JP2008014760A - Navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device capable of supporting safety confirmation of a driver at a crossing having no signal or at a pedestrian crossing. <P>SOLUTION: In the case where precedence between a traveling road of one's own vehicle 2 and a crossing road cannot be determined at a crossing having no signal, a CPU 41 acquires 'stop information' on the crossing, when stopping or decelerating below prescribed speed for safety confirmation at the crossing. Simultaneously, the CPU 41 detects face movement of the driver when confirming right and left through a driver camera 52, and acquires 'facing information' on the crossing (S111-S113). Then, the CPU 41 reads out the 'stop information' and the 'facing information' in a prescribed period on the crossing, and stores information of the crossing having no signal in crossing information 23, when a stopping frequency or a frequency of right-and-left confirmation at the crossing is high (S114-S116). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a navigation device capable of supporting a driver's safety confirmation at an intersection or a pedestrian crossing without a traffic light.

Conventionally, there has been proposed a navigation device capable of supporting a driver's safety check at an intersection without a traffic light or a pedestrian crossing.
For example, priority determination means for determining priority between a road where the host vehicle is traveling at a road intersection in the vehicle traveling direction based on outputs of the map information output means and the current position detection means, and the priority If the road intersecting at the road intersection is a priority road, the display range changing means changes the display range when displaying the video output from the imaging means on the video display means based on the output of the determination means. There has been proposed a navigation device that displays a partial range of a video obtained by photographing a road condition and displays the video in an enlarged manner (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 9-35196 (paragraphs (0030) to (0081), FIGS. 1 to 13)

  However, in the navigation device described in Patent Document 1 described above, the road width, the number of lanes, and road attributes (national roads, prefectural roads) with the road where the host vehicle is traveling at an intersection without a traffic signal in the vehicle traveling direction. If there is no map information such as road width or number of lanes related to these roads, the priority between the road on which the vehicle is traveling and the road that intersects is determined. Therefore, there is a problem that it is not possible to support the driver's safety confirmation at such an intersection.

  Therefore, the present invention has been made to solve the above-described problems, and even when the priority between the road on which the host vehicle is traveling and the road that intersects cannot be determined, etc. An object of the present invention is to provide a navigation device capable of supporting the driver's safety check at an intersection or a pedestrian crossing.

  In order to achieve the object, the navigation device according to claim 1 is based on current position detecting means (11) for detecting the current position of the host vehicle, map information, and current position information detected by the current position detecting means. Intersection detection means (13, 25) for detecting an intersection without a traffic signal in the vehicle traveling direction, and a stop determination means (13, 21) for determining whether the vehicle is stopped or decelerated to a predetermined speed or less at an intersection without the traffic light. When it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at an intersection without a traffic signal, stop information storage means (22) for storing stop information at the intersection, and stop information stored in the stop information storage means And a stop frequency determining means (13) for determining whether or not the stop frequency for the intersection without the traffic signal is equal to or higher than a predetermined frequency, and the stop frequency for the intersection without the traffic signal. There when it is determined that more than a predetermined frequency, characterized by comprising a an intersection information storage unit (13, 23) for storing the intersection as a stop or safety confirmation is required intersection.

  Further, the navigation device according to claim 2 is the navigation device (1) according to claim 1, wherein priority is given to the traveling priority between the road where the vehicle is traveling and the road intersecting with the intersection where there is no traffic light. A priority determining means (13) for determining, wherein the stop determining means (13, 21) determines that the priority of the road on which the host vehicle is traveling is equal to or lower than the priority of the intersecting road Further, it is characterized in that it is determined whether or not the vehicle has stopped or decelerated to a predetermined speed or less at an intersection where there is no traffic light.

  A navigation device according to a third aspect is the navigation device (1) according to the first or second aspect, wherein the face orientation detecting means (13, 13) detects the movement of the face when the driver performs left-right confirmation. 51, 52) and whether or not the driver has moved the face left and right more than a predetermined number of times via the face direction detection means when it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at an intersection without the traffic signal. Face orientation for storing face orientation information at the intersection when it is determined that the driver has moved the face to the left or right a predetermined number of times or more via the face orientation determination means (13) for determination Information storage means (22) and left / right confirmation frequency determination means for determining whether the frequency of left / right confirmation for an intersection without the traffic light is equal to or higher than a predetermined frequency based on face orientation information stored in the face orientation information storage means ( 13) and When the intersection information storage means (13, 23) determines that the frequency of the left / right confirmation for an intersection without the traffic signal is equal to or higher than a predetermined frequency, the intersection needs to be stopped or safety checked. It memorizes as.

  According to a fourth aspect of the present invention, there is provided a navigation apparatus for detecting a current position of the host vehicle based on current position detecting means (11), map information and current position information detected by the current position detecting means. Pedestrian crossing detection means (13, 25) for detecting a pedestrian crossing without a traffic light, and a stop determination means (13, 21) for determining whether the pedestrian crossing without a traffic light is stopped or decelerated below a predetermined speed, When it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at a pedestrian crossing without a traffic light, stop information storage means (22) for storing stop information at the pedestrian crossing and a stop stored in the stop information storage means Stop frequency determining means (13) for determining whether or not the stop frequency for a pedestrian crossing without the traffic light is greater than or equal to a predetermined frequency based on the information, and the stop frequency for a pedestrian crossing without the traffic light If it is determined that the predetermined frequency or more, characterized by comprising a crosswalk information storage means for storing the crosswalk as a stop or safety confirmation is required crosswalk (13, 24), the.

  Further, the navigation device according to claim 5 is the navigation device (1) according to claim 4, wherein the face orientation detection means (13, 51, 52) detects the movement of the face when the driver performs left-right confirmation. And a face for determining whether or not the driver has moved the face left and right more than a predetermined number of times via the face direction detection means when it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at a pedestrian crossing without the traffic light Face orientation information storage that stores face orientation information at the pedestrian crossing when it is determined that the driver has moved the face to the left or right a predetermined number of times or more via the orientation determination means (13) and the face orientation determination means. Means (22) and a left / right confirmation frequency determining means (13) for determining whether the frequency of left / right confirmation for a pedestrian crossing without the traffic light is equal to or higher than a predetermined frequency based on the face direction information stored in the face direction information storage means. ) And The pedestrian crossing information storage means (13, 24) needs to stop or confirm the safety of the pedestrian crossing when it is determined that the frequency of the left / right confirmation for the pedestrian crossing without the traffic signal is a predetermined frequency or more. It is memorized as a pedestrian crossing.

