JP2007127421A - System and method for route guidance - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reliably drive a self vehicle along retrieval routes. <P>SOLUTION: A route guidance system comprises a current location detection part; a route retrieval processing means for retrieving retrieval routes; a guidance point setting processing means for setting guidance points; a route guidance location setting processing means for setting route guidance locations in front of the guidance points; a guidance processing means for performing route guidance at the guidance points, when own vehicle arrives at the route guidance locations; a first determination processing means for determining whether prescribed repetition determination conditions are satisfied, after route guidance is performed at the route guidance locations; a second determination processing means for determining whether prescribed guidance repetition conditions are satisfied, after the prescribed repetition determination conditions are satisfied; and a guidance repetition processing means for repeating route guidance regarding the guidance points, when the prescribed guidance repetition conditions are satisfied. Since route guidance will be repeated, drivers forgetting the content of route guidance is eliminated. <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 who is an operator can drive the vehicle according to 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, for example, a voice is output before the vehicle reaches the intersection, that is, the guidance intersection as a guidance point. In addition, route guidance is performed. 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 guidance with a predetermined content is output by voice (for example, see Patent Document 1).
JP-A-6-295399

  However, in the conventional navigation device, after the route guidance is performed at the route guidance point, the driver may forget the content of the route guidance after a certain time elapses due to waiting for a signal, traffic jam, or the like. . In that case, the vehicle cannot be reliably traveled along the searched route.

  An object of the present invention is to provide a route guidance system and a route guidance method that can solve the problems of the conventional navigation device and that can cause the host vehicle to travel reliably along a searched route.

  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 route guidance point at a predetermined location before the guidance point; and when the vehicle reaches the route guidance point, the guidance point Guidance processing means for performing route guidance, first determination processing means for determining whether or not a predetermined iteration determination condition is satisfied after route guidance is performed at the route guidance point, and a predetermined iteration determination condition. A second determination processing means for determining whether or not a predetermined guidance repetition condition is satisfied after being established; and a plan for repeating route guidance for the guidance point when the predetermined guidance repetition condition is satisfied. And a repetition processing unit.

  According to the present invention, after the route guidance is performed at the route guidance point, the time measurement is started as the predetermined repetition determination condition is satisfied, and after the time measurement is started, the predetermined guidance repetition condition is satisfied. As the route guidance is repeated for the guidance point, the driver will not forget the content of the route guidance. Therefore, the host vehicle can be reliably driven along the searched route.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram showing a navigation system according to the first 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 and lanes, search data processed for searching, facility data relating to facilities, etc. Includes feature data.

  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 relating 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 degree of congestion at each predetermined timing, and a predetermined value when traveling on each road link. Link required time representing the required time for each 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 data recording unit 16 is provided with the map database, statistical database, travel history database, and the like. However, in the information center 51, the map database, statistical database, travel history, etc. A history database or the like can also be provided.

  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, ROM 33 in which various programs for searching for a route to a destination, route guidance, and the like are recorded in addition to the program for the destination, and a flash memory (not shown) used for recording various data, programs, and the like Is 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 arranged separately from 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 an optical beacon or the like, an FM receiver for receiving FM multiplex broadcasting via an FM broadcasting station, or 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 the distance from the 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 The current location is specified based on La.

  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.

  When a plurality of lanes are formed on the road and a traveling lane is detected, the route search processing means searches for a search route for each lane. In this case, the route data includes the lane number of the traveling lane.

  The information center 51 can perform a route search process. 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.

  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, An enlarged intersection map is formed as an enlarged guide map, and route guidance is performed using the enlarged map. When the search route for each lane is searched, the guidance point enlarged map forming processing means displays the traveling lane for which the route guidance is provided in the enlarged intersection map, and performs route guidance for each lane. In this case, the map of the vicinity of the guidance intersection, the search route, and landmarks such as facilities that are landmarks at the guidance intersection are displayed in the enlarged view of the intersection. A lane is displayed.

  Then, the route guidance point setting processing means of the guidance processing means performs route guidance point setting processing, and one or more routes are provided at locations that are separated by a set distance before the guidance intersection on the searched route. A guidance point is set, and the voice output processing unit of the guidance processing unit performs a voice output process. When the vehicle reaches each route guidance point, the route guidance of the contents determined in advance for each route guidance point at the guidance intersection. Is output with the sound from the sound output unit 37. The intersection enlarged view is formed when the first route guide point is reached.

