sound image GV1.3 with wide corners is selected. In this way, by acquiring the speed information of the host vehicle and changing the movement trajectory of the sound image according to the acquired speed information of the host vehicle, it is possible to transmit a sense of movement according to the driver's visual field. I have to.

  Then, the sound image control unit 26 generates a “sound image control signal” that reflects the setting of the sound image creation range, the setting of the moving speed of the sound image, and the setting of the moving amount of the sound image. In this way, by changing the moving speed of the sound image according to the sentence structure of the voice guidance and / or the environment in which the voice guidance is heard, it is possible to clearly convey the feeling of movement in the guidance direction to the driver. And effective route guidance can be performed.

  Next, attenuation control for other audio outputs will be described. In the navigation system 1 according to the first embodiment, when performing “movement feeling control” that adds a feeling of movement in the guidance direction to the driver, in order to make it easy to hear the movement of the sound image, other audio output or the like is used. Audio output attenuation control is performed.

  The attenuation control table 25a is a table for storing ATT amount determination conditions for performing attenuation control in accordance with the output level of the audio output. For example, the volume level actually output as the audio output and the volume level corresponding to the volume level are output. The ATT amount (attenuation amount) is stored in association with each other.

  Specifically, as shown in FIG. 5, the ATT amount “H (dB)” is set to the volume level “high” (F (dB) or more), and the volume level “medium” (for example, G (dB)). The ATT amount “J (dB)” is stored in association with the above “˜F (dB)”, and the ATT amount “K (dB)” is stored in association with the volume level “small” (less than G (dB)). In the first embodiment, in order to make it easier to hear the movement of the sound image, the magnitude relationship of the parameters H, J, and K is set to “H> so that the ATT amount increases as the volume level of the audio output increases. J> K ”.

  Here, the guide voice output control unit 25, based on the “output level calculation result” of the audio signal received from the audio output control unit 32 and the “ATT amount determination condition” stored in the attenuation control table 25a, An audio output attenuation signal "is generated.

  Specifically, when the volume level of the music to be played is “high” (that is, when the volume level actually output as audio output is F (dB) or more), the ATT amount is set to “high”. ”(That is, H (dB)) and the volume level of the reproduced music is“ medium ”(that is, the volume level actually output as the audio output is G (dB) or more to F ( set the ATT amount to “medium” (ie, J (dB)) and the volume level of the music being played is “low” (ie, actually output as an audio output). When the volume level to be played is less than G (dB), the ATT amount is set to “small” (that is, J (dB)).

  Then, the guide voice output control unit 25 generates an “audio output attenuation signal” in which the setting of the ATT amount is reflected. In this way, when the output level of other audio output is calculated and the sound image of the audio guidance is output, the output level of the other audio output is reduced by reducing the output level of the other audio output according to the calculated output level. The attenuation control according to the actual sound volume level can be performed, and it is possible to further improve the ease of hearing the voice guidance.

  Next, communication between the navigation unit 2 and the speaker control unit 4 will be described. Communication between the navigation unit 2 and the speaker control unit 4 may be performed using an in-vehicle LAN function or may be directly wired. When direct wiring is performed, wiring corresponding to each of the “route guidance voice signal”, “sound image control signal”, and “audio output attenuation signal” is performed from the navigation unit 2.

  Among these, the “route guidance voice signal” is a signal indicating the waveform of the voice to be output, and this signal may be an analog signal or a digital signal. Further, the “sound image control signal” is a signal indicating the position where the sound image is created and the content of movement, and text data or binary data can be used. Further, the “audio output attenuation signal” is a signal for requesting an output of a route guidance audio signal, that is, a request for a decrease in reproduction output of music information output by the audio unit 3 or the like, or a stop of reproduction. Etc. can be used.

(Processing procedures)
Next, procedures of various processes of the navigation system according to the first embodiment will be described. Here, after the basic control process (1) of the guide voice output control unit 25 and the sound image control unit 26 is described, a “sound image control signal for generating a sound image control signal indicating the creation position and movement content of the sound image of the voice guidance” “Generation processing” (2) will be described, and finally, “audio output attenuation signal generation processing” (3) for generating an audio output attenuation signal for attenuation control of other audio outputs will be described.

(1) Basic Control Processing First, basic control processing in the guide voice output control unit 25 and the sound image control unit 26 will be described. FIG. 6 is a flowchart showing a procedure of basic control processing in the guide voice output control unit 25 and the sound image control unit 26. The processing flow shown in FIG. 6 is recursively executed when the navigation unit 2 operates.