  In addition, the navigation device according to the sixth aspect of the present invention is based on the current position detecting means (11) for detecting the current position of the host vehicle, the map information, and the current position information detected by the current position detecting means. Intersection detection means (13, 25) for detecting an intersection, and right for determining whether the vehicle has stopped or decelerated to a predetermined speed or less at a pedestrian crossing on the exit side of the intersection at the time of a right turn or a left turn at the intersection without the traffic light When it is determined that the vehicle is stopped at the pedestrian crossing on the exit side of the intersection or decelerated to a predetermined speed or less, stop information at the pedestrian crossing on the exit side of the intersection is stored. Stop information storage means (22) and right / left turn for determining whether or not the stop frequency for the pedestrian crossing on the exit side of the intersection is greater than or equal to a predetermined frequency based on the stop information stored in the stop information storage means If it is determined that the stop frequency for the stop pedestrian crossing on the exit side of the intersection is equal to or higher than a predetermined frequency, the stop on the exit side of the intersection must be stopped or safety checked. And pedestrian crossing information storage means (13, 24) for storing as a pedestrian crossing.

  Further, the navigation device according to claim 7 is the navigation device (1) according to claim 6, wherein the face direction detecting means (13, 51, 52) detects the movement of the face when the driver performs left-right confirmation. And determining whether or not the driver has moved the face left and right more than a predetermined number of times via the face direction detection means when it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at the pedestrian crossing on the exit side of the intersection If it is determined that the driver has moved the face to the left or right more than a predetermined number of times through the face orientation determination means (13, 51, 52), the pedestrian crossing on the exit side of the intersection The face direction information storage means (13, 22) for storing the face direction information of the person and the frequency of left-right confirmation with respect to the pedestrian crossing on the exit side of the intersection is predetermined based on the face direction information stored in the face direction information storage means Whether or not the frequency is exceeded Left and right confirmation frequency determination means (13), and the pedestrian crossing information storage means (13, 24) determines that the frequency of the right and left confirmation with respect to the pedestrian crossing on the exit side of the intersection is equal to or higher than a predetermined frequency. In this case, the pedestrian crossing on the exit side of the intersection is stored as a pedestrian crossing that needs to be stopped or checked for safety.

In the navigation device according to claim 1 having the above-described configuration, an intersection without a traffic signal in the vehicle traveling direction is detected from the map information and the current position of the own vehicle (hereinafter referred to as “own vehicle position”), and the intersection without the traffic signal is detected. When it is determined that the vehicle has stopped or decelerated to a predetermined speed or less, stop information at the intersection is stored. And when it determines with the stop frequency with respect to the intersection without this traffic signal being more than predetermined frequency, this intersection is memorize | stored as an intersection which needs a stop or safety confirmation.
As a result, an intersection without a traffic signal whose stop frequency is equal to or higher than a predetermined frequency is stored as an intersection that needs to be stopped or checked for safety. Even when the priority with the intersecting road cannot be determined, the navigation device can determine whether or not this intersection is an intersection that needs to be stopped or checked for safety. It becomes possible to support the driver's safety check.

Further, in the navigation device according to claim 2, when an intersection without a traffic signal in the vehicle traveling direction is detected and it is determined that the priority of the road on which the host vehicle is traveling is equal to or lower than the priority of the intersecting road, Stop information that is stopped at an intersection where there is no traffic light or decelerated below a predetermined speed is stored.
As a result, when the priority of the road on which the host vehicle is traveling is equal to or lower than the priority of the intersecting road, the stop information at the intersection where there is no traffic signal or the deceleration at a predetermined speed or less is stored. This makes it possible to improve the reliability of stop information for intersections without a mark.

Further, in the navigation device according to claim 3, when the vehicle stops or decelerates to a predetermined speed or less at an intersection without a traffic signal in the vehicle traveling direction, it is determined whether or not the driver moves the face left and right more than a predetermined number of times. It is determined whether or not confirmation has been made. When it is determined that the driver has moved the face to the left or right a predetermined number of times or more, the face orientation information at the intersection is stored. If it is determined that the left / right confirmation frequency for an intersection without a traffic signal is equal to or higher than a predetermined frequency, the intersection is stored as an intersection that needs to be stopped or checked for safety.
As a result, intersections with no traffic lights whose left-right confirmation frequency is greater than or equal to a predetermined frequency are stored as intersections that require stopping or safety confirmation. Therefore, at intersections without traffic lights in the vehicle traveling direction, the stop frequency is less than the predetermined frequency. Even if there is, the navigation device can determine whether or not this intersection is an intersection that needs to be stopped or checked for safety, and more surely supports the driver's safety confirmation at the intersection without traffic lights. Is possible.

In the navigation device according to claim 4, when a crosswalk without a traffic signal in the vehicle traveling direction is detected from the map information and the vehicle position, and it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at the crosswalk without the traffic signal. Stores the stop information at the pedestrian crossing. And when it determines with the stop frequency with respect to the pedestrian crossing without this traffic light being more than predetermined frequency, this pedestrian crossing is memorize | stored as a pedestrian crossing which needs a stop or safety confirmation.
As a result, a pedestrian crossing without a traffic signal whose stop frequency is equal to or higher than a predetermined frequency is stored as a pedestrian crossing that requires stop or safety confirmation. It is possible to determine whether the sidewalk is a pedestrian crossing that requires stopping or safety confirmation, and it is possible to support the driver's safety confirmation on a pedestrian crossing without a traffic light.

Further, in the navigation device according to claim 5, whether or not the driver has moved his / her face left and right more than a predetermined number of times when stopped or decelerated below a predetermined speed at a pedestrian crossing without a traffic signal in the vehicle traveling direction, It is determined whether left / right confirmation has been performed. When it is determined that the driver has moved the face to the left or right more than a predetermined number of times, the face orientation information at the pedestrian crossing is stored. In addition, when it is determined that the frequency of left-right confirmation for a pedestrian crossing without a traffic light is equal to or higher than a predetermined frequency, the pedestrian crossing is stored as a pedestrian crossing that needs to be stopped or checked for safety.
As a result, pedestrian crossings without traffic lights whose frequency of left-right confirmation is equal to or higher than a predetermined frequency are stored as pedestrian crossings that require stoppage or safety confirmation. Even if the frequency is less than this, the navigation device can determine whether this pedestrian crossing is a pedestrian crossing that requires stopping or safety confirmation, and confirms the driver's safety on the pedestrian crossing without a traffic light. It becomes possible to support more reliably.

The navigation device according to claim 6 detects an intersection in the vehicle traveling direction from the map information and the vehicle position, and stops at a pedestrian crossing on the exit side of the intersection when turning right or left at the intersection or below a predetermined speed. If it is determined that the vehicle has slowed down, the stop information at the pedestrian crossing on the exit side of the intersection is stored. And if it is determined that the stop frequency for the pedestrian crossing on the exit side of this intersection is greater than or equal to the predetermined frequency, the pedestrian crossing on the exit side of the intersection at the time of this right turn or left turn must be stopped or safety confirmation is required Remember as.
As a result, when the frequency of stops at the pedestrian crossing on the exit side at the time of turning right or left at the intersection is a predetermined frequency or more, the pedestrian crossing on the exit side of the intersection is a pedestrian crossing that needs to be stopped or checked for safety. As a result, the navigation device is required to stop or check the safety of the pedestrian crossing on the exit side at the time of the right turn or left turn at the exit side pedestrian crossing at the time of the right turn or left turn at the intersection in the vehicle traveling direction. It becomes possible to determine whether or not the road is a pedestrian crossing, and it is possible to support the driver's safety confirmation at the exit side pedestrian crossing when turning right or left at the intersection.