  By the way, after route guidance is performed at each route guidance point, if a certain time elapses due to waiting for traffic lights, traffic jams, etc., the driver may forget the content of the route guidance.

  Therefore, in this embodiment, after route guidance is performed at each route guidance point, when a certain time elapses due to waiting for traffic lights, traffic jams, etc., the re-guidance processing unit of the guidance processing unit performs re-guiding processing. And route guidance is performed again.

  FIG. 2 is a flowchart showing the operation of the re-guidance processing means during signal waiting in the first embodiment of the present invention, and FIG. 3 explains the re-guidance processing during signal waiting in the first embodiment of the present invention. FIG. 1 and FIG. 4 are second diagrams for explaining re-guidance processing at the time of signal waiting in the first embodiment of the present invention, and FIG. 5 is a diagram of traffic re-establishment in the first embodiment of the present invention. FIG. 6 is a flowchart illustrating the operation of the guidance processing means, and FIG. 6 is a diagram for explaining the re-guidance processing at the time of traffic jam in the first embodiment of the present invention.

  In the figure, Rt1 is a searched route, pr is the own vehicle, whm (m = 1, 2,...) Is another vehicle, rp is a road on the searched route Rt1 on which the vehicle is traveling, cg is a guidance intersection, and c1 is an intersection. , R1 is a road that intersects the road rp at an intersection c1, k1 to k4 are travel lanes of the road rp, sg1 is a traffic light at the intersection c1, and h1 to h3 are own vehicle positions. Note that the intersection c1 exists on the searched route Rt1 before a guidance intersection (not shown).

  In this case, the timing start processing means as the first determination processing means of the re-guide processing means performs the timing start processing as the first determination processing, reads the intersection data from the data recording unit 16, and uses the GPS sensor 15. The detected current location and the vehicle speed detected by the vehicle speed sensor 44 are read, and as shown in FIG. 3, the vehicle speed becomes zero (0) within a predetermined distance range before the intersection c1, and the vehicle stops. Whether or not the iterative determination condition is satisfied is determined depending on whether or not When the vehicle speed becomes zero, the vehicle stops, and the iterative determination condition is satisfied within the range of a predetermined distance before the intersection c1, the time-measurement start processing means determines that the vehicle has been stopped by an instruction from the traffic light sg1. Then, the timer by the timer built in the CPU 31 is started. If it is outside the range of a predetermined distance before the intersection c1, or if the vehicle speed is not zero and the vehicle is not stopped, the repeated determination condition is not satisfied, and the time measurement by the timer is not started. The time measurement start processing means constitutes stop processing means, and the stop processing means performs stop processing, and determines whether or not the stop determination condition is satisfied depending on whether the vehicle speed becomes zero and the vehicle stops. .

  Subsequently, the guidance repetition processing means as the second determination processing means of the re-guide processing means performs the guidance repetition processing as the second determination processing, and a certain time has elapsed after the time measurement by the timer is started. It is determined whether or not the first guidance repetition condition is satisfied depending on whether or not the vehicle has a positive value and the vehicle speed is positive when the first guidance repetition condition is satisfied after a certain period of time has elapsed. It is determined whether the second guidance repetition condition is satisfied, the vehicle speed becomes a positive value, the vehicle starts, and the second guidance repetition condition is satisfied, it is performed again at the previous route guidance point. Route guidance for the guidance intersection cg is performed.

  By the way, as shown in FIG. 6, when the vehicle reaches the vehicle position h1, which is a route guidance point separated by a set distance K1 before the guidance intersection cg, the voice output processing means performs the guidance intersection cg. For example, by outputting a message such as “300 [m] ahead right” by voice.

  Subsequently, the timing start processing means reads the vehicle speed detected by the vehicle speed sensor 44, and whether or not the vehicle has entered a traffic jam depending on whether or not the vehicle speed has been lower than the set value vmin1 for a set time, that is, Then, it is determined whether or not the timing start condition is satisfied. When the vehicle speed enters the traffic jam at the own vehicle position h2 just before the guidance intersection cg and the vehicle speed is lower than the set value vmin1, and the timing start condition is satisfied, the timing start processing means Then, it is determined that the vehicle has entered a traffic jam, and time counting by a timer as a time measuring unit built in the CPU 31 is started. When the vehicle speed is equal to or higher than the set value vmin1 or when the vehicle speed is lower than the set value vmin1, the time measurement by the timer is not started. The time measurement start processing means constitutes a traffic congestion determination processing means, which performs the traffic congestion determination processing and determines whether the vehicle speed is lower than a set value for a set time. Determine whether the condition is met.

  Subsequently, the guidance repetition processing means of the re-guidance processing means performs guidance repetition processing, and whether or not the first guidance repetition condition is satisfied depending on whether or not a predetermined time has elapsed after the time measurement by the timer is started. When the first guidance repetition condition is satisfied after a certain period of time, it is determined whether the second guidance repetition condition is satisfied depending on whether the vehicle has traveled a certain distance from the previous route guidance point. When the vehicle travels a certain distance K2, for example, 100 [m], from the previous route guidance point and reaches the host vehicle position h3, the second guidance repetition condition is satisfied. The route guidance for the guidance intersection cg is performed, and a message such as “200 [m] ahead right” is output by voice. It should be noted that the distance K3 guided in the repeated route guidance is shorter than the distance K3 guided in the route guidance performed at the route guidance point by the distance K2. In the present embodiment, the route guidance is repeated when the first and second guidance repetition conditions are satisfied, but one of the first and second guidance repetition conditions is used. When the guide repetition condition is satisfied, the route guidance can be repeated.

Next, the flowchart of FIG. 2 will be described.
Step S1: It is determined whether or not it has been stopped by a traffic light. If stopped by a traffic light, the process proceeds to step S2, and if not stopped, the process returns.
Step S2: It is determined whether a certain time has elapsed. If the fixed time has elapsed, the process proceeds to step S3, and if not, the process returns.
Step S3: Determine whether the vehicle has started. If the vehicle has started, the process proceeds to step S4, and if the vehicle has not started, the process returns.
Step S4 Route guidance is performed again and the process returns.

Next, the flowchart of FIG. 5 will be described.
Step S11: It is determined whether or not the vehicle has entered a traffic jam. If the vehicle has entered a traffic jam, the process proceeds to step S12. If the vehicle has not entered, the process returns.
Step S12: It is determined whether a certain time has elapsed. If the predetermined time has elapsed, the process proceeds to step S13, and if not, the process returns.
Step S13: It is determined whether or not a certain distance has been moved. If it has moved a certain distance, the process proceeds to step S14, and if it has not moved, the process returns.
Step S14 Route guidance is performed again and the process returns.

  In the present embodiment, the guidance repetition processing means determines whether or not the first guidance repetition condition is satisfied depending on whether or not a certain time has elapsed after the timer starts counting when waiting for a signal, When the first guidance repetition condition is satisfied after a certain time has elapsed, it is determined whether the second guidance repetition condition is satisfied depending on whether the vehicle has started, the vehicle starts, and the second guidance repetition condition is determined. When is established, the route guidance is performed again. However, when the first guidance repetition condition is established, the route guidance can be performed again.

  Next, a second embodiment of the present invention will be described.

  FIG. 7 is a flowchart showing the operation of the re-guide processing means when waiting for a signal in the second embodiment of the present invention.

  In this case, the guidance repetition processing means determines whether or not the guidance repetition condition is satisfied depending on whether or not a certain period of time has elapsed after the time measurement by the timer is started. Once established, route guidance is performed again.

Next, a flowchart will be described.
Step S21: It is determined whether or not it has been stopped by a traffic light. If stopped by a traffic light, the process proceeds to step S22, and if not stopped, the process returns.
Step S22: It is determined whether a certain time has elapsed. If the fixed time has elapsed, the process proceeds to step S23, and if not, the process returns.
Step S23 Route guidance is performed again and the process returns.

  In the first embodiment, the guidance repetition processing means determines whether or not a first guidance repetition condition is satisfied depending on whether or not a certain time has elapsed after the timer starts counting in a traffic jam. When the first guidance repetition condition is satisfied after a certain time has elapsed, it is determined whether the second guidance repetition condition is satisfied depending on whether the vehicle has moved a certain distance, When the second guidance repetition condition is satisfied by moving, the route guidance is performed again. However, when the first guidance repetition condition is satisfied, the route guidance can be performed again.