  First, the guide content creation unit 24 creates guide point information from the position of the host vehicle and the planned route (step S601). Then, the guide voice output control unit 25 generates a “route guidance voice signal” indicating the waveform of the voice guidance based on the guide point information created by the guide content creation unit 24 (step S602).

  Subsequently, the sound image control unit 26 generates a “sound image control signal” indicating the sound image creation position and movement content of the voice guidance based on the guide point information created by the guide content creation unit 24 (step S603). . Further, the guide voice output control unit 25 generates an “audio output attenuation signal” based on the output level calculation result of the audio signal received from the audio output control unit 32 (step S604).

  Here, the guide voice output control unit 25 transmits the “audio output attenuation signal” to the speaker control unit 4 (step S605), and the microcomputer 41 in the speaker control unit 4 that has received the “audio output attenuation signal” receives the “audio output attenuation signal”. The audio output is attenuated based on the ATT amount indicated by the signal (step S606).

  Subsequently, the guide voice output control unit 25 and the sound image control unit 26 transmit “route guidance voice signal” and “sound image control signal” to the speaker control unit 4 (step S607), and the microcomputer 41 in the speaker control unit 4 Based on the “route guidance voice signal” and the “sound image control signal”, the output intensity is adjusted by the speakers SP1 to SP4 to output voice guidance (step S608).

  In this way, voice output control including movement control (sound image localization control) of voice guidance is performed based on the “route guidance voice signal” and “sound image control signal”, and based on the “audio output attenuation signal”. In addition, attenuation control of audio output is performed.

(2) Sound Image Control Signal Generation Processing Next, sound image control signal generation processing according to the first embodiment will be described. FIG. 7 is a flowchart illustrating the procedure of the sound image control signal generation process according to the first embodiment. This process is a process corresponding to step S603 in the basic control process (1), and is started after the “route guidance voice signal” is generated.

  As shown in the figure, when the host vehicle approaches the voice guidance output point (Yes in step S701), the sound image control unit 26 sets a sound image creation range corresponding to the voice guidance output point (step S702).

  For example, when the host vehicle approaches a voice guidance output point at a short distance, the sound image creation range is set to a short distance, that is, the sound image creation range 51 is set, and the host vehicle approaches a voice guidance output point at a medium distance. In this case, the sound image creation range is set to a medium distance, that is, the sound image creation range 52 is set. If the host vehicle approaches a long distance voice guidance output point, the sound image creation range is set to a long distance. That is, the sound image creation range 53 is set.

  After the setting of the sound image creation range (step S702), the sound image control unit 26 sets the moving speed of the sound image to “high speed” when the length of the voice guidance sentence example is “long” (Yes in step S703) (step S703). S704).

  On the other hand, when the length of the voice guidance sentence example is “medium” (No in step S703 and positive in step S705), the moving speed of the sound image is set to “medium speed” (step S706). If the length of the voice guidance sentence example is “short” (No at Step S703 and No at Step S705), the moving speed of the sound image is set to “Low” (Step S707).

  After the setting of the moving speed of the sound image (step S704, step S706, or step S707) is completed, the sound image control unit 26 determines the sound image in the current setting when the guidance direction is backward relative to the driver (Yes in step S708). Reset is performed to decrease the moving speed for the corresponding gain in the sound image control table 26a (step S709).

  Further, even when the guidance direction is the direction of the driver's seat (No at Step S708 and Yes at Step S710), resetting is performed to reduce the moving speed of the sound image at the current setting for the corresponding gain in the sound image control table 26a (Step S711). .

  On the other hand, if the guidance direction is not the backward direction or the driver's seat direction (No at Step S708 and No at Step S710), resetting is performed to maintain the moving speed of the sound image at the current setting (Step S712).

  After the resetting of the moving speed of the sound image (step S709, step S711 or step S712), the sound image control unit 26 sets the moving amount of the sound image as “when the speed of the host vehicle is“ high speed ”(Yes in step S713). “Small” is set (step S714).

  On the other hand, if the speed of the host vehicle is “medium speed” (step S713 negative and step S715 positive), the moving amount of the sound image is set to “medium” (step S716), and the speed of the host vehicle is “ If “low speed” (No in step S713 and negative in step S715), the moving amount of the sound image is set to “large” (step S717).

  After the setting of the moving amount of the sound image (step S714, step S716 or step S717) is completed, the sound image control unit 26 reflects the setting of the sound image creation range, the setting of the moving speed of the sound image, and the setting of the moving amount of the sound image. A control signal "is generated (step S718), and the process ends.

