JP2007178357A - System and method for route guidance - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable vehicles to smoothly travel. <P>SOLUTION: A route guidance system comprises: a current position detector for detecting a current position of a self-vehicle as a self-vehicle position; a route retrieval processing means for retrieving a retrieval route to a destination on the basis of the self-vehicle position; a recommended lane setting processing means for setting a recommended lane recommended to travel in on the basis of the retrieval route; a travel lane specification processing means for specifying a lane in which own vehicle is traveling; a lane guidance processing means for performing guidance lane by lane on the basis of the recommended lane and the travel lane; a recommended lane entry determination processing means for determining whether the own vehicle has entered the recommended lane according to lane guidance; and a route guidance processing means for performing different route guidance according to whether the own vehicle has entered the recommended lane. route guidance is performed according to the traveling state of the vehicle after lane guidance is started. <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. For this purpose, a plurality of route guidance points are set at locations that are separated from each other by a predetermined distance before the guidance intersection on the searched route, and when the vehicle reaches each route guidance point, for each route guidance point, The route guidance having contents set in advance is output by voice (for example, see Patent Document 1).

In addition, in a navigation device that can perform route guidance for each lane, that is, lane guidance, when a plurality of lanes are formed on a road that enters the guidance intersection, However, it is recommended as a lane that is preferable to travel, that is, a recommended lane, and the vehicle is guided from the currently traveling lane, that is, the travel lane to the recommended lane.
JP 7-98223 A

  However, in the conventional navigation device, after the lane guidance is started, whether the vehicle enters the recommended lane as guided by the lane guidance or not, regardless of the traveling state of the vehicle, Since the route guidance is performed with the same content, the vehicle cannot run smoothly.

  The present invention solves the problems of the conventional navigation device, and after the lane guidance is started, the route guidance can be performed according to the traveling state of the vehicle, and the vehicle can be smoothly traveled. An object is to provide a route guidance system and a route guidance method.

  Therefore, in the route guidance system of the present invention, a current location detection unit that detects the current location of the host vehicle as the host vehicle location, a route search processing unit that searches a search route to the destination based on the host vehicle location, Based on the searched route, recommended lane setting processing means for setting a recommended lane recommended for traveling, traveling lane identification processing means for identifying a lane in which the vehicle is traveling, the recommended lane and the traveling lane Lane guidance processing means for performing guidance on a lane basis, recommended lane entry determination processing means for judging whether or not the vehicle has entered the recommended lane according to the lane guidance, and the vehicle has entered the recommended lane Route guidance processing means for performing different route guidance depending on whether or not.

  According to the present invention, it is determined whether or not the vehicle has entered the recommended lane according to the lane guidance, and different route guidance is performed depending on whether or not the vehicle has entered the recommended lane, so the lane guidance is started. After that, route guidance can be performed in accordance with the traveling state of the vehicle, and the vehicle can travel smoothly.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this case, a navigation system used for the route guidance system will be described.

  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 is based on a GPS sensor 15 as a current location detection unit that detects the current location of a vehicle, a data recording unit 16 as an information recording unit in which various information is recorded in addition to map data, and input information. , A navigation processing unit 17 for performing various arithmetic processes such as navigation processing, a direction sensor 18 as a direction detection unit for detecting the direction of the vehicle, and a first for performing a predetermined input when operated by a driver as an operator. A display unit 35 serving as a first output unit for performing various displays using an image displayed on a screen (not shown) and an image displayed on a screen (not shown). Voice input part 36 as a second input part for performing input, as a second output part for performing various displays by voice and notifying the driver A voice output unit 37 and a communication unit 38 as a transmission / reception unit functioning as a communication terminal are provided. The navigation processing unit 17 includes a GPS sensor 15, a data recording unit 16, a direction sensor 18, an operation unit 34, a display unit 35, a voice. An 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. As a back camera (rear monitoring camera) 49 as an imaging device that captures the rear of the vehicle, and an engine load detection unit that detects an operation of an accelerator pedal (not shown) by a driver based on the accelerator opening. The accelerator sensor 42, a brake sensor 43 as a brake detection unit that detects the operation of a brake pedal (not shown) by the driver by a brake depression amount, a vehicle speed sensor 44 as a vehicle speed detection unit that detects a vehicle speed, 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 related to intersections (branch points), node data related to nodes, road data related to road links, search data processed for searching, facility data related to facilities, and other features on the road. Feature data for 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.