Further, in the navigation device according to claim 7, when the vehicle stops in the pedestrian crossing on the exit side when turning right or left at the intersection in the traveling direction of the vehicle or when the vehicle decelerates to a predetermined speed or less, the driver faces the left and right more than a predetermined number of times. It is determined whether it has moved, that is, whether left-right confirmation has been performed. If it is determined that the driver has moved the face to the left or right more than a predetermined number of times, the face orientation information at the exit side pedestrian crossing when the intersection turns right or left is stored. In addition, if it is determined that the frequency of left and right confirmations for the pedestrian crossing on the exit side of this intersection is equal to or higher than the predetermined frequency, the pedestrian crossing on the exit side at the time of turning right or left at this intersection must be stopped or safety confirmed. Remember as a pedestrian crossing.
As a result, the pedestrian crossing on the exit side at the time of turning right or left at the intersection where the frequency of left-right confirmation is equal to or higher than the predetermined frequency is stored as a pedestrian crossing that requires stopping or safety confirmation. Even if the stop frequency is less than the predetermined frequency at the exit side pedestrian crossing at the time of turning left or right, the navigation device will cross the pedestrian crossing on the exit side of the intersection at the time of this right turn or left turn or stop or need to confirm safety It becomes possible to determine whether or not the road is a sidewalk, and it is possible to more surely support the driver's safety confirmation at the pedestrian crossing on the exit side when turning right or left at the intersection.

  DETAILED DESCRIPTION Hereinafter, a navigation device according to the present invention will be described in detail with reference to the drawings based on an embodiment.

  First, a schematic configuration of a vehicle on which a navigation device according to the present embodiment is mounted will be described with reference to FIG. FIG. 1 is a schematic configuration diagram of a vehicle 2 on which a navigation device 1 according to the present embodiment is mounted.

  As shown in FIG. 1, a camera ECU (Electronic Control Unit) 51 that drives and controls a CCD camera or the like is electrically connected to the navigation control unit 13 of the navigation device 1 installed on the vehicle 2. In addition, on the left side and the right side of the front end portion of the vehicle 2, external cameras 53 and 53 configured by CCD cameras or the like are installed. Also, a driver camera 52 composed of a CCD camera or the like is installed in the vicinity of the room mirror.

  The navigation device 1 is provided on the center console or the panel surface of the vehicle 2. The navigation device 1 displays a map and a search route to the destination on the liquid crystal display 15, and outputs voice guidance related to route guidance through the speaker 16. Further, when a predetermined condition is satisfied, the navigation device 1 can transmit a control signal to the camera ECU 51 and the like as will be described later, and can divide or switch and display the video of each vehicle-side camera 53 on the liquid crystal display 15. Further, the camera ECU 51 detects the movement of the face when the driver performs left-right confirmation by performing image processing on the video signal of the driver camera 52 based on the control signal received from the navigation device 1, and moves to the left and right faces. An electronic control unit that outputs a detection signal, to which a driver camera 52 and each outside camera 53 are connected.

  Next, the configuration related to the control system of the vehicle 2 according to the present embodiment will be described with reference to FIG. FIG. 2 is a block diagram schematically showing a control system centered on the navigation device 1 mounted on the vehicle 2.

  As shown in FIG. 2, the control system of the vehicle 2 is configured based on a navigation device 1 and a camera ECU 51 that is electrically connected to the navigation device 1. The device is connected.

  The navigation device 1 includes a current position detection processing unit 11 that detects a current position of the own vehicle (hereinafter referred to as “own vehicle position”), a data recording unit 12 that records various data, and input information. Based on the navigation control unit 13 for performing various arithmetic processes, the operation unit 14 for receiving operations from the operator, the liquid crystal display 15 for displaying information such as a map to the operator, and voice guidance for route guidance. The output speaker 16 and a communication device 17 that communicates with an information center such as a road traffic information center (VICS: registered trademark). The navigation control unit 13 is connected to a vehicle speed sensor 21 that detects the traveling speed of the vehicle.

  The navigation device 1 collects information on traffic control systems such as the police and the Japan Highway Public Corporation from the road traffic information center (VICS) via the communication device 17 and creates information on traffic congestion, traffic regulation information, etc. The road traffic information can be received every predetermined time. The road traffic information is, for example, detailed information on road traffic information such as road traffic information related to road traffic congestion, traffic regulation information due to road construction, construction work, and the like. In the case of road traffic information, the detailed information includes a VICS link ID, which will be described later, the actual length of the traffic jam, the time at which traffic congestion is expected to be eliminated, and the traffic control information, which will be described later. The duration of construction, etc., traffic closure, one-sided alternate traffic, traffic regulation types such as lane regulation, traffic regulation time zones, etc.

  The communication device 17 is, for example, a LAN (Local Area Network), a WAN (Wide Area Network), an intranet, a mobile phone network, a telephone network, a public communication network, a dedicated communication network, a communication network such as the Internet, etc. It can be used by connecting to other communication systems. It can also be used by connecting to a communication system using CS broadcasting, BS broadcasting, terrestrial digital television broadcasting, FM multiplex broadcasting, etc. by a broadcasting satellite. Further, it can be used by connecting to a communication system such as a non-stop automatic toll payment system (ETC) or a narrow area communication system (DSRC) used in an intelligent road traffic system (ITS).

Below, each component which comprises the navigation apparatus 1 is demonstrated.
As shown in FIG. 2, the current location detection processing unit 11 includes a GPS 31, a geomagnetic sensor 32, a distance sensor 33, a steering sensor 34, a gyro sensor 35 as an orientation detection unit, an altimeter (not shown), and the like. It is possible to detect the position, direction, distance to a target (for example, an intersection), and the like.

  Specifically, the GPS 31 detects the current position and current time of the vehicle on the earth by receiving radio waves generated by an artificial satellite, and the geomagnetic sensor 32 measures the vehicle by measuring the geomagnetism. The azimuth is detected, and the distance sensor 33 detects a distance between predetermined positions on the road. Here, as the distance sensor 33, for example, the rotational speed of a wheel (not shown) of the vehicle is measured, a sensor that detects the distance based on the measured rotational speed, the acceleration is measured, and the measured acceleration is 2 A sensor that integrates the times and detects the distance can be used.

  The steering sensor 34 detects the rudder angle of the host vehicle. Here, as the steering sensor 34, for example, an optical rotation sensor attached to a rotating portion of a steering wheel (not shown), a rotation resistance sensor, an angle sensor attached to a wheel, or the like is used.

  And the gyro sensor 35 detects the turning angle of the own vehicle. Here, as the gyro sensor 35, for example, a gas rate gyro, a vibration gyro, or the like is used. Further, by integrating the turning angle detected by the gyro sensor 35, the vehicle direction can be detected.