(3) Audio Output Attenuation Signal Generation Processing Next, audio output attenuation signal generation processing according to the first embodiment will be described. FIG. 8 is a flowchart illustrating the procedure of the audio output attenuation signal generation process according to the first embodiment. This process corresponds to step S604 in (1) basic control process, and is started after the “sound image control signal” is generated. If no audio output is performed (step S801), this process is not executed.

  As shown in the figure, when the audio output is detected (step S801), the guide voice output control unit 25 acquires the “output level calculation result” of the audio signal from the audio output control unit 32 (step S802). .

  When the volume level of the music to be played is “high” (Yes in step S803), the guide voice output control unit 25 sets the ATT amount to “high”, while the volume level of the music to be played is “high”. If it is “medium” (No in step S803 and affirmative in step S805), the ATT amount is set to “medium”. If the volume level of the music to be played is “low” (No at Step S803 and No at Step S805), the ATT amount is set to “Low” (Step S807).

  After the setting of the ATT amount (step S804, step S806, or step S807), the guide voice output control unit 25 generates an “audio output attenuation signal” that reflects the setting of the ATT amount (step S808), and performs processing. finish.

  As described above, according to the navigation system 1 according to the first embodiment, the moving speed of the sound image is changed according to the sentence structure of the voice guidance and the environment in which the voice guidance is heard. On the other hand, the sense of movement in the guidance direction can be clearly transmitted, and effective route guidance can be performed.

  In addition, according to the navigation system 1 according to the first embodiment, when the output level of other voice output is calculated and the sound image of the voice guidance is output, the output of the other voice output according to the calculated output level. Since the level is lowered, attenuation control according to the actual volume level of other voice output can be performed, and the ease of listening to voice guidance can be further improved.

  Next, a navigation system according to the second embodiment will be described. In the first embodiment, an example is described in which “distance control” is performed in which the relative distance of the sound image to the driver is changed according to the distance from the position of the host vehicle to the guidance position (guide point) corresponding to the guidance direction. In the second embodiment, a description will be given of an embodiment in which “distance control” is performed in which the tone of the voice guidance is changed according to the distance from the position of the host vehicle to the guide point. Here, after describing the configuration of the navigation system according to the second embodiment, procedures of various processes will be described.

(Configuration of navigation system)
FIG. 9 is a schematic configuration diagram illustrating a schematic configuration of the navigation system 1 according to the second embodiment. As shown in the figure, the navigation system 1 according to the second embodiment is different from the first embodiment in that a voice guidance output control table 25b is provided.

  The voice guidance output control table 25b is a table that stores voice guidance creation conditions for performing voice guidance output control according to the environment in which the voice guidance is heard and the distance from the position of the host vehicle to the guide point. For example, a distance from the position of the host vehicle to the guide point is stored in association with a frequency band to be output as voice guidance in order to give a sense of distance according to the distance.

  More specifically, as shown in FIG. 10-1, a frequency band “high range” (for example, L (Hz) to M (Hz)) is set from the own vehicle to the distance “near” from the own vehicle to the guide point. The frequency band “middle range” (for example, N (Hz) to P (Hz)) is set to a distance “from 300 m to 700 m” from the own vehicle to the distance “from the vicinity to within 300 m” to the guide point. The frequency band “low range” (for example, Q (Hz) to R (Hz)) is stored in association with each other. In the second embodiment, the closer the distance from the host vehicle to the guide point, the higher the frequency band that is output as voice guidance, thereby producing a sense of distance. At this time, the parameters L, M, N, P, Q, and R are “L <M”, “N <P”, “Q <R”, and “L> N> Q”. To do.

  Furthermore, the voice guidance output control table 25b stores the “speed” of the host vehicle in association with the output level of the voice guidance corresponding to the noise level estimated from the “speed”. Specifically, as shown in FIG. 10-2, the output level of the voice guidance “high” (for example, S (dB)) is set to the speed “high speed” (80 km / h or more) of the host vehicle, and the speed of the host vehicle. The voice guidance output level is “medium” (for example, T (dB)) for “medium speed” (40 km / h or more to less than 80 km / h), and the voice guidance is for the vehicle speed “low” (less than 40 km / h). Output level “small” (for example, U (dB)) is stored in association with each other. In the second embodiment, it is estimated that the noise level such as road noise increases as the speed of the vehicle increases, and the parameters S and T are set so that the output level of the voice guidance increases as the speed of the host vehicle increases. The magnitude relationship between U and U is “S> T> U”.

  Here, the guide voice output control unit 25 stores the “speed information” of the host vehicle acquired by the vehicle speed acquisition unit 23, the “guide point information” generated by the guide content generation unit 24, and the voice guidance output control table 25b. Based on the stored “voice guidance creation conditions”, a “route guidance voice signal” indicating a voice guidance waveform is generated.

  The generation of the “route guidance voice signal” will be described. The guide voice output control unit 25 refers to the voice guidance output control table 25b and sets a frequency band to be output as voice guidance according to the distance from the position of the host vehicle to the guide point. Specifically, when the distance from the vehicle to the guide point is “near”, the frequency band to be output as voice guidance is set to “high range” (that is, L (Hz) to M (Hz)). When the distance from the host vehicle to the guide point is “near distance to within 300 m”, the frequency band “mid range” (ie, N (Hz) to P (Hz)) to be output as voice guidance is set. When the distance from the vehicle to the guide point is “300 m or more to 700 m or less”, the frequency band output as voice guidance is set to “low range” (that is, Q (Hz) to R (Hz)). To do.

  Further, as a configuration for executing the filter processing corresponding to the setting of the frequency band, the DSP 43 of the speaker control unit 4 extracts the audio signal of the frequency band to be output as the audio guidance from the “path guidance audio signal” BPF “band” “Band-Pass Filter”.

  In this way, the frequency band to be output as voice guidance is determined according to the distance from the position of the host vehicle to the guidance position corresponding to the guidance direction, and the voice signal in the determined frequency band is extracted from the voice guidance. By performing the filtering process, the sense of distance from the position of the host vehicle to the guidance position corresponding to the guidance direction can be transmitted in timbre, and effective distance sense control can be performed while maintaining the volume level. It becomes possible.

  Further, the guide voice output control unit 25 refers to the voice guidance output control table 25b and sets the output level of voice guidance according to the noise level estimated from the speed of the host vehicle. Specifically, when the speed of the host vehicle is “high speed” (80 km / h or more), the output level of the voice guidance is set to “high” (that is, S (dB)), and the speed of the host vehicle is When “medium speed” (from 40 km / h to less than 80 km / h), the output level of the voice guidance is set to “medium” (for example, T (dB)), and the speed of the host vehicle is “low speed” "(Less than 40 km / h), the output level of the voice guidance is set to" small "(for example, U (dB)).

  Thus, by detecting the noise level for the voice guidance and changing the output level of the voice guidance according to the detected noise level, it is possible to further improve the ease of listening to the voice guidance.

(Processing procedures)
Next, procedures of various processes of the navigation system according to the second embodiment will be described. Here, “route voice signal generation processing” for generating a route guidance voice signal indicating a waveform of voice guidance will be described.

  FIG. 11 is a flowchart illustrating the procedure of the route guidance sound signal generation process according to the second embodiment. This processing is processing corresponding to step S603 in (1) basic control processing in the first embodiment, and is started when guide point information is created by the guide content creation unit 24.

  As shown in the figure, when the distance from the host vehicle to the guide point is “near” (Yes in step S1101), the guide voice output control unit 25 sets the frequency band output as voice guidance to “high band”. Setting is performed (step S1102).

  On the other hand, when the distance from the host vehicle to the guide point is “near distance to within 300 m” (No in step S1101 and positive in step S1103), the frequency band “middle range” output as voice guidance is set (step S1104). ).

  When the distance from the host vehicle to the guide point is “300 m or more to 700 m or less” (No in Step S1101 and No in Step S1103), the frequency band output as voice guidance is set to “Low” (Step S1101). S1105).

  After the setting of the frequency band to be output as voice guidance (step S1102, step S1104, step S1105) is completed, the guide voice output control unit 25 performs voice guidance when the speed of the host vehicle is “high speed” (Yes in step S1106). Is set to “high” (step S1107).

  On the other hand, when the speed of the host vehicle is “medium speed” (No in step S1106 and positive in step S1108), the output level of the voice guidance is set to “medium” (step S1109).

  If the speed of the host vehicle is “low” (No in step S1106 and negative in step S1108), the output level of the voice guidance is set to “small” (step S1110).

  After the setting of the voice guidance output level (step S1107, step S1109, step S1110) is completed, the guide voice output control unit 25 reflects the setting of the frequency band to be output as the voice guidance and the setting of the voice guidance output level. A “route guidance audio signal” is generated (step S1111), and the process is terminated.

  As described above, according to the navigation system 1 according to the second embodiment, the frequency band to be output as voice guidance is determined according to the distance from the position of the host vehicle to the guidance position corresponding to the guidance direction. Since the filtering process for extracting the voice signal of the determined frequency band from the voice guidance is performed, a sense of distance from the position of the host vehicle to the guidance position corresponding to the guidance direction can be transmitted with a timbre, Effective distance control can be performed while maintaining the volume level.