  In addition, the road data relating to the lane includes lane data as lane information including the number of lanes, the lane number assigned to each lane on the road, the position of the lane, the traffic classification indicating the traveling direction for each lane, and the like. It is. 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. Further, 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, In addition to the program for the above, a ROM 33 in which various programs for searching for a route to the destination, route guidance, etc. are recorded, a flash memory (not shown) used for recording various data, programs, etc. Prepare. 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, and on various screens formed on the display unit 35, the current location of the vehicle is displayed as the vehicle position, the vehicle direction is displayed as the vehicle direction, a map, a search route, the search In addition to displaying guidance information, traffic information, and the like along the route, and displaying the distance to the next intersection on the searched route and the direction of travel at the next intersection, the image operation unit and the operation unit 34 can also be displayed. It is possible to display operation guidance, operation menus, key guidance for the voice input unit 36, etc., and FM multiplex broadcast programs.

  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 (not shown) for receiving as an optical beacon, an FM receiver (not shown) 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 a vehicle traveling ahead, that is, a preceding vehicle, Monitor stop points 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 with the optical axis obliquely downward to monitor the rear of the vehicle. In addition to the features, the rear camera 49 is traveling behind the vehicle, ie, the rear. Vehicles, roadside buildings, structures, and the like are photographed as objects to be photographed, and image data of the photographed objects are 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, the back camera 49 is used as the imaging device. However, instead of the back camera 49, a front camera for monitoring the front of the vehicle, and for monitoring the side of the vehicle. A side camera or the like can be used. 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 alone or in combination of two or more, and perform arithmetic processing based on various programs, data, and the like. The data recording unit 16, the RAMs 32 and 55, the ROMs 33 and 56, the database 58, the 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 Based on the current location.

  Further, a travel lane identification processing unit (not shown) of the CPU 31 performs a travel lane identification process, and similarly, a feature recognized based on the image data and a feature data read from the data recording unit 16 are displayed. By collating, the traveling lane in which the vehicle is traveling is specified.

  The travel lane identification processing means reads the sensor output of the geomagnetic sensor, and determines whether there is a detected object made of a ferromagnetic material such as a manhole in a predetermined lane on the road based on the sensor output. In addition, the traveling lane can 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 search conditions are set in this way, route search processing means (not shown) of the CPU 31 performs route search processing, reads the current location, destination, search conditions, etc., and searches from the data recording unit 16. Based on the current location, the destination, and the search data, a route from the departure point represented by the current location to the destination is searched using the search conditions, 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 this case, the CPU 31 transmits the current location, the destination, the search conditions, etc. to the information center 51 via the network 63. 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. Next, a transmission processing unit (not shown) of the CPU 54 performs transmission processing and transmits the route data to the navigation device 14 via the network 63.

  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. For this purpose, when a guide point enlarged map display point is set at a location that is a predetermined distance away from the guidance intersection on the search route (current location side) 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.

  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 removes the vehicle from the traveling lane. Guide to the recommended 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, as the recommended lanes, lanes that are preferable for entering the guide intersection and lanes that are preferable for exiting from the guide intersection in the enlarged intersection view.

  And the route guidance point setting processing means of the guidance processing means performs route guidance point setting processing, and at least one set distance away in advance from the guidance intersection on the searched route, In the present embodiment, when a plurality of route guidance points are set and the vehicle reaches each route guidance point, the voice output processing means of the guidance processing means performs voice output processing, and the route guidance point is determined for the guidance intersection. The route guidance having the contents set in advance is output by the voice from the voice output unit 37, that is, the guidance phrase.

  It is also possible to provide route guidance by outputting route guidance with guidance phrases and guiding the vehicle to a recommended lane. In that case, a lane guidance processing means is constituted by the voice output processing means, and a lane guidance processing is constituted by the voice output processing. Also, 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, after the lane guidance is started, the route guidance continues with the same contents regardless of whether the vehicle enters the recommended lane as guided by the lane guidance or not, regardless of the driving state of the vehicle. If this is done, the vehicle cannot run smoothly.

  Therefore, in the present embodiment, after lane guidance is started, route guidance is performed according to the traveling state of the vehicle.

  FIG. 2 is a flowchart showing the operation of the guidance processing means in the first embodiment of the present invention, FIG. 3 is a conceptual diagram of route guidance in the first embodiment of the present invention, and FIG. 4 is the first diagram of the present invention. FIG. 5 is a second diagram showing the contents of the lane guidance in the first embodiment of the present invention, and FIG. 6 is the first diagram of the first embodiment of the present invention. It is a 3rd figure which shows the content of the lane guidance in a form.