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a storage medium, a travel history DB 22, a map information DB 25, a predetermined program, and the like stored in the hard disk and stores predetermined data on the hard disk. And a recording head (not shown) as a driver for writing. In this embodiment, a hard disk is used as an external storage device and a storage medium of the data recording unit 12. However, in addition to the hard disk, a magnetic disk such as a flexible disk can be used as the external storage device. Also, a memory card, magnetic tape, magnetic drum, CD, MD, DVD, optical disk, MO, IC card, optical card, etc. can be used as an external storage device.

In the travel history DB 22, as described later, when the vehicle stops at an intersection or a pedestrian crossing or decelerates to a predetermined speed or less (for example, 5 km / h or less), the coordinate position of the intersection or pedestrian crossing is described below. The stop information including the stop date, stop time, stop time, etc. is sequentially stored. The travel history DB 22 includes a predetermined number of times (for example, two times) for the driver to check left and right when stopping or decelerating below a predetermined speed at an intersection or pedestrian crossing without a traffic signal as described later. Or three times or more.) Even when moving to the left and right faces, face direction information including the coordinate position of the intersection and the pedestrian crossing, stop date, stop time, stop time, and the like is sequentially stored.
In addition, the traveling history DB 22 stores intersection information 23 in which coordinate positions and the like relating to intersections without traffic lights that require stoppage or safety confirmation as described later are stored. The travel history DB 22 stores pedestrian crossing information 24 in which coordinate positions and the like relating to a pedestrian crossing without a traffic light that needs to be stopped or checked for safety are stored as will be described later.

  In addition, the data recording unit 12 is created from the road traffic information on the current road traffic congestion, which is composed of the actual length of the traffic jam received from the road traffic information center (VICS), the time when the traffic jam is expected to be resolved, etc. Congestion information is stored. Further, the data recording unit 12 stores traffic regulation information created from road traffic information related to road regulation with traffic regulation, traffic regulation information due to construction work, etc. received from the road traffic information center (VICS).

The map information DB 25 stores navigation map information 26 used for travel guidance and route search of the navigation device 1. Here, the navigation map information 26 includes various information necessary for route guidance and map display. For example, new road information for identifying each new road, map display data for displaying a map, Intersection data relating to each intersection, node data relating to node points, link data relating to roads (links) as a kind of facility, search data for searching for routes, stores relating to POI (Point of Interest) such as shops that are a kind of facility It is composed of data, search data for searching points, and the like.
The contents of the map information DB 25 are updated by downloading update information distributed from the map information distribution center (not shown) via the communication device 17.

  Here, in particular, the map display data is divided into 4 (length 1/2), 16 (1/4), and 64 (1/8) based on a secondary mesh partitioned by 10 km × 10 km. Each unit is configured so that the data amount of each unit is approximately the same level. The smallest 64 division size unit is about 1.25 km square.

  Node data includes actual road branch points (including intersections, T-junctions, etc.), node point coordinates (positions) set for each road according to the radius of curvature, etc., nodes A node attribute indicating whether or not is a node corresponding to an intersection, a connection link number list which is a list of link IDs which are identification numbers of links connected to the node, and a list of node numbers of nodes adjacent to the node via the link Are recorded on the adjacent node number list, the height (altitude) of each node point, and the like.

  Link data includes the width of the road to which the link belongs, the gradient, the cant, the bank, the road surface condition, the number of lanes on the road, the number of lanes decreasing, and the width of the link data. The data indicating the radius, crossing, T-junction, corner entrance and exit, etc. with respect to the corner, data representing the downhill road, uphill road, etc. In addition to roads such as national roads, prefectural roads, narrow streets, etc., data representing toll roads such as national highways, urban highways, general toll roads, and toll bridges are recorded. Furthermore, regarding toll roads, data relating to entrance roads (rampways), toll gates (interchanges) and the like of toll roads are recorded.

  In addition, as search data, data used for searching and displaying a route to a set destination is recorded, and costs for passing through a node (hereinafter referred to as node cost) and roads are configured. Cost data used for calculating a search cost including a link cost (hereinafter referred to as a link cost), route display data for displaying a guidance route selected by the route search on a map of the liquid crystal display 15, and the like. It is configured.

  Further, as store data, data on POIs such as hotels, hospitals, gas stations, parking lots, and tourist facilities in each region are recorded together with IDs that identify the POIs. In the map information DB 25, sound output data for outputting predetermined information by the speaker 16 of the navigation device 1 is also recorded.

As shown in FIG. 2, the navigation control unit 13 constituting the navigation device 1 is an arithmetic device that performs overall control of the navigation device 1, a CPU 41 as a control device, and working when the CPU 41 performs various arithmetic processes. In addition to being used as a memory, the RAM 42 that stores route data when a route is searched, a control program, and registration of intersections and pedestrian crossings that do not have traffic lights that require stoppage or safety confirmation described later A ROM 43 in which a registration processing program (see FIGS. 3 and 6) is stored, an internal storage device such as a flash memory 44 for storing a program read from the ROM 43, a timer 45 for measuring time, and the like are provided. Further, the RAM 42 is provided with a face direction counter 42 </ b> A for measuring the number of times the face is moved to the left and right of the driver detected via the driver camera 52 and the camera ECU 51. When the engine is started, “0” is substituted and stored in the count value of the face direction counter 42A.
Here, a semiconductor memory, a magnetic core, or the like is used as the RAM 42, the ROM 43, the flash memory 44, or the like. As the arithmetic device and the control device, an MPU or the like can be used instead of the CPU 41.

  In this embodiment, various programs are stored in the ROM 43, and various data are stored in the data recording unit 12. However, the programs, data, and the like are stored in the same external storage device, memory card, and the like. It is also possible to read a program, data, etc. from the above and write it into the flash memory 44. Further, the program, data, etc. can be updated by exchanging a memory card or the like.

  Furthermore, the navigation control unit 13 is electrically connected to peripheral devices (actuators) of the operation unit 14, the liquid crystal display 15, the speaker 16, and the communication device 17.

  The operation unit 14 is operated when correcting the current location at the start of travel, inputting a departure point as a guidance start point and a destination as a guidance end point, or searching for information about facilities, and the like. And a plurality of operation switches. The navigation control unit 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. As the operation unit 14, a keyboard, a mouse, a barcode reader, a remote control device for remote operation, a joystick, a light pen, a stylus pen, or the like can be used. Furthermore, it can also be configured by a touch panel provided on the front surface of the liquid crystal display 15.

  The liquid crystal display 15 also has operation guidance, operation menus, key guidance, guidance route from the current location to the destination, guidance information along the guidance route, traffic information, news, weather forecast, time, mail, TV program, etc. Further, as described later, at an intersection or pedestrian crossing where there is no traffic light, a warning display indicating that stop or deceleration is necessary, the surrounding situation in the left-right direction of the vehicle 2 by each of the outside cameras 53, and the like are displayed. Instead of the liquid crystal display 15, it is also possible to use a CRT display, a plasma display, or the like, or a hologram device that projects a hologram onto the windshield of a vehicle.