  Next, a third embodiment of the present invention will be described.

  FIG. 8 is a flowchart showing the operation of the re-guidance processing means at the time of traffic jam in the third embodiment of the present invention.

  In this case, the guidance repetition processing means determines whether or not the guidance repetition condition is satisfied depending on whether or not a certain period of time has elapsed after the time measurement by the timer is started. Once established, route guidance is performed again.

Next, a flowchart will be described.
Step S31: It is determined whether or not the vehicle has entered a traffic jam. If the vehicle has entered a traffic jam, the process proceeds to step S32. If the vehicle has not entered, the process returns.
Step S32: It is determined whether a certain time has elapsed. If the fixed time has elapsed, the process proceeds to step S33, and if not, the process returns.
Step S33 Route guidance is performed again and the process returns.

  In each of the above embodiments, the route guidance for the guidance intersection cg performed at the route guidance point set before the guidance intersection cg (FIG. 6) is repeated. In this case, a predetermined point on the road other than the guidance intersection cg is used as a guide point, for example, a travel lane change point for changing the travel lane, and a plurality of route guide points are provided in front of the travel lane change point. It is possible to repeat the route guidance for the travel lane change point set at the route guidance point.

  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 the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the re-guide processing means at the time of the signal waiting in the 1st Embodiment of this invention. It is a 1st figure explaining the re-guide process at the time of the signal waiting in the 1st Embodiment of this invention. It is a 2nd figure explaining the re-guide process at the time of the signal waiting in the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the re-guide processing means at the time of traffic jam in the 1st Embodiment of this invention. It is a figure explaining the re-guide process at the time of traffic congestion in the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the re-guide processing means at the time of the signal waiting in the 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the re-guide processing means at the time of traffic jam in the 3rd Embodiment of this invention.

Explanation of symbols

15 GPS sensor cg guidance intersections h1 to h3 own vehicle position Rt1 search route

Claims (8)

  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 route guidance point at a predetermined location before the guidance point, guidance processing means for performing route guidance for the guidance point when the vehicle reaches the route guidance point, and the route After route guidance is performed at the guide point, a first determination processing means for determining whether or not a predetermined repetition determination condition is satisfied, and a predetermined guidance repetition condition is satisfied after the predetermined repetition determination condition is satisfied Route guidance, comprising: a second judgment processing means for judging whether or not, and a guidance iteration processing means for repeating the route guidance for the guidance point when a predetermined guidance iteration condition is satisfied. Stem.   2. The route guidance system according to claim 1, wherein the iterative determination condition is satisfied when the vehicle stops within a predetermined distance range before an intersection existing between the current location and the guidance point.   3. The route guidance according to claim 2, further comprising: a timing start processing unit that starts timing when the predetermined repetition determination condition is satisfied, and the guidance repetition condition is satisfied when a predetermined time elapses after the timing is started. system.   The route guidance system according to claim 3, wherein the guidance repetition condition is satisfied when the host vehicle starts after a predetermined time has elapsed.   The route guidance system according to claim 1, wherein the iterative determination condition is satisfied when a state where the vehicle speed is lower than a set value continues for a predetermined time.   6. The route guidance according to claim 5, further comprising a timing start processing means for starting timing when the predetermined iteration determination condition is established, and wherein the guidance iteration condition is established when a predetermined time elapses after timing is started. system.   The route guidance system according to claim 6, wherein the guidance repetition condition is satisfied when the host vehicle travels a certain distance from the route guidance point after timing is started. A search route to the destination is searched based on the current location of the vehicle detected by the current location detection unit, a guide point is set based on the search route, and a route guide point is set at a predetermined location before the guide point. When the vehicle arrives at the route guidance point, route guidance is performed for the guidance point, and after route guidance is performed at the route guidance point, it is determined whether a predetermined repetition determination condition is satisfied, A route guidance characterized in that, after a predetermined repetition determination condition is satisfied, it is determined whether a predetermined guidance repetition condition is satisfied, and when the predetermined guidance repetition condition is satisfied, the route guidance for the guide point is repeated. Method.

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