JP2007127416A - System and method for route guidance - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely move between travel lanes in accordance with route guidance. <P>SOLUTION: A route guidance system comprises a current location detection part; a route guidance processing means for retrieving retrieval routes; a guidance point setting processing means for setting guidance points, on the basis of the retrieval routes; a route guidance location setting processing means for setting standard route guidance locations to the guidance points; a lane change prohibition section determining processing means for determining the presence or the absence of lane change prohibition sections prohibiting movements between lanes on retrieval routes from an initial route guidance location to the guidance points, on the basis of the standard route guidance locations; and a route guidance location correction processing means for correcting the standard route guidance locations, and setting them on the near side when there is the lane change prohibition sections. Since it is possible to secure a sufficient distance for movements between lanes, it is possible to surely move between lanes in accordance with route guidance. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a route guidance system and a route guidance method.

  Conventionally, in a navigation device, for example, the current position of a vehicle that is the vehicle, that is, the current location, is detected by GPS (Global Positioning System), map data is read from a data recording unit, and a map screen is displayed on a display unit. The vehicle position is formed, and the vehicle position indicating the current location, a map around the vehicle position, and the like are displayed on the map screen. Therefore, the driver can drive the vehicle in accordance with the vehicle position displayed on the map screen.

  When the driver inputs a destination and sets search conditions, a route search process is performed based on the search conditions, and a route from the starting point represented by the current location to the destination is searched according to the map data. Is done. Then, the searched route, that is, the searched route is displayed on the map screen together with the vehicle position, and guidance for the searched route, that is, route guidance is performed. Therefore, the driver can drive the vehicle along the displayed search route.

  By the way, in the route guidance, when it is necessary to turn the vehicle right or left at a predetermined point, for example, an intersection, before the vehicle reaches the intersection, that is, the guidance intersection, for example, a voice is output and route guidance is performed. Is to be done. Therefore, when one or more route guidance points are set at a location that is separated by each set distance before the guidance intersection on the searched route, and each vehicle arrives at each route guidance point, A route guidance having a predetermined content is output by voice (for example, see Patent Document 1).

For example, when it is preferable that the vehicle travels in a predetermined lane before reaching the guidance intersection, it is recommended to travel from the currently traveling lane, that is, the traveling lane, that is, recommended. Route guidance for lane-to-lane movement is performed.
JP-A-6-295399

  However, in the conventional navigation device, the section from the travel lane to the recommended lane is a lane change prohibition section in which movement between lanes is prohibited, for example, a vehicle lane boundary line representing a lane change prohibition line, a signboard If it is a section where lane change is prohibited by a sign, etc., a section within an intersection, a section 30 [m] before the intersection, etc., it is possible to move between lanes according to route guidance before reaching the guidance intersection It can be difficult.

  It is an object of the present invention to provide a route guidance system and a route guidance method that can solve the problems of the conventional navigation device and can reliably move between lanes according to route guidance.

  For this purpose, in the route guidance system of the present invention, a current location detection unit for detecting the current location of the host vehicle, route search processing means for searching for a search route to the destination based on the current location, and Guidance point setting processing means for setting a guidance point, route guidance point setting processing means for setting a standard route guidance point for the guidance point, and from the first route guidance point based on the standard route guidance point to the guidance point A lane change prohibition section determination processing means for determining whether or not there is a lane change prohibition section where movement between lanes is prohibited on the searched route, and if there is the lane change prohibition section, the standard route guidance point is corrected. Route guidance point correction processing means set on the near side.

  According to the present invention, it is determined whether or not there is a lane change prohibited section where movement between lanes is prohibited on the searched route to the guide point. If there is a lane change prohibited section, the standard route guide point is corrected. Since it is set on the near side, even if the vehicle cannot move between lanes in the lane change prohibition section, a sufficient distance can be secured for performing the movement between lanes. Therefore, it is possible to reliably move between lanes according to the route guidance.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. A navigation system as a route guidance system will be described.

  FIG. 1 is a diagram showing a navigation system according to an embodiment of the present invention.