  In addition, the speaker 16 outputs, based on instructions from the navigation control unit 13, travel guidance along the guidance route, and voice guidance that warns of stoppage or safety confirmation at intersections or crosswalks without traffic lights. Here, examples of the voice guidance to be guided include “200m ahead, turn right at the XX intersection”, “Stop and check left and right safety”. In addition to the synthesized voice, the voice output from the speaker 16 can output various sound effects and various guidance information recorded in advance on a tape, a memory, or the like.

  And the communication apparatus 17 is a communication means which communicates with a map information distribution center, and transmits / receives the updated map information etc. of the newest version between map information distribution centers. In addition to the map information distribution center, road traffic consisting of information such as traffic congestion information, traffic regulation information, parking lot information, traffic accident information, and service area congestion transmitted from the road traffic information center (VICS), etc. Information is received as a radio wave beacon, an optical beacon, or the like via a radio beacon device, an optical beacon device, or the like disposed along the road. The communication device 17 is a network device that enables communication in a communication system such as a LAN, a WAN, an intranet, a mobile phone network, a telephone network, a public communication network, a dedicated communication network, and a communication network such as the Internet. is there. Further, the communication device 17 includes an FM receiver that receives FM multiplexed information including information such as news and weather forecasts as FM multiplexed broadcasting via the FM broadcasting station in addition to information from the road traffic information center (VICS). Prepare. The beacon receiver and the FM receiver are unitized and arranged as a VICS receiver, but can be arranged separately.

  In addition, the camera ECU 51 includes a data receiving unit 51A that receives control information transmitted from the navigation control unit 13, and controls the driver camera 52 and each vehicle-mounted camera 53 based on the received control information and performs image recognition. An image recognition unit 51B is provided.

Next, the process of automatically registering an intersection without a traffic signal that needs to be stopped or confirmed by safety performed by the CPU 41 of the navigation device 1 configured as described above will be described with reference to FIGS.
FIG. 3 is a main flowchart showing an intersection registration process for automatically registering an intersection without a traffic signal that needs to be stopped or confirmed by the CPU 41 of the navigation device 1 according to this embodiment. FIG. 4 is a sub-flowchart showing a sub-process of “intersection registration process 1” in FIG. FIG. 5 is a sub-flowchart showing a sub-process of the “intersection registration process 2” of FIG. 3 is stored in the ROM 43 provided in the navigation control unit 13 of the navigation device 1, and is executed by the CPU 41 at regular intervals (for example, every 10 msec to 100 msec).

  As shown in FIG. 3, first, in step (hereinafter abbreviated as “S”) 11, the CPU 41 causes the current position detection processing unit 11 to detect the current position of the own vehicle (hereinafter referred to as “own vehicle position”) and the own vehicle. The vehicle direction indicating the direction is detected, and coordinate data (for example, latitude and longitude data) indicating the vehicle position and the vehicle direction are stored in the RAM 42. Further, the CPU 41 detects intersection data relating to an intersection ahead of the traveling direction of the host vehicle 2 on the guidance route from the navigation map information 26 (for example, the coordinate position of the intersection, presence / absence of a traffic light, the road on which the host vehicle is traveling). Road width, the number of lanes, road attributes (national roads, prefectural roads, city roads, etc.), crosswalk presence / absence, crosswalk coordinate position, etc.) are read out and stored in the RAM.

Subsequently, in S12, the CPU 41 reads again the coordinate data representing the own vehicle position and the intersection data from the RAM 42, and within R1 (m) (for example, within about 100 m to 200 m) of the traffic signal from the own vehicle position. A determination process for determining whether or not there is an intersection is performed.
And when there is no intersection without a traffic signal within R1 (m) from the own vehicle position (S12: NO), CPU41 complete | finishes the said process.

  On the other hand, when there is an intersection with no traffic light within R1 (m) from the vehicle position (S12: YES), the CPU 41 proceeds to the process of S13. In S13, the CPU 41 reads the intersection data from the RAM 42 again, and priority determination information (for example, road width, number of lanes, roads) for determining the priority between the road on which the host vehicle 2 is traveling and the road that intersects the road. A determination process for determining whether or not there is an attribute (a national road, a prefectural road, a city road, etc.) is executed.

And when there is no priority determination information for determining the priority with the road which the own vehicle 2 is driving, and the road which cross | intersects (S13: NO), CPU41 transfers to the process of S14, After executing a sub-process (see FIG. 4) of “intersection registration process 1” described later, the process ends.
On the other hand, when there is priority determination information for determining the priority between the road on which the host vehicle 2 is traveling and the road intersecting (S13: YES), the CPU 41 proceeds to the process of S15. Then, after executing a sub-process (see FIG. 5) of “intersection registration process 2” described later, the process ends.

Next, the sub-process of “intersection registration process 1” executed in S14 will be described with reference to FIG.
As shown in FIG. 4, in S111, the CPU 41 measures the vehicle speed of about 2m to 50m before the intersection without a traffic signal by the vehicle speed sensor 21, and the vehicle speed of about 1m to 3m before the intersection is below a predetermined speed (for example, It is determined whether it is about 0 km / hour to 5 km / hour or less), that is, whether the vehicle is stopped or decelerated to a predetermined speed or less for safety confirmation at this intersection.
If the vehicle has not stopped or decelerated below the predetermined speed for safety confirmation at this intersection (S111: NO), the CPU 41 ends the sub-process and returns to the main flowchart.

  On the other hand, if the vehicle stops or decelerates to a predetermined speed or less at this intersection (S111: YES), the CPU 41 proceeds to the process of S112. In S <b> 112, the CPU 41 acquires “stop information” such as the coordinate position of the intersection without the traffic light, the stop date, the stop time, the stop time, and the traveling direction of the host vehicle, and stores them in the RAM 42. At the same time, the CPU 41 acquires a left / right face direction movement detection signal that detects the movement of the face when the driver performs left / right confirmation via the camera ECU 51 and the driver camera 52, and moves the face to the left / right of the driver. Is counted and stored in the face direction counter 42A.

In S113, the CPU 41 reads out the “stop information” such as the coordinate position of the intersection without the traffic light, the stop date, the stop time, the stop time, and the traveling direction of the own vehicle from the RAM 42, and stores them in the travel history DB 22. To do.
Further, the CPU 41 again reads out the count value of the face direction counter 42A, and executes a determination process for determining whether the count value is 2 to 3 times or more. If the read face orientation counter 42A counts twice or three times or more, it is determined that the driver has confirmed left and right for safety confirmation at this intersection, and the coordinate position of the intersection without this traffic light After acquiring the “face orientation information” such as confirmation date, confirmation time, number of confirmations, traveling direction of the vehicle, etc., and storing it in the travel history DB 22, the face orientation counter 42A is initialized, and the process of S114 is performed. Transition. On the other hand, if the read count value of the face direction counter 42A is 0 or 1, the CPU 41 proceeds to the process of S114 after initializing the face direction counter 42A.