  In the figure, r1 to r3 are roads, k1 to k4 are lanes, c1 is a guidance intersection where roads r1 and r2 intersect, c2 is a guidance intersection where roads r2 and r3 intersect, h1 to h3, and h11 to h14 are route guidance points. It is. Rt is a searched route, and the searched route Rt is configured to pass through the roads r1 to r3 in order, and turn right at the guidance intersection c1 and turn left at the guidance intersection c2. In this case, the lane k4 is the recommended lane on the road r1.

  First, the repetition condition determination processing means of the guidance processing means performs the repetition condition determination processing. When the vehicle reaches the first route guidance point and the lane guidance is started, is the repetition condition set in advance established? Judge whether. For this purpose, the delay setting processing means of the iterative condition determination processing means performs delay setting processing, starts timing by a timer (not shown) as a timing device built in the CPU 31, and a certain time has elapsed since the start of lane guidance. Determine if you did.

  When a certain period of time has elapsed since the start of lane guidance and the repetition condition is satisfied, the recommended lane entry determination processing means of the guidance processing means performs recommended lane entry determination processing, reads the identified travel lane, It is determined whether the vehicle has entered the recommended lane k4.

  When the host vehicle enters lane k4, the additional information determination processing means of the guidance processing means performs additional information determination processing, and is there information to be added to the standard guidance phrase in the route guidance at the next route guidance point? Judge whether. If there is information to be added, the voice output processing means acts as first route guidance processing means, performs the first route guidance processing, adds information to the guidance phrase, and performs route guidance. The information includes detailed information about the guidance intersection, branch information about the previous guidance intersection, and the like.

  For example, in FIG. 5, the information “current lane is recommended” is added to the message “700 [m] ahead, right direction” at the route guidance point h1, and “300 [m] at the route guidance point h2. ] The information “Beyond, to the left” is added to the message “Before you cross the XX intersection”, and the message “To the right, soon” at the route guidance point h3. "It is in the left direction." Is added and output as audio.

  On the other hand, when there is no information to be added, the voice output processing means performs route guidance without adding information to the guidance phrase.

  Thus, when the own vehicle has entered the recommended lane, there is a margin in the guidance phrase, so information can be added. Therefore, not only can the status of the guidance intersections c1 and c2 be known based on the added information, but also the search route at the guidance intersections c1 and c2 can be known, so that the vehicle can travel smoothly.

  Further, if the vehicle has not entered the lane k4 when the repetition condition is satisfied, the re-direction processing means as the second route guidance processing means of the guidance processing means is the second route guidance processing. The re-guidance process is performed, and the vehicle is again guided to lane k4. For this purpose, the lane determination processing means of the re-guide processing means performs lane determination processing, reads the traveling lane, determines which lane the host vehicle is in, and the point determination processing means of the re-guide processing means A determination process is performed to determine which route guidance point the vehicle has reached.

  Subsequently, the guidance availability determination processing means of the re-guidance processing means performs guidance availability determination processing, and every time the own vehicle reaches the route guidance point, if guidance of lane is given at the route guidance point, a guidance intersection Whether the vehicle can be guided to the recommended lane is determined based on whether or not the vehicle can enter the lane k4 before reaching c1. When the vehicle may be guided to the recommended lane, the lane guidance processing unit of the re-guidance processing unit performs lane guidance processing, performs lane guidance, and guides the vehicle to the recommended lane again. Further, when the own vehicle should not be guided to the recommended lane, the lane guidance processing means does not perform lane guidance.

  For example, in FIG. 4, when the vehicle has reached the route guidance point h11 and is driving in lane k3, the message "900m ahead, right direction. One right is the recommended lane." Is output by voice. After that, when the vehicle reaches the route guidance point h12, a message “700 [m] ahead, right direction. One right is the recommended lane” is output by voice, and when the vehicle reaches the route guidance point h13, “ When you reach the route guidance point h14 in front of the guidance intersection c1, the message “300m” is to the right and the right is the recommended lane. The message "The recommended lane is on the right" is output by voice.

  In FIG. 4, since the vehicle is in lane k3 different from the recommended lane, re-guidance processing is performed at each route guidance point h11 to h14, and the vehicle is guided to the recommended lane.

  Then, when the vehicle is traveling between the route guidance points h11 and h12, between the route guidance points h12 and h13, and between the route guidance points h13 and h14, the repetitive condition is satisfied after the re-guidance process is performed. Each time the process is performed, the above processes are repeated.

  In FIG. 5, if the vehicle is driving on lane k2 when it reaches route guidance point h12, the message “700m ahead, right direction. The two right are recommended lanes” message. Is output by voice and when it reaches the route guidance point h13, the message “300m ahead, right direction. Two right is the recommended lane” is output by voice and the route guidance before the guidance intersection c1. When the point h14 is reached, a message “Soon, right direction” is output by voice.

  In FIG. 5, since the vehicle is in a lane k2 different from the recommended lane, the vehicle is guided to the recommended lane at each of the route guidance points h12 and h13, but the vehicle is not guided to the recommended lane at the route guidance point h14. . The guidance possibility determination processing means, if the lane guidance is performed at the route guidance point h14, the distance between the route guidance point h14 and the guidance intersection c1 is short, and the lane k4 is reached before reaching the guidance intersection c1. Judging that it is impossible to enter, it is prohibited to guide to the recommended lane.

  Then, when the vehicle is traveling between the route guidance points h11 and h12, between the route guidance points h12 and h13, and between the route guidance points h13 and h14, the repetitive condition is satisfied after the re-guidance process is performed. Each time the process is performed, the above processes are repeated.

  In FIG. 6, if the vehicle is driving on lane k1 when it reaches route guidance point h12, the message “700m ahead, right direction. Three right is recommended lane.” Is output by voice and when the message reaches the route guidance point h13, a message “300 [m] ahead, to the right” is output by voice and when the route guidance point h14 before the guidance intersection c1 is reached, The message "I will guide you through the route" is output by voice.

  In FIG. 6, since the vehicle is in the lane k1 different from the recommended lane, the vehicle is guided to the recommended lane at the route guidance point h12, but the vehicle is not guided to the recommended lane at the route guidance points h13 and h14. If the lane guidance is performed at the route guidance point h13, the guidance availability determination processing means enters the lane k4 before reaching the guidance intersection c1 because the number of lane movements from the lane k1 to the lane k4 is large. It is judged that it cannot be done, and the guidance to the recommended lane is prohibited. In addition, if the lane guidance is performed at the route guidance point h14, the guidance availability determination processing unit has a short distance between the route guidance point h14 and the guidance intersection c1, and the lane k1 to the lane k4. Since the number of movements of the lane is large, it is determined that the vehicle cannot enter the lane k4 before reaching the guidance intersection c1, and the guidance to the recommended lane is prohibited.

  Then, when the vehicle is traveling between the route guidance points h12 and h13, the re-guidance process is performed, and then each process is repeated each time the repetition condition is satisfied.

  In this way, according to the lane guidance, it is determined whether or not the vehicle has entered the recommended lane, whether or not the vehicle has entered the recommended lane, and depending on whether or not the vehicle has entered the recommended lane, Guidance is provided. In other words, when the vehicle enters the recommended lane, information is added to the guidance phrase to provide route guidance. When the vehicle does not enter the recommended lane, guidance to the recommended lane is given priority and guidance is provided. The number of times of guidance to the recommended lane is increased up to the intersection c1. Therefore, after the lane guidance is started, the route guidance can be performed according to the traveling state of the vehicle, so that the vehicle can travel smoothly.

Next, a flowchart will be described.
Step S1: After starting the lane guidance, the system waits for a certain period of time to elapse, and proceeds to step S2 when a certain period of time has passed between the lanes.
Step S2: It is determined whether or not the vehicle has entered the recommended lane. If it has entered the recommended lane, the process proceeds to step S3. If it has not entered the recommended lane, the process proceeds to step S5.
Step S3: It is determined whether there is information to be added to the guidance phrase at the next route guidance point. If there is information to be added to the guidance phrase at the next route guidance point, the process proceeds to step S4, and if there is no information to be added to the guidance phrase, the process proceeds to step S6.
Step S4: Route information is added with information, and the process returns.
Step S5 Perform re-induction processing and return.
Step S6 Perform route guidance and return.

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

  FIG. 7 is a flowchart showing the operation of the guidance processing means in the second embodiment of the present invention.

  In this case, the repetition condition determination processing means of the guidance processing means performs the repetition condition determination processing, and when the vehicle reaches the first route guidance point and starts lane guidance, a preset repetition condition is satisfied. Determine whether or not. For this purpose, the delay setting processing means of the repetition condition determination processing means performs delay setting processing, reads the current location, and determines whether or not the vehicle has traveled a certain distance since the start of lane guidance.

  When the lane guidance is started and the vehicle travels a certain distance and the repetition condition is satisfied, the recommended lane approach determination processing means reads the travel lane and determines whether or not the vehicle has entered the recommended lane k4. To do.

Next, a flowchart will be described.
Step S11 After starting the lane guidance, the vehicle waits to travel a certain distance, and proceeds to step S12 when traveling a certain distance.
Step S12: It is determined whether or not the vehicle has entered the recommended lane. If it has entered the recommended lane, the process proceeds to step S13. If it has not entered the recommended lane, the process proceeds to step S15.
Step S13: It is determined whether there is information to be added to the guidance phrase at the next route guidance point. If there is information to be added to the guidance phrase at the next route guidance point, the process proceeds to step S14, and if there is no information to be added to the guidance phrase, the process proceeds to step S16.
Step S14: Route information is added with information, and the process returns.
Step S15 Perform a re-induction process and return.
Step S16: Route guidance is performed and the process returns.

  In the first embodiment, the repetition condition is established when a certain time has elapsed since the start of the lane guidance. In the second embodiment, the lane guidance starts. When the vehicle has traveled a certain distance since then, the repetition condition is established, but a certain amount of time has elapsed since the start of lane guidance and the vehicle has traveled a certain distance after the lane guidance has started. Sometimes, iterative conditions can be met.

  The present invention is not limited to the above embodiments, and various modifications can be made based on the gist of the present invention, and they are not excluded 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 guidance process means in the 1st Embodiment of this invention. It is a conceptual diagram of the route guidance in the 1st Embodiment of this invention. It is a 1st figure which shows the content of the lane guidance in the 1st Embodiment of this invention. It is a 2nd figure which shows the content of the lane guidance in the 1st Embodiment of this invention. It is a 3rd figure which shows the content of the lane guidance in the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the guidance process means in the 2nd 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 Rt Search Route

Claims (9)

  It is recommended to drive based on the current location detection unit that detects the current location of the vehicle as the vehicle location, route search processing means that searches for the search route to the destination based on the vehicle location, and the search route Recommended lane setting processing means for setting recommended lanes, traveling lane identification processing means for identifying the lane in which the vehicle is traveling, and lane guidance that is guidance for each lane based on the recommended lanes and the traveling lanes. Different route guidance is performed according to the lane guidance processing means to be performed, the recommended lane entry determination processing means for judging whether or not the vehicle has entered the recommended lane, and whether or not the vehicle has entered the recommended lane according to the lane guidance. A route guidance system comprising route guidance processing means.   After the lane guidance is started, it has repetition condition determination processing means for determining whether a preset repetition condition is satisfied, and when the repetition condition is satisfied, the recommended lane entry determination processing means is The route guidance system according to claim 1, wherein it is determined whether the own vehicle has entered a recommended lane.   3. The route guidance system according to claim 2, wherein the repetition condition determination processing unit determines that the repetition condition is satisfied when a predetermined time has elapsed since the start of the lane guidance.   The route guidance system according to claim 2, wherein the repetition condition determination processing unit determines that the repetition condition is satisfied when the vehicle travels a certain distance after the lane guidance is started.   The route guidance system according to claim 1, wherein when the own vehicle enters a recommended lane, the route guidance processing unit performs route guidance by adding information to a guidance phrase.   The route guidance system according to claim 5, wherein the information is information of a branch at a previous guidance intersection.   2. The route guidance system according to claim 1, wherein when the host vehicle has not entered the recommended lane, the route guidance processing unit performs lane guidance for guiding the host vehicle to the recommended lane again.   The route guidance processing means performs lane guidance for guiding the vehicle to the recommended lane again only when the vehicle can enter the recommended lane before reaching the guidance intersection. Route guidance system. The current location of the vehicle is detected as the vehicle location, a search route to the destination is searched based on the vehicle location, and a recommended lane recommended for traveling is set based on the search route. Identify the lane in which the vehicle is traveling, perform lane guidance, which is guidance for each lane based on the recommended lane and the traveling lane, and determine whether the vehicle has entered the recommended lane according to the lane guidance, A route guidance method, wherein different route guidance is performed depending on whether or not the vehicle has entered a recommended lane.

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