  Further, according to the navigation system 1 according to the second embodiment, since the noise level for the voice guidance is detected and the output level of the voice guidance is changed according to the detected noise level, it is easy to hear the voice guidance. It is possible to further improve the thickness.

  Although the embodiments of the present invention have been described above, the present invention may be implemented in various different forms within the scope of the technical idea described in the claims other than the embodiments described above. It is. Therefore, as shown below, (1) configuration, (2) movement feeling control, (3) distance feeling control, (4) voice output control of a plurality of output voices including voice guidance, (5) other devices and Different embodiments will be described by categorizing them into (6) Others.

(1) Structure For example, the structure shown in Example 1 and Example 2 is an example of utilization of this invention, and may be implemented by making various modifications. For example, in the first and second embodiments, the navigation unit, the audio unit, and the speaker control are configured independently of each other, but may be configured integrally.

(2) Movement sense control For example, in the first embodiment, the moving speed of the sound image is changed according to the length of the voice guidance sentence. However, the present invention is not limited to this. You may make it change the moving speed of a sound image according to the number of words, the number of subscribing characters of voice guidance, or the size of the data size of voice guidance.

  In the present invention, the moving speed of the sound image may be changed according to the speed information of the host vehicle, not the length of the voice guidance sentence example. For example, when the speed of the host vehicle is “high speed”, the moving speed of the sound image is set to “high speed”, and when the speed of the host vehicle is “low speed”, the moving speed of the sound image is set to “low speed”. By doing so, it becomes possible to transmit a feeling of movement according to the behavior of the host vehicle.

  Further, in this regard, in the first embodiment, when the movement trajectory is changed according to the speed information of the own vehicle, when the speed of the own vehicle is “high speed”, the moving angle of the sound image is narrowed, When the speed of the vehicle is “low speed”, the movement angle of the sound image is widened to transmit a feeling of movement according to the driver's visual field, but the present invention is not necessarily limited to this. It is not something.

  That is, when the speed of the host vehicle is high, the driver concentrates on the vehicle operation, and thus it becomes difficult to perceive the movement of the sound image of the voice guidance. For this reason, when the speed of the host vehicle is “high speed”, it is possible to easily perceive the movement of the sound image of the voice guidance by widening the moving angle of the sound image.

  Similarly, when changing the moving speed according to the speed information of the own vehicle, if the speed of the own vehicle is “high speed”, the moving speed of the sound image is set to “high speed” and the speed of the own vehicle is set. Is set to “low speed”, the movement feeling according to the behavior of the host vehicle can be transmitted, but the present invention is not necessarily limited to this. Without limitation, when the speed of the host vehicle is “high speed”, the moving speed of the sound image is set to “low speed”, and when the speed of the host vehicle is “low speed”, the moving speed of the sound image is set to By setting “high speed”, the movement of the sound image of the voice guidance may be easily perceived.

  In this way, when changing the “sound image moving speed” and the “sound image moving amount” according to the speed information of the host vehicle, there are merits and demerits in each case. Therefore, the movement control setting screen shown in FIG. In 100, an operation may be performed in response to an arbitrary setting input from the user.

  Further, in the present invention, the moving speed of the sound image in the section of the voice guidance may be made higher than the moving speed of the sound image in the other section. For example, when outputting the voice guidance “Further ahead, right”, the moving speed of the sound image in the section between the voice output “Far ahead” and the voice output “Right” ”And“ to the right ”, compared to the sound image moving speed in the voice output section, the section of the voice guidance can be used as an accent for moving the sound image, and the direction of guidance to the driver It is possible to improve the ease of listening to the voice guidance while smoothly transmitting the sense of movement to the voice. It should be noted that the sound image may be moved only in the section where the voice guidance is broken, and the same effect can be obtained in this case.

  Further, in the present invention, when performing sound image localization control of voice guidance, control may be performed so as to output the voice by inverting the phase of the output voice on the passenger seat side. That is, when the direction of guidance is the direction of the driver's seat (for example, the right direction), simply lowering the volume level of the left side (passenger side) speaker will approach the location of the driver side speaker, It is difficult to move the sound image further to the right and further away from the speaker position.

  Therefore, by inverting the phase of the output sound on the left side (passenger seat side) and outputting the sound, the moving distance of the sound image in the direction of the driver seat can be virtually increased, and the sound image in the direction of the driver seat The feeling of movement can be transmitted more clearly. At this time, the degree of freedom of sound image localization control can be improved more effectively by limiting the frequency band for outputting voice guidance.

(3) Distance Sense Control For example, in the second embodiment, voice guidance in a frequency band corresponding to the distance from the position of the host vehicle to the guide point is output by voice, and the sense of distance from the position of the host vehicle to the guide point is timbre. However, the present invention is not limited to this, and the volume level of the reverberant sound added to the voice guidance is determined according to the distance from the position of the host vehicle to the guide point. The reverberant sound having the determined volume level may be added to the voice guidance.

  In other words, by adding a reverberation sound so that the reverberation time becomes longer as the distance from the own vehicle to the guide point becomes longer, it is possible to transmit the sense of distance from the position of the own vehicle to the guide point with the length of the reverberation time. Thus, effective distance control can be performed while maintaining the volume level.

  Similarly, in the present invention, the sound image position when performing sound image localization control may be changed upward or downward according to the distance from the position of the host vehicle to the guide point. For example, the closer the position of the host vehicle is to the guide point, the higher the sound image is localized, and the farther the position of the host vehicle is the farther from the guide point, the lower the position of the sound image is. Distance sense control can be performed.

(4) Voice output control of multiple output voices including voice guidance Generally, the “distance control” performed when the distance from the position of the host vehicle to the guide point is “far”, the distance to the guide point is “ Compared to “distance control” performed when “close”, the volume level of the voice guidance needs to be reduced. For this reason, when performing attenuation control on other audio outputs, the same ATT amount (attenuation amount) as the “distance control” performed when the distance from the host vehicle to the guide point is short. When the distance from the vehicle position to the guide point is “far”, it is difficult to clearly convey the sense of distance to the driver.

  Therefore, in the present invention, when outputting the sound image of the voice guidance, it is easy to hear the voice guidance by changing the reduction rate of the output level of the other voice output according to the distance from the position of the host vehicle to the guide point. It is possible to improve.

  In the first embodiment, the actual output level of another output sound (for example, audio output) is calculated using an integration circuit or the like, and the other output sound is calculated according to the calculated actual output level of the other sound output. However, the present invention is not necessarily limited to this, and the output level adjustment information relating to other audio output (when outputting a sound image of voice guidance) has been described. For example, by reducing the output level of other audio outputs in accordance with volume position information received via an input device such as a volume knob or button, the same effect can be obtained with a simple configuration without providing new equipment. can get.

  In the second embodiment, the noise level is estimated from the speed information of the host vehicle, and the output level of the voice guidance is changed according to the estimated noise level. However, the present invention is not limited to this. In other words, a microphone may be installed in the host vehicle, and the output level of the voice guidance may be changed according to the output of the installed microphone (that is, the noise level). That is, this makes it possible to detect an accurate noise level regardless of the traveling environment of the host vehicle such as the road surface condition, and to improve the ease of listening to the voice guidance more effectively.

  Further, in relation to this, as shown in FIG. 13, by accepting an arbitrary setting from the user on the voice guidance volume control screen 200, the noise level is estimated based on the speed information of the own vehicle, and the noise level is detected by the microphone. Or a combination thereof, the noise level can be detected with high accuracy.

  When combining the two detection methods, if the noise level estimation based on the speed information of the host vehicle is prioritized over the noise level detection by the microphone, speed fluctuations at tollgates on highways are made. If the priority is given to the detection of the noise level by the microphone as compared to the estimation of the noise level based on the speed information of the own vehicle, the road surface with a lot of road noise can be improved. Even when traveling, it is possible to improve the ease of hearing the voice guidance.

(5) Cooperation with other devices For example, in the present invention, when a voice output request for voice guidance and a voice output request for hands-free voice compete, control is performed so that hands-free voice is preferentially outputted. That is, when the navigation system 1 is connected to a communication device such as a mobile phone, if there is a voice output request from the communication device, the output voice (hands-free) from the communication device is output even when voice guidance is being output. Priority is given to audio output. For this reason, it is possible to prevent the hands-free call from being hindered by the voice guidance.

  Further, in the present invention, priority setting related to voice output is accepted when voice output requests for a plurality of output voices compete, and is accepted when voice guidance output requests and hands-free voice output requests compete. Control may be made so that the output sound based on the priority order is output with priority.

  For example, as shown in FIG. 14, in the audio output priority setting reception screen 300, a setting that gives priority to audio output of “hands-free audio” or a setting that gives priority to audio output of “voice guidance” is adopted. The output audio based on the received setting is preferentially output as audio. For this reason, it becomes possible to preferentially output the audio output requested by the user.

  Even if the setting that prioritizes the voice output of “Voice Guidance” is adopted, while taking “Voice Guidance” as voice output, take measures such as sending a “hold message” to the communication partner. You may do it.

  Further, according to the present invention, when the VICS information is received by the VICS receiver, the sound image of the VICS information is localized at a position (for example, a ceiling) that is distinguished from the sound image position of other audio output. For this reason, VICS information can be listened to separately from other output voices (that is, voice guidance, audio output, etc.).

  Further, in the present invention, when an ETC exists as a guide point for route guidance, sound image localization control is performed in a direction in which an ETC gate is present relative to the driver. That is, by performing sound image localization control that moves the sound image of the voice guidance so as to suggest the direction of the ETC lane and the distance to the ETC gate, the direction of the ETC gate can be intuitively perceived, and the toll pass time It becomes possible to contribute to shortening.

(6) Others In the present invention, for example, according to the age of the driver, the listening characteristics of the driver, and / or the frequency of deviation from the scheduled route, the sound image moving speed and / or locus, and the frequency at which sound is output as voice guidance. The bandwidth, the volume level of reverberant sound added to the voice guidance, the voice output level of a plurality of output voices including voice guidance, the speech speed of voice guidance, or a combination thereof are changed. That is, this makes it possible to perform route guidance that follows the age of the driver, the listening characteristics of the driver, and the degree of transmission of the planned route.

  In addition, among the processes described in this embodiment, all or part of the processes described as being performed automatically can be performed manually, or the processes described as being performed manually can be performed. All or a part can be automatically performed by a known method. In addition, the processing procedure, control procedure, specific name, and information including various data and parameters shown in the above-mentioned document and drawings can be arbitrarily changed unless otherwise specified.

  Further, each component of each illustrated apparatus is functionally conceptual, and does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution / integration of each device is not limited to that shown in the figure, and all or a part thereof may be functionally or physically distributed or arbitrarily distributed in arbitrary units according to various loads or usage conditions. Can be integrated and configured. Further, all or any part of each processing function performed in each device may be realized by a CPU and a program analyzed and executed by the CPU, or may be realized as hardware by wired logic.

  As described above, the navigation device according to the present invention is useful for route guidance by voice, and is particularly suitable for increasing the amount of information in voice and improving the guidance effect.

1 is a schematic configuration diagram illustrating a schematic configuration of a navigation system 1 according to a first embodiment. It is explanatory drawing explaining the specific example of sound image localization control. It is a figure which shows the structural example of the information memorize | stored in a sound image control table. It is a figure which shows the structural example of the information memorize | stored in a sound image control table. It is a figure which shows the structural example of the information memorize | stored in a sound image control table. It is explanatory drawing for demonstrating the change of a movement amount. It is a figure which shows the structural example of the information memorize | stored in an attenuation control table. It is a flowchart which shows the procedure of the basic control process in a guide audio | voice output control part and a sound image control part. 3 is a flowchart illustrating a procedure of sound image control signal generation processing according to the first embodiment. 6 is a flowchart illustrating a procedure of audio output attenuation signal generation processing according to the first embodiment. It is a schematic block diagram which shows the schematic structure of the navigation system 1 which concerns on the present Example 2. FIG. It is a figure which shows the structural example of the information memorize | stored in a voice guidance output control table. It is a figure which shows the structural example of the information memorize | stored in a voice guidance output control table. It is a flowchart which shows the procedure of the route guidance audio | voice signal production | generation process which concerns on the present Example 2. It is a figure which shows an example of a movement feeling control setting screen. It is a figure which shows an example of a voice guidance volume control screen. It is a figure which shows an example of an audio | voice output priority order setting reception screen.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Navigation system 2 Navigation unit 3 Audio unit 4 Speaker unit 21 GPS receiving part 22 Path setting part 23 Vehicle speed acquisition part 24 Guide content creation part 25 Guide voice output control part 25a Attenuate control table 25b Voice guidance output control table 26 Sound image control part 26a Sound image control table 27 Guide display control unit 31 Main control unit 32 Audio output control unit 33 Display 41 Microcomputer 42 Codec 43 DSP
44 Amplifier 50 Driver 51, 52, 53 Sound image creation range 51a, 52a, 53a Movement start position 51b, 52b, 53b Direction change position GV1-GV6 Sound image SP1-SP4 Speaker

Claims (20)

Sound image localization control that moves the sound image of the voice guidance that prompts the vehicle operation in the guidance direction according to the behavior of the host vehicle estimated from the guidance direction based on the preset scheduled route information and the position information of the host vehicle A navigation device that performs route guidance of the host vehicle by performing
A navigation apparatus comprising sound image control means for changing a moving speed of the sound image according to a sentence example structure of the voice guidance and / or an environment in which the voice guidance is heard.   The navigation apparatus according to claim 1, wherein the sound image control unit changes a moving speed of the sound image according to a length of a sentence example of the voice guidance.   The navigation apparatus according to claim 1, wherein the sound image control unit increases a moving speed of the sound image in a section of the voice guidance in comparison with a moving speed of the sound image in another section.   The sound image control means moves the sound image at a speed lower than that when moving the sound image in another direction when the guidance direction is backward relative to the driver. The navigation device according to claim 1, 2 or 3.   The sound image control means moves the sound image at a speed lower than the speed when moving the sound image in the direction of the passenger seat when the guidance direction is the direction of the driver's seat. The navigation apparatus as described in any one of 1-4. It further comprises speed information acquisition means for acquiring speed information of the host vehicle,
The sound image control means changes the moving speed and / or movement trajectory of the sound image according to the speed information of the host vehicle acquired by the speed information means. The navigation device described in 1.   Voice output control means for controlling voice output of a plurality of output voices including the voice guidance according to the environment in which the voice guidance is heard and / or the distance from the position of the host vehicle to the guidance position corresponding to the guidance direction. The navigation device according to claim 1, further comprising:   8. The navigation apparatus according to claim 7, wherein the voice output control means performs control so as to output a voice by inverting the phase of the output voice on the passenger seat side when performing sound image localization control of the voice guidance. .   The voice output control means determines a frequency band to be voice-output as the voice guidance according to a distance from the position of the host vehicle to a guidance position corresponding to the guidance direction, and a voice signal of the determined frequency band The navigation apparatus according to claim 7, wherein a filter process for extracting the voice from the voice guidance is performed.   The voice output control means determines a volume level of reverberation sound to be added to the voice guidance according to a distance from the position of the host vehicle to a guidance position corresponding to the guidance direction, and the determined volume level The navigation device according to claim 7, 8 or 9, wherein reverberation adding processing for adding the reverberant sound to the voice guidance is performed.   The voice output control means, when outputting the sound image of the voice guidance, changes the rate of decrease in the output level of the other voice output according to the distance from the position of the host vehicle to the guidance position corresponding to the guidance direction. The navigation device according to any one of claims 7 to 10, wherein the navigation device is used.   The said audio | voice output control means reduces the output level of another audio | voice output according to the output level adjustment information which concerns on another audio | voice output, when outputting the sound image of the said audio | voice guidance. The navigation device according to any one of 11. It further comprises output level calculation means for calculating the output level of other audio output,
8. The voice output control means, when outputting a sound image of the voice guidance, reduces the output level of another voice output according to the output level calculated by the output level calculation means. The navigation device according to any one of -12. Noise level detecting means for detecting a noise level for the voice guidance is further provided,
The navigation apparatus according to any one of claims 7 to 13, wherein the voice output control means changes the output level of the voice guidance according to a noise level detected by the noise level detection means. .   15. The navigation apparatus according to claim 14, wherein the noise level detection means detects the noise level based on speed information of the own vehicle, an output from a microphone installed in the own vehicle, or a combination thereof. .   8. The voice output control means performs control so that hands-free voice is preferentially outputted when a voice output request of the voice guidance and a voice output request of hands-free voice compete with each other. The navigation device according to any one of -15. A priority setting accepting unit that accepts priority setting related to audio output when audio output requests of a plurality of output audios compete;
The voice output control means preferentially outputs the voice based on the priority received by the priority setting accepting means when the voice guidance output request and the hands-free voice output request compete. The navigation device according to any one of claims 7 to 16, wherein the navigation device is controlled.   The sound image control means is configured to change a sound image position when performing the sound image localization control in an upward direction or a downward direction according to a distance from a position of the host vehicle to a guidance position corresponding to the guidance direction. The navigation device according to any one of claims 1 to 17.   The sound image control means performs the sound image localization control in a direction in which an ETC gate is present relative to a driver when an ETC is present as a guide point to be route-guided. The navigation device according to any one of the above.   The sound image control means and the sound output control means are the moving speed and / or trajectory of the sound image, and the voice guidance according to the age of the driver, the listening characteristics of the driver and / or the frequency of departure from the scheduled route. Changing a frequency band for voice output, a volume level of reverberation sound added to the voice guidance, a voice output level of a plurality of output voices including the voice guidance, a speech speed of the voice guidance, or a combination thereof. The navigation device according to any one of claims 7 to 19, characterized in that:

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