  Subsequently, in S114, the CPU 41 reads “stop information” for a predetermined period (for example, the past 3 to 6 months) relating to an intersection without the traffic light from the travel history DB 22, and the frequency of stopping at this intersection is high. Judgment processing is performed to determine whether or not. For example, a determination process is performed to determine whether the number of stops for safety confirmation at this intersection is 40 times to 50 times or more in the past three months.

And when the stop frequency in this intersection is high (S114: YES), CPU41 transfers to the process of S115. For example, when the number of stops for safety confirmation at this intersection is 40 times or more to 50 times or more in the past three months (S114: YES), the CPU 41 proceeds to the process of S115.
In S115, the CPU 41 determines that the intersection without the traffic signal is an intersection that requires a stop or safety check because the traffic volume is large or the view is bad, and the intersection without the traffic signal is used as the intersection information 23. In other words, after storing information such as the coordinate position, name, and traveling direction of the intersection without this traffic light in the intersection information 23, the sub-process is terminated and the process returns to the main flowchart.

On the other hand, when the stop frequency at this intersection is not high (S114: NO), the CPU 41 proceeds to the process of S116. For example, if the number of stops for safety confirmation at this intersection is less than 30 to less than 40 in the past three months (S114: NO), the CPU 41 proceeds to the process of S116.
In S116, the CPU 41 reads “face orientation information” for a predetermined period (for example, the past 3 to 6 months) related to the intersection without the traffic signal from the travel history DB 22, and displays the “face orientation” for the number of stops at this intersection. Judgment whether or not the number of times the "information" is stored is large, that is, whether or not the driver frequently checks left and right when stopping at an intersection without a traffic light or decelerating to a predetermined speed or less Execute the process. For example, it is determined whether or not the number of times the “face orientation information” is stored is 50% or more with respect to the number of stops that have been stopped or decelerated to a predetermined speed or less for the safety check of the past three months at this intersection. Execute the judgment process.

When the driver stops frequently or decelerates to a predetermined speed or less at an intersection where there is no traffic light (S116: YES), the CPU 41 needs to stop or confirm safety at this intersection. It is determined that the vehicle is an intersection, and the process proceeds to S115. For example, if the number of times the “face orientation information” is stored is about 50% or more of the number of stops for safety confirmation in the past three months at this intersection, the CPU 41 stops this intersection or It is determined that the intersection requires safety confirmation, and the process proceeds to S115.
On the other hand, if the driver does not check the left and right frequently when the vehicle stops at an intersection without this traffic light or decelerates to a predetermined speed or less (S116: NO), the CPU 41 ends the sub-process and terminates the main process. Return to the flowchart.

Next, the sub-process of “intersection registration process 2” executed in S15 will be described with reference to FIG.
As shown in FIG. 5, in S121, the CPU 41 determines whether or not the road on which the host vehicle 2 is traveling has higher priority than the intersecting road based on the priority determination information. Execute. For example, wider roads have a higher priority with respect to road width, and with regard to road attributes, national roads have higher priority than prefectural roads, prefectural roads have better priority than city roads, and city roads have higher priority than other roads. The priority is determined on the assumption that the higher the number, the higher the priority.

If it is determined that the road on which the host vehicle 2 is traveling has a higher priority than the intersecting road (S121: YES), the CPU 41 ends the sub-process and returns to the main flowchart.
On the other hand, when it is determined that the road that intersects with the road on which the host vehicle 2 is traveling has a higher priority, or the road width and the number of lanes with the road on which the host vehicle 2 is traveling If the road attributes (national road, prefectural road, city road, etc.) are the same, that is, if the priority of the road on which the vehicle 2 is traveling and the road intersecting is the same (S121: NO), the CPU 41 Shifts to the process of S122.
Then, in the processes of S122 to S126, the CPU 41 ends the sub-process after executing the processes of S111 to S115 and returns to the main flowchart.

  Therefore, the CPU 41 of the navigation apparatus 1 relates to an intersection ahead of the traveling direction of the host vehicle 2, and if there is an intersection with no traffic light within R1 (m) from the host vehicle position, the host vehicle 2 travels at the intersection. The priority with the road which crosses the existing road is determined (S11 to S13). And when this priority cannot be determined (S13: NO), or when the priority of the road intersecting with the road on which the own vehicle 2 is traveling at this intersection is the same, or the own vehicle 2 If the road that intersects has a higher priority than the road on which the vehicle is traveling (S121: NO), the CPU 41 stops or decelerates below a predetermined speed for safety confirmation at this intersection. “Stop information” relating to an intersection without a traffic signal is acquired and stored in the travel history DB 22. At the same time, the CPU 41 detects the movement of the face when the driver performs the left / right confirmation via the camera ECU 51 and the driver camera 52, and when the left / right confirmation is performed two to three times, this signal is not present. “Face direction information” regarding the intersection is acquired and stored in the travel history DB 22 (S112 to S113, S123 to S124). Subsequently, the CPU 41 reads “stop information” for a predetermined period related to the intersection without the traffic signal from the travel history DB 22, and determines that the intersection needs to be stopped or checked for safety when the stop frequency at the intersection is high. Then, information such as the coordinate position, name, and traveling direction of the intersection without the traffic signal is stored in the intersection information 23 (S114: YES to S115, S125: YES to S126). If the stop frequency at this intersection is not high, the CPU 41 reads “face orientation information” for a predetermined period regarding the intersection without the traffic light from the travel history DB 22 and reads “face orientation information” for the number of stops at this intersection. ”Is stored many times, that is, when the frequency of right and left confirmation is high, it is determined that the intersection needs to be stopped or confirmed, and the coordinate position, name, and progress of the intersection without the traffic signal are determined. Information such as directions is stored in the intersection information 23 (S114: NO to S115, S125: NO to S126).

  As a result, an intersection without a traffic signal whose frequency of storage of “stop information” in the travel history DB 22 within a predetermined period is not less than the predetermined frequency is automatically stored in the intersection information 23 as an intersection that needs to be stopped or checked for safety. Therefore, even when the CPU 41 of the navigation device 1 cannot determine the priority between the road where the host vehicle 2 is traveling and the road intersecting at the intersection where there is no traffic light stopped or decelerated to a predetermined speed or less, It is possible to determine whether or not this intersection is an intersection that needs to be stopped or checked for safety and automatically register it.

  Further, at the intersection where there is no traffic light, when the priority of the road intersecting with the road on which the own vehicle 2 is traveling is the same, that is, the priority on the road intersecting with the road on which the own vehicle 2 is traveling. In the case where it is not possible to determine the “stop information” that is stopped at the intersection without this traffic light or decelerated to a predetermined speed or less, it is stored in the travel history DB 22 as the travel history of the host vehicle 2. It becomes possible to improve the reliability of the “stop information”.

  Furthermore, the number of times the “face orientation information” is stored with respect to the number of stops at this intersection is large, that is, an intersection without a traffic signal whose left-right confirmation frequency exceeds a predetermined frequency is automatically detected as an intersection that requires stop or safety confirmation. Therefore, the CPU 41 of the navigation device 1 needs to stop or confirm safety at the intersection where there is no traffic signal in the vehicle traveling direction even if the storage frequency of the “stop information” is less than the predetermined frequency. It is possible to automatically register by judging whether or not it is an intersection.