  In the figure, reference numeral 10 denotes an automatic transmission control unit as a power train control unit. The automatic transmission control unit 10 is a power train that performs a shift at a predetermined gear ratio, for example, a continuously variable transmission as an automatic transmission. (CVT), stepped transmission (automatic transmission), electric drive device, etc. are controlled.

  Reference numeral 14 is an information terminal, for example, a navigation device as an in-vehicle device mounted on a vehicle, 63 is a network, 51 is an information center as an information provider, and the automatic transmission control unit 10, the navigation device 14, the network 63, the information center 51 and the like constitute a navigation system.

  The navigation device 14 includes a GPS sensor 15 as a current location detection unit for detecting a current location, a data recording unit 16 as an information recording unit in which various information is recorded in addition to map data, and navigation based on the input information. A navigation processing unit 17 that performs various arithmetic processing such as processing, a direction sensor 18 that serves as a direction detection unit that detects the vehicle direction, and a first input for performing predetermined input when operated by a driver as an operator. An operation unit 34 as an input unit, various displays by an image displayed on a screen (not shown), a display unit 35 as a first output unit for notifying the driver, and a predetermined input by voice A voice input unit 36 as a second input unit, a voice output unit 3 as a second output unit for performing various displays by voice and notifying the driver , And a communication unit 38 as a transmission / reception unit functioning as a communication terminal. The navigation processing unit 17 includes a GPS sensor 15, a data recording unit 16, an orientation sensor 18, an operation unit 34, a display unit 35, a voice input unit 36, An audio output unit 37 and a communication unit 38 are connected.

  The navigation processing unit 17 is attached to the automatic transmission control unit 10, a predetermined position at the front end of the vehicle, and a front monitoring device 48 for monitoring the front of the vehicle, and a predetermined position at the rear end of the vehicle. The rear camera (rear monitoring camera) 49 as an imaging device that captures the rear of the vehicle and an accelerator as an engine load detection unit that detects the operation of the accelerator pedal by the driver based on the accelerator opening A sensor 42, a brake sensor 43 as a braking detection unit that detects the operation of the brake pedal by the driver by a brake depression amount, a vehicle speed sensor 44 as a vehicle speed detection unit that detects the vehicle speed S, and the like are connected. The accelerator sensor 42, the brake sensor 43, and the like constitute an operation information detection unit for detecting vehicle operation information by the driver.

  The GPS sensor 15 detects the current location on the earth by receiving radio waves generated by an artificial satellite, and also detects the time. In the present embodiment, the GPS sensor 15 is used as the current position detection unit, but a distance sensor, a steering sensor, an altimeter, etc. (not shown) are used alone or in combination instead of the GPS sensor 15. You can also Further, a gyro sensor, a geomagnetic sensor, or the like can be used as the direction sensor 18. In the present embodiment, the azimuth sensor 18, the vehicle speed sensor 44, and the like are arranged. However, when a GPS sensor having a function of detecting the own vehicle azimuth, the vehicle speed, etc. is used, the azimuth sensor 18, The vehicle speed sensor 44 and the like are not necessary.

  The data recording unit 16 includes a map database including map data files, and map data is recorded in the map database. The map data includes intersection data relating to intersections, node data relating to nodes, road data relating to road links, search data processed for searching, facility data relating to facilities, and feature data relating to features on the road. Is included.

  The feature is a display object that is installed or formed on a road in order to provide various driving information to the driver or to perform various driving guidance. , Crosswalks, manholes, traffic lights, etc. The display line includes a stop line for stopping the vehicle, a vehicle lane boundary line that divides each lane, a partition line that indicates a parking space, and the road sign indicates an advancing direction in each lane. , A guidance sign for notifying a stop point such as “stop”, and the like. The feature data includes position information that represents the position of each feature by coordinates, image information that represents each feature by image, and the like. The temporary stop points include an entry point from a non-priority road to a priority road, a railroad crossing, an intersection where a red light flashes, and the like.

  The road data related to the lane includes lane data including a lane number assigned to each lane on the road, lane position information, and the like. Data for outputting predetermined information by the audio output unit 37 is also recorded in the data recording unit 16.

  Further, the data recording unit 16 includes a statistical database composed of statistical data files, a travel history database composed of travel history data files, and the like. Statistical data is stored in the statistical data file, and travel history data is stored in the travel history data file. However, both are recorded as performance data.

  The statistical data is a history of traffic information provided in the past, that is, history information representing a history, and a road traffic information center (not shown) such as a VICS (registered trademark: Vehicle Information and Communication System) center as an information provider. The road traffic census information that is the traffic information provided in the past by the Ministry of Land, Infrastructure, Transport and Tourism, the road traffic census information that is the data representing the traffic volume provided by the Ministry of Land, Infrastructure, Transport and Tourism, the road timetable information provided by the Ministry of Land, Infrastructure, Transport and Tourism, etc. Alternatively, they are used in combination, processed as necessary, and subjected to statistical processing. It is possible to add traffic jam prediction information for predicting traffic jams to the statistical data. In that case, in creating the statistical data, detailed conditions such as date and time, day of the week, weather, various events, seasons, facility information (presence / absence of large facilities such as department stores and supermarkets) are added to the history information.

  The data items of the statistical data include a link number for each road link, a direction flag indicating a traveling direction, an information type indicating a type of information, a congestion level at each predetermined timing, and when traveling on each road link. It consists of a link required time representing a required time for each predetermined timing, average data for each day of the link required time (for example, day average data), and the like.

  Further, the travel history data is collected from a plurality of vehicles, that is, the own vehicle or other vehicles by the information center 51, and is a record of the travel of the vehicle on the road on which each vehicle travels, that is, the track record information representing the track record. It is calculated and accumulated as probe data based on the running data.

  The data items of the travel history data include a link required time at each predetermined timing when traveling on each road link, a degree of congestion at each predetermined timing when traveling on each road link, and the like. Note that travel history data can be added to the statistical data. Further, in the present embodiment, the congestion level is used as a congestion index that represents the degree of congestion, and is represented separately for congestion, congestion, and non-congestion.

  The data recording unit 16 includes a disk (not shown) such as a hard disk, a CD, a DVD, and an optical disk in order to record the various data, and also reads / writes for reading and writing various data. A head (not shown) such as a head is provided. A memory card or the like can be used for the data recording unit 16. An external storage device is constituted by the disks, memory cards and the like.

  In the present embodiment, the map database, the statistical database, the travel history database, and the like are formed in the data recording unit 16, but in the information center 51, the map database, the statistical database, the travel history A database or the like can also be formed.

  The navigation processing unit 17 is a control device that performs overall control of the navigation device 14 and a CPU 31 as an arithmetic device, a RAM 32 that is used as a working memory when the CPU 31 performs various arithmetic processes, In addition to the above program, a ROM 33 in which various programs for searching for a route to the destination, route guidance and the like are recorded, and a flash memory (not shown) used for recording various data, programs and the like are provided. . The RAM 32, ROM 33, flash memory, etc. constitute an internal storage device.

  In the present embodiment, various programs can be recorded in the ROM 33 and various data can be recorded in the data recording unit 16, but the programs, data, and the like can also be recorded on a disk or the like. In this case, the program, data, etc. can be read from a disk or the like and written to the flash memory. Therefore, the program, data, etc. can be updated by exchanging the disk or the like. Further, the control program, data, and the like of the automatic transmission control unit 10 can be recorded on the disk or the like. Further, the program, data, and the like can be received via the communication unit 38 and written into the flash memory of the navigation processing unit 17.

  The operation unit 34 is operated by the driver to correct the current location at the start of traveling, to input a departure point and a destination, to input a passing point, and to activate the communication unit 38. As the operation unit 34, a keyboard, a mouse, or the like disposed independently of the display unit 35 can be used. Further, as the operation unit 34, a predetermined input operation is performed by touching or clicking an image operation unit such as various keys, switches, and buttons displayed as images on the screen formed in the display unit 35. It is possible to use a touch panel that can be used.

  A display is used as the display unit 35. Then, on various screens formed on the display unit 35, the current position of the vehicle is displayed as the vehicle position, the vehicle direction is displayed as the vehicle direction, a map, a search route, guidance information along the search route, traffic In addition to displaying information and the like, displaying the distance to the next intersection on the searched route, and the traveling direction at the next intersection, the operation of the image operation unit, operation unit 34, voice input unit 36, etc. It is possible to display guidance, operation menus, key guidance, FM multiplex broadcast programs, and the like.

  The voice input unit 36 includes a microphone (not shown) and the like, and can input necessary information by voice. Further, the voice output unit 37 includes a voice synthesizer and a speaker (not shown), and the search route, guidance information, traffic information, and the like are output from the voice output unit 37, for example, as voice synthesized by the voice synthesizer. .

  The communication unit 38 transmits various information such as current traffic information and general information transmitted from the road traffic information center to radio wave beacons via radio wave beacon devices, optical beacon devices and the like arranged along the road. A beacon receiver for receiving as an optical beacon, an FM receiver for receiving as an FM multiplex broadcast via an FM broadcast station, and the like. The traffic information includes traffic jam information, regulation information, parking lot information, traffic accident information, service area congestion status information, and the like, and general information includes news, weather forecasts, and the like. Further, the beacon receiver and the FM receiver are unitized and arranged as a VICS receiver, but can be arranged separately.

  The traffic information includes an information type that indicates the type of information, a mesh number for specifying a mesh, a road link that connects two points (for example, intersections), and a link that indicates whether it is up / down. Number, including link information representing the content of information provided corresponding to the link number. For example, when the traffic information is traffic jam information, the link information is a distance from the start point of the road link to the head of the traffic jam Congestion head data representing traffic congestion degree, congestion section, traffic jam length representing the distance from the beginning of the traffic jam to the end of the traffic jam, link required time representing the time required to travel on the road link, and the like.

  And the communication part 38 can receive various information, such as traffic information and general information other than data, such as the said map data, statistical data, and driving history data, from the said information center 51 via the network 63. .

  For this purpose, the information center 51 includes a server 53, a communication unit 57 connected to the server 53, a database (DB) 58 as an information recording unit, and the like. A CPU 54, a RAM 55, a ROM 56, etc. are provided as devices. The database 58 records data similar to the various data recorded in the data recording unit 16, for example, the map data, statistical data, travel history data, and the like. Further, the information center 51 provides various information such as current traffic information and general information transmitted from the road traffic information center, and travel history data collected from a plurality of vehicles (own vehicle or other vehicles) in real time. can do.

  The forward monitoring device 48 is composed of a radar such as a laser radar or a millimeter wave radar, an ultrasonic sensor, or a combination thereof, and monitors or temporarily stops a preceding vehicle, which is a preceding traveling vehicle. Monitor places and obstacles. Further, the front monitoring device 48 detects a relative speed indicating a relative vehicle speed with respect to the preceding vehicle, an approach speed with respect to a temporary stop position, an approach speed with respect to an obstacle, and the like, and calculates an inter-vehicle distance, an inter-vehicle time, etc. To do.

  The back camera 49 is composed of a CCD element, and is mounted on the optical axis obliquely downward to monitor the rear of the vehicle. In addition to the features, the back camera 49 is another vehicle traveling behind the vehicle. A rear vehicle, a building on the road, a structure, or the like is photographed as an object to be photographed, and image data of the photographed object is generated and sent to the CPU 31. The CPU 31 reads the image data and performs image processing on the image data, thereby recognizing each object to be photographed in the image as a recognition object. In the present embodiment, a CCD element is used as the back camera 49, but a C-MOS element or the like can be used.

  The navigation system, the navigation processing unit 17, the CPUs 31, 54, the server 53, and the like function as a computer singly or in combination of two or more, and perform arithmetic processing based on various programs, data, and the like. The data recording unit 16, RAMs 32 and 55, ROMs 33 and 56, database 58, flash memory, and the like constitute a recording medium. An MPU or the like can be used instead of the CPUs 31 and 54 as the arithmetic unit.

  Next, a basic operation of the navigation system having the above configuration will be described.

  First, when the operation unit 34 is operated by the driver and the navigation device 14 is activated, a navigation initialization processing unit (not shown) of the CPU 31 performs navigation initialization processing, and the current location of the vehicle detected by the GPS sensor 15, The vehicle direction detected by the direction sensor 18 is read, and various data are initialized. Next, the matching processing means (not shown) of the CPU 31 performs matching processing, and based on the trajectory of the read current location and the shape, arrangement, etc. of each road link constituting the road around the current location, The current location is identified by determining whether it is located on the road link.

  In the present embodiment, the matching processing unit further specifies the current location based on the position of each feature that is the subject to be photographed by the back camera 49.

  For this purpose, image recognition processing means (not shown) of the CPU 31 performs image recognition processing, reads image data from the back camera 49, and recognizes a feature in the image composed of the image data. A distance calculation processing unit (not shown) of the CPU 31 performs a distance calculation process, and calculates a distance from the back camera 49 to the actual feature based on the position of the feature in the image. The current location specifying processing means of the matching processing means performs current location specifying processing, reads the distance, reads the feature data from the data recording unit 16 to acquire the coordinates of the feature, and the coordinates and the distance Based on the current location.

  A lane detection processing unit (not shown) of the CPU 31 performs a lane detection process, and similarly collates the feature recognized based on the image data with the feature data read from the data recording unit 16. Thus, the lane in which the vehicle is traveling, that is, the traveling lane is detected.

  The lane detection processing means reads the sensor output of the geomagnetic sensor, and based on the sensor output, determines whether or not there is a detected object made of a ferromagnetic material such as a manhole in a predetermined lane on the road. The traveling lane can also be detected based on the determination result. Furthermore, it is possible to detect the current location with high accuracy using the highly accurate GPS sensor 15 and to detect the traveling lane based on the detection result. Further, if necessary, image processing can be performed on the display line image data, and at the same time, the traveling lane can be detected by combining the sensor output of the geomagnetic sensor, the current location, and the like.

  Subsequently, a basic information acquisition processing unit (not shown) of the CPU 31 performs a basic information acquisition process and acquires the map data by reading it from the data recording unit 16 or receiving it from the information center 51 or the like via the communication unit 38. And get. In addition, when acquiring map data from the information center 51 etc., the said basic information acquisition process means downloads the received map data to flash memory.

  A display processing unit (not shown) of the CPU 31 performs display processing and forms various screens on the display unit 35. For example, the map display processing means of the display processing means performs a map display process, forms a map screen on the display unit 35, displays a surrounding map on the map screen, and sets the current position as the vehicle position and the direction of the vehicle. Is displayed as the vehicle direction.

  Accordingly, the driver can drive the vehicle according to the map, the vehicle position, and the vehicle direction.

  Further, when the driver operates the operation unit 34 to input a destination, a destination setting processing unit (not shown) of the CPU 31 performs a destination setting process to set the destination. Note that the departure place can be input and set as necessary. Moreover, a predetermined point can be registered in advance, and the registered point can be set as a destination. Subsequently, when the driver operates the operation unit 34 to input a search condition, a search condition setting processing unit (not shown) of the CPU 31 performs a search condition setting process to set the search condition.

  When the destination and the search condition are set in this way, the route search processing unit (not shown) of the CPU 31 performs the route search process, reads the current location, the destination, the search condition, and the like from the data recording unit 16. Based on the current location, the destination, and the search data, a route from the departure point to the destination represented by the current location is searched based on the search condition, and route data representing the searched route is output. At this time, the route with the smallest total link cost assigned to each road link is set as the searched route.

  The information center 51 can perform route search processing. In that case, the CPU 31 transmits the current location, the destination, search conditions, and the like to the information center 51. When the information center 51 receives the current location, destination, search conditions, etc., the route search processing means (not shown) of the CPU 54 performs route search processing similar to that of the CPU 31 and reads the search data from the database 58 to obtain the current location, destination. Based on the location and the search data, a route from the departure point to the destination is searched under the search conditions, and route data representing the searched route is output. Subsequently, a transmission processing unit (not shown) of the CPU 54 performs transmission processing and transmits the route data to the navigation device 14.

  Subsequently, a guidance processing means (not shown) of the CPU 31 performs guidance processing and provides route guidance. For this purpose, the route display processing means of the guidance processing means performs route display processing, reads the route data, and displays the searched route on the map screen according to the route data.

  By the way, in the route guidance, when the vehicle needs to turn right or left at a predetermined intersection, the intersection is set as a guidance point and a guidance intersection. For this purpose, the guidance intersection setting processing means of the guidance processing means performs guidance intersection setting processing and determines whether there is an intersection that requires the vehicle to turn left or right according to the route data, that is, based on the searched route. If there is an intersection that requires the vehicle to turn left or right, the intersection is set as a guide intersection.

  Subsequently, the guidance point enlarged map forming processing means of the guidance processing means performs a guidance point enlarged map forming process, and before the vehicle reaches the guidance intersection, an enlarged view of the guidance intersection in a predetermined area of the map screen, that is, Then, an enlarged intersection map is formed as an enlarged guide map, and route guidance is performed using the enlarged map. Therefore, when a guide point enlarged map display point is set at a location that is a set distance away before the guidance intersection on the searched route, and the vehicle reaches the guide point enlarged map display point, the intersection enlarged view Is displayed.

  In this case, a map around the guidance intersection, a search route, and a landmark such as a facility that serves as a landmark at the guidance intersection are displayed on the enlarged intersection. In addition, intersections that join or branch at junctions or the like are set as guidance intersections on toll roads dedicated to automobiles such as expressways, city expressways, and toll roads.

  Then, the route guidance point setting processing means of the guidance processing means performs route guidance point setting processing, and at least one book location is located at a set distance before the guidance intersection on the searched route. In the embodiment, a plurality of route guidance points are set, and the voice output processing means of the guidance processing means performs voice output processing when the vehicle reaches each route guidance point, The route guidance having a predetermined content is output from the voice output unit 37 by voice. It should be noted that the guide point enlarged map display point where the intersection enlarged view is displayed and one of the route guide points, for example, the first route guide point, can be set as the same point.

  By the way, when a road in which a plurality of lanes are formed is included in the searched route, lane guidance can be performed. Therefore, a recommended lane calculation processing unit (not shown) of the CPU 31 performs a recommended lane calculation process, reads a search route, reads intersection data, lane information, and the like, based on the search route, intersection data, lane information, etc. Calculate recommended lanes for each road on the searched route. The lane display processing means of the guidance processing means performs lane display processing, forms a lane guide map in a predetermined area of the map screen, displays the recommended lane on the lane guide map, and recommends the vehicle from the driving lane. Guide to the lane.

  Further, when a plurality of lanes are formed on a road entering the guidance intersection (hereinafter referred to as “entry road”) or a road exiting from the guidance intersection (hereinafter referred to as “exit road”), the above-described guidance point enlarged view. The formation processing means displays a recommended lane on the enlarged intersection view.

  By the way, for example, when it is preferable to travel in a predetermined recommended lane before reaching the guidance intersection, route guidance for inter-lane movement from the travel lane to the recommended lane is performed.

  However, the lane change is prohibited by the lane change prohibition section where the movement from the travel lane to the recommended lane is prohibited, for example, the lane change prohibition line indicating the lane change prohibition line, the signage sign, etc. If it is a displayed section, a section within an intersection, a section 30 m before the intersection, etc., if route guidance is uniformly performed, movement between lanes will be performed according to the route guidance before reaching the guidance intersection May be difficult.

  Therefore, in this embodiment, the route guidance point setting processing means sets each route guidance point before the distance of the lane change prohibition section.

  FIG. 2 is a flowchart showing the operation of the route guidance point setting processing means in the embodiment of the present invention.

  First, the lane determination processing means of the route guidance point setting processing means performs lane determination processing, reads the recommended lane calculated by the recommended lane calculation processing means, and whether there is movement between lanes from the driving lane to the recommended lane. Judge whether. Then, the lane change prohibition section determination processing means of the route guidance point setting processing means performs a lane change prohibition section determination process, reads road data, intersection data, etc., from the first route guidance point to the guidance intersection on the searched route It is determined whether there is a lane change prohibition section between.

  And when there is no lane change prohibition section, the route guidance point standard setting processing means of the route guidance point setting processing means performs the route guidance point standard setting processing, and each standard route at the standard position for the guidance intersection. Set a guide point. Therefore, the minimum required distance calculation processing means of the route guidance point setting processing means performs the minimum required distance calculation processing, that is, the minimum distance required for moving between lanes from the travel lane to the recommended lane, that is, the minimum The required distance Lmin is calculated.

By the way, the vehicle speed when moving between lanes is va.
va = 30 [km / h]
And the time required for outputting the route guidance by voice is τ1.
τ1 = 2 [seconds]
Then, the distance L1 that the vehicle travels during route guidance is
L1≈17 [m]
Tq is the shortest time per lane required to move between lanes.
Tq = 15 [seconds]
Assuming that the number of lane movements from the travel lane to the recommended lane is N, the distance L2 that the vehicle travels while moving between lanes after route guidance is
L2≈125 × N [m]
become. Therefore, the minimum required distance Lmin is
Lmin = 17 + 125 × N [m]
To be. Therefore, each standard route guidance point is set so that the distance from the first route guidance point to the guidance intersection is longer than the minimum required distance Lmin.

  On the other hand, when there is a lane change prohibited section, the route guidance point correction processing means of the route guidance point setting processing means performs the route guidance point correction process, reads the distance of the lane change prohibited section, and the distance of the lane change prohibited section Based on the above, the positions of the standard route guidance points are corrected so that the vehicle can be moved from the travel lane to the recommended lane in a section other than the lane change prohibition section. That is, the route guidance point correction processing means sets each route guidance point on the near side by a value obtained by adding the distance of each lane change prohibition section from the route guidance point to the guidance intersection.

  Then, when the vehicle arrives at each route guidance point set in this way, the voice output processing means provides voice guidance from the voice output unit 37 for route guidance having contents determined in advance for each route guidance point. To output.

  Thus, when there is a lane change prohibited section, the position of each route guidance point is corrected and set to the near side, so even if the vehicle cannot move between lanes in the lane change prohibited section, the lane It is possible to secure a sufficient distance for the movement between the two. Therefore, it is possible to reliably move between lanes according to the route guidance.

Next, the flowchart of FIG. 2 will be described.
Step S1: It is determined whether there is a lane change prohibition section between the first route guidance point and the guidance intersection. If there is a lane change prohibited section between the first route guidance point and the guidance intersection, the process proceeds to step S2, and if there is no lane change prohibited section, the process returns.
Step S2: A route guidance point is set in front of the distance of the lane change prohibition section.
Step S3 Perform lane guidance at the set route guidance point and return.

  FIG. 3 is a conceptual diagram showing an example of a searched route in the embodiment of the present invention, FIG. 4 is a detailed diagram of a guidance intersection in the embodiment of the present invention, FIG. 5 is a detailed diagram of an intersection in the embodiment of the present invention, FIG. 6 is a diagram showing another example of the intersection in the embodiment of the present invention.

  In the figure, r1 to r3 are roads, cr1 is an intersection where roads r1 and r2 intersect, c1 is a guidance intersection where roads r1 and r3 intersect, pr is the current location, Rt1 is a search route, and the search route Rt1 is a road It is configured to pass through r1, turn right at the guidance intersection c1, and enter the road r3. Lanes k1 to k6 are formed on the road r1.

  Further, m1 and m2 are a predetermined distance before the current intersection c1 (current location side). In this embodiment, lane change prohibition lines formed over 30 [m], and pd1 and pd2 are formed at the guidance intersection c1. The pedestrian crossings, st1 and st2, are stop lines of the intersection cr1.

  L1 is a section 30 [m] before the guidance intersection c1, L2 is a section between the front edge of the pedestrian crossing pd1 and the front edge of the pedestrian crossing pd2 at the guidance intersection c1, and L3 is a stop line st1 of the intersection cr1. , St2. In the sections L1 to L3, movement between lanes is prohibited and a lane change prohibited section is configured.

  When the vehicle travels along the searched route Rt1, after passing through the intersection cr1, the vehicle turns right at the guidance intersection c1 and enters the road r3. At this time, on the road r1, the lane k3 is a right turn exclusive lane immediately before the guidance intersection c1, and therefore the recommended lane calculation processing means makes the lane k3 a recommended lane in the lane guidance from the current location Pr to the guidance intersection c1.

  When the vehicle is traveling on the lane k2, if the lane k3 is recommended as the recommended lane, the vehicle needs to be moved from the lane k2 to the lane k3. In this case, the guidance intersection c1 from the first route guidance point is required. Until then, the sections L1 and L3 are lane change prohibited sections. Since the section L2 is a section in which movement between lanes is prohibited at the guidance intersection c1, it is not a lane change prohibition section from the first route guidance point to the guidance intersection c1.

Subsequently, the route guidance point correction processing means reads the distances La and Lb of the sections L1 and L3, corrects the position of each route guidance point for the guidance intersection c1, and sets the distances La and Lb to the forefront. To do. As for each route guidance point set between the first route guidance point and the intersection cr1, the sections L1 and L3 are included between the guidance intersection c1 and the total distance ΣL of the distances La and Lb.
ΣL = La + Lb
Only set to the foreground. On the other hand, for each route guidance point set between the intersection cr1 and the guidance intersection c1, only the section L1 is included between the guidance intersection c1 and the distance La is set in front.

As shown in FIG. 6, when the two roads r11 and r12 intersect at an angle θ, the section L4 in the intersection cr11 becomes a lane change prohibited section. In this case, if the width of the road r12 is w1, the distance Ld of the section L4
Ld = w1 / sinθ
become.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a figure which shows the navigation system in embodiment of this invention. It is a flowchart which shows operation | movement of the route guidance point setting process means in embodiment of this invention. It is a conceptual diagram which shows the example of the search path | route in embodiment of this invention. It is detail drawing of the guidance intersection in embodiment of this invention. It is detail drawing of the intersection in embodiment of this invention. It is a figure which shows the other example of the intersection in embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Automatic transmission control part 14 Navigation apparatus 15 GPS sensor 31 CPU
51 Information Center 63 Network c1 Guided Intersections L1 to L4 Section pr Current Location Rt1 Search Route

Claims (6)

  A current location detection unit that detects the current location of the vehicle, a route search processing unit that searches for a search route to a destination based on the current location, a guide point setting processing unit that sets a guide point based on the search route, Route guidance point setting processing means for setting a standard route guidance point for the guidance point, and movement between lanes on the searched route from the first route guidance point to the guidance point based on the standard route guidance point is prohibited. A lane change prohibition section determination processing means for determining whether or not there is a lane change prohibition section, and a route guidance point correction processing means for correcting the standard route guide point and setting it to the near side when there is the lane change prohibition section. The route guidance system characterized by having.   Lane detection processing means for detecting a traveling lane at the current location; and recommended lane calculation processing means for calculating a recommended lane for each road on the searched route based on the searched route; and the route guidance point setting processing means. The route guidance system according to claim 1, wherein a position of a standard route guidance point is set based on the number of lane movements from the travel lane to the recommended lane.   The route guidance point correction processing means corrects and sets the position of the standard route guidance point by a value obtained by adding a distance of a lane change prohibition section between the standard route guidance point and the guidance point. The route guidance system described in 1.   The route guidance system according to claim 1, wherein the lane change prohibited section is a lane change prohibited line.   The route guidance system according to claim 1, wherein the lane change prohibition section is an intersection. A search route to the destination is searched based on the current location of the vehicle detected by the current location detection unit, a guidance point is set based on the search route, a standard route guidance point for the guidance point is set, If there is a lane change prohibition section in which the movement between lanes is prohibited on the searched route from the first route guide point to the guide point based on the standard route guide point, and there is the lane change prohibition section, A route guidance method, wherein the standard route guidance point is corrected and set to the near side.

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