Next, the process of automatically registering a pedestrian crossing without a traffic signal that requires stop or safety check, which is executed by the CPU 41 of the navigation device 1 configured as described above, will be described with reference to FIGS.
FIG. 6 is a main flowchart showing a pedestrian crossing registration process for automatically registering a pedestrian crossing without a traffic signal that needs to be stopped or checked for safety, which is executed by the CPU 41 of the navigation device 1 according to the present embodiment. FIG. 7 is a sub-flowchart showing a sub-process of “pedestrian crossing registration process 1” of FIG. FIG. 8 is a sub-flowchart showing a sub-process of the “crosswalk registration process 2” of FIG. 6 is stored in the ROM 43 provided in the navigation control unit 13 of the navigation device 1 and is executed by the CPU 41 at regular intervals (for example, every 10 msec to 100 msec).

  As shown in FIG. 6, first, in S <b> 21, the CPU 41 detects the vehicle position indicating the vehicle position and the direction of the vehicle by the current position detection processing unit 11, and coordinates data (e.g., latitude) And the longitude of the vehicle.) And the vehicle direction are stored in the RAM 42. In addition, the CPU 41 uses pedestrian crossing data on the pedestrian crossing ahead of the traveling direction of the host vehicle 2 on the guidance route from the navigation map information 26 (for example, the coordinate position of the pedestrian crossing, presence / absence of traffic lights, road width, number of lanes). , Road attributes (such as national roads, prefectural roads, city roads, etc.) and intersection data relating to intersections ahead of the traveling direction of the host vehicle 2 (for example, the coordinate position of the intersection, presence / absence of traffic lights, traveling by the host vehicle) RAM 42 is read out, and the road width, the number of lanes, the road attributes (national roads, prefectural roads, city roads, etc.), the presence / absence of pedestrian crossings, the coordinate position of pedestrian crossings, etc.) To remember.

Subsequently, in S22, the CPU 41 reads again the coordinate data representing the vehicle position and the pedestrian crossing data from the RAM 42, and the traffic light is within R2 (m) (for example, within about 100 m to 300 m) from the vehicle position. A determination process for determining whether or not there is a pedestrian crossing without a mark is executed.
If there is a crosswalk without a traffic light within R2 (m) from the vehicle position (S22: YES), the CPU 41 proceeds to the process of S23. In S <b> 23, the CPU 41 ends the process after executing a sub-process (see FIG. 7) of “crosswalk registration process 1” described later.

On the other hand, when there is no pedestrian crossing without a traffic signal within R2 (m) from the vehicle position (S22: NO), the CPU 41 proceeds to the process of S24. In S24, the CPU 41 executes determination processing for determining whether or not there is an intersection within R2 (m) (for example, within about 100 m to 300 m) from the vehicle position.
And when there is no intersection within R2 (m) from the own vehicle position (S24: NO), CPU41 complete | finishes the said process.
On the other hand, when there is an intersection within R2 (m) from the vehicle position (S24: YES), the CPU 41 proceeds to the process of S25. In S <b> 25, the CPU 41 ends the process after executing a sub-process (see FIG. 8) of “crosswalk registration process 2” described later.

Next, the sub-process of “pedestrian crossing registration process 1” executed in S23 will be described with reference to FIG.
As shown in FIG. 7, in S211, the CPU 41 measures the vehicle speed of about 2 m to 50 m before the pedestrian crossing without a traffic light by the vehicle speed sensor 21, and the vehicle speed of about 1 m to 3 m before the pedestrian crossing is below a predetermined speed ( (For example, it is about 0 km / hour to 5 km / hour or less.), That is, whether or not the vehicle has been stopped or decelerated below a predetermined speed for safety confirmation at this pedestrian crossing is executed. To do.
If the vehicle is not stopped or decelerated to a predetermined speed or less at the pedestrian crossing (S211: NO), the CPU 41 ends the sub-process and returns to the main flowchart.

  On the other hand, when the vehicle is stopped or decelerated to a predetermined speed or less at the pedestrian crossing (S211: YES), the CPU 41 proceeds to the process of S212. In S <b> 212, the CPU 41 acquires “stop information” such as the coordinate position of the pedestrian crossing without the traffic light, the stop date, the stop time, the stop time, and the traveling direction of the host vehicle, and stores them in the RAM 42. At the same time, the CPU 41 acquires a left / right face direction movement detection signal that detects the movement of the face when the driver performs left / right confirmation via the camera ECU 51 and the driver camera 52, and moves the face to the left / right of the driver. Is counted and stored in the face direction counter 42A.

In S213, the CPU 41 reads out the “stop information” such as the coordinate position of the pedestrian crossing without the traffic light, the stop date, the stop time, the stop time, the traveling direction of the own vehicle from the RAM 42, and stores it in the travel history DB 22. Remember.
Further, the CPU 41 again reads out the count value of the face direction counter 42A, and executes a determination process for determining whether the count value is 2 to 3 times or more. If the count value of the read face direction counter 42A is 2 to 3 times or more, it is determined that the driver has confirmed left and right for safety confirmation at this pedestrian crossing, and the pedestrian crossing without this traffic light After acquiring the “face orientation information” such as the coordinate position, confirmation date, confirmation time, number of confirmations, traveling direction of the vehicle, etc. and storing it in the travel history DB 22, the face orientation counter 42A is initialized, and in S214 Transition to processing. On the other hand, when the read count value of the face direction counter 42A is 0 or 1, the CPU 41 proceeds to the process of S214 after initializing the face direction counter 42A.

  Subsequently, in S214, the CPU 41 reads “stop information” for a predetermined period (for example, the past 3 to 6 months) relating to a pedestrian crossing without the traffic signal from the travel history DB 22, and the stop frequency at this pedestrian crossing. A determination process for determining whether or not is high is executed. For example, a determination process is performed to determine whether the number of stops for safety confirmation at the pedestrian crossing is 40 times or more to 50 times or more in the past three months.

When the stop frequency at the pedestrian crossing is high (S214: YES), the CPU 41 proceeds to the process of S215. For example, when the number of stops for confirming safety at this pedestrian crossing is 40 times or more to 50 times or more in the past three months (S214: YES), the CPU 41 proceeds to the process of S215.
In S215, the CPU 41 determines that the pedestrian crossing without the traffic signal is a pedestrian crossing that requires stoppage or safety confirmation because the traffic volume is large or the prospect is poor, and the pedestrian crossing without the traffic signal crosses the pedestrian crossing. After storing information such as the coordinate position, name, and traveling direction of the pedestrian crossing without the traffic light in the pedestrian crossing information 24, the sub-processing is terminated and the process returns to the main flowchart.

On the other hand, when the stop frequency at the pedestrian crossing is not high (S214: NO), the CPU 41 proceeds to the process of S216. For example, when the number of stops for confirming safety at the pedestrian crossing is less than 30 to less than 40 in the past three months (S214: NO), the CPU 41 proceeds to the process of S216.
In S <b> 216, the CPU 41 reads “face orientation information” for a predetermined period (for example, the past 3 to 6 months) related to a pedestrian crossing without the traffic light from the travel history DB 22, and “ Whether the number of times the “face orientation information” is stored is large, that is, whether the driver frequently checks left and right when stopping at a pedestrian crossing without a traffic light or decelerating below a predetermined speed. A determination process for determining is executed. For example, it is determined whether the number of times the “face orientation information” is stored is 50% or more with respect to the number of stops that have been stopped or decelerated to a predetermined speed or less for the past three months at the pedestrian crossing. The determination process to be executed is executed.

Then, when the driver frequently checks left and right when stopping at a pedestrian crossing without this traffic light or decelerating to a predetermined speed or less (S216: YES), the CPU 41 confirms that this pedestrian crossing is stopped or is safe. Is determined to be a necessary pedestrian crossing, and the process proceeds to S215. For example, when the number of times “face orientation information” is stored is about 50% or more of the number of stops for safety confirmation in the past three months at this pedestrian crossing, the CPU 41 determines that this pedestrian crossing is It is determined that the pedestrian crossing needs to be stopped or checked for safety, and the process proceeds to S215.
On the other hand, when the driver does not check the left and right frequently when stopping at a pedestrian crossing without a traffic light or decelerating to a predetermined speed or less (S216: NO), the CPU 41 ends the sub-process. Return to the main flowchart.

Next, the sub-process of “pedestrian crossing registration process 2” executed in S25 will be described with reference to FIG.
As shown in FIG. 8, in S221, the CPU 41 detects the vehicle position indicating the vehicle position and the vehicle direction by the current position detection processing unit 11, enters the intersection, and makes a right turn or a left turn. In addition, whether the vehicle speed of about 1 m to 3 m before the pedestrian crossing on the exit side at the time of the right turn or left turn at this intersection has become a predetermined speed or less (for example, about 0 km / hour to 5 km / hour or less). That is, a determination process is executed to determine whether the vehicle has stopped or decelerated to a predetermined speed or less for safety confirmation at the pedestrian crossing on the exit side when turning right or left at this intersection.
If the vehicle is not stopped or decelerated below a predetermined speed for safety confirmation at the pedestrian crossing on the exit side when turning right or left at this intersection (S221: NO), the CPU 41 ends the sub-process. To return to the main flowchart.

  On the other hand, when the vehicle is stopped or decelerated to a predetermined speed or lower for safety confirmation at the exit side pedestrian crossing when turning right or left at this intersection (S221: YES), the CPU 41 proceeds to the process of S222. In S222, the CPU 41 obtains “stop information” such as the coordinate position of the pedestrian crossing on the exit side at the time of turning right or left at this intersection, the stop date, the stop time, the stop time, and the traveling direction of the own vehicle. And stored in the RAM 42. At the same time, the CPU 41 acquires a left / right face direction movement detection signal that detects the movement of the face when the driver performs left / right confirmation via the camera ECU 51 and the driver camera 52, and moves the face to the left / right of the driver. Is counted and stored in the face direction counter 42A.

Then, in S223, the CPU 41 stores “stop information” such as the coordinate position of the exit side pedestrian crossing, the stop date, the stop time, the stop time, and the traveling direction of the own vehicle at the time of turning right or left at this intersection. Is stored in the travel history DB 22.
Further, the CPU 41 again reads out the count value of the face direction counter 42A, and executes a determination process for determining whether the count value is 2 to 3 times or more. When the read face orientation counter 42A counts two to three times or more, the driver checks left and right for safety confirmation at the pedestrian crossing on the exit side when turning right or left at this intersection. `` Face direction information '' such as the coordinate position of the pedestrian crossing on the exit side at the time of right turn or left turn at this intersection, confirmation date, confirmation time, number of confirmations, traveling direction of the own vehicle, etc. After storing in the travel history DB 22, the face direction counter 42A is initialized, and the process proceeds to S224. On the other hand, when the count value of the read face orientation counter 42A is 0 or 1, the CPU 41 proceeds to the processing of S224 after initializing the face orientation counter 42A.

  Subsequently, in S224, the CPU 41 reads “stop information” for a predetermined period (for example, the past 3 to 6 months) related to the pedestrian crossing on the exit side when turning right or left at the intersection from the travel history DB 22. Then, a determination process for determining whether or not the stop frequency at the exit side pedestrian crossing at the time of turning right or left at the intersection is high is executed. For example, a determination process is performed to determine whether the number of stops for safety confirmation at the exit side pedestrian crossing at the time of turning right or left at this intersection is 40 times to 50 times or more in the past three months To do.

And when the stop frequency at the exit side pedestrian crossing at the time of the right turn or left turn of this intersection is high (S224: YES), CPU41 transfers to the process of S225. For example, when the number of stops for safety confirmation at the pedestrian crossing on the exit side at the time of turning right or left at this intersection is 40 times or more to 50 times or more in the past three months (S224: YES), the CPU 41 , The process proceeds to S225.
In S225, the CPU 41 determines that the pedestrian crossing on the exit side when turning right or left at this intersection is a pedestrian crossing that requires a stop or safety check because the traffic volume is high or the prospect is poor. The pedestrian crossing on the exit side at the time of right turn or left turn at the intersection is stored in the pedestrian crossing information 24, that is, the coordinate position, name, traveling direction of the exit side pedestrian crossing at the time of right turn or left turn at this intersection And the like are stored in the pedestrian crossing information 24, the sub-process is terminated, and the process returns to the main flowchart.

On the other hand, when the stop frequency is not high at the pedestrian crossing on the exit side at the time of the right turn or the left turn at this intersection (S224: NO), the CPU 41 proceeds to the process of S226. For example, when the number of stops for safety confirmation at the intersection on the exit side at the time of right turn or left turn at this intersection is less than 30 to less than 40 times in the past three months (S224: NO), the CPU 41 , The process proceeds to S226.
In S226, the CPU 41 reads the “face orientation information” for a predetermined period (for example, the past 3 to 6 months) related to the pedestrian crossing on the exit side when turning right or left at the intersection from the travel history DB 22, Whether there is a large number of “face orientation information” stored for the number of stops at the exit pedestrian crossing when turning right or left at the intersection, that is, crossing on the exit side when turning right or left at this intersection When the vehicle stops on the sidewalk or decelerates to a predetermined speed or less, a determination process is performed to determine whether the driver frequently checks left and right. For example, “face orientation information” is stored for the number of stops that have stopped or decelerated below a predetermined speed for safety confirmation in the past three months at the pedestrian crossing on the exit side when turning right or left at this intersection. A determination process for determining whether or not the number of times the current number is 50% or more is executed.

Then, when the driver frequently checks left and right when stopping or decelerating to a predetermined speed or less at the pedestrian crossing on the exit side at the time of right turn or left turn at this intersection (S226: YES), the CPU 41 The pedestrian crossing on the exit side at the time of the right turn or the left turn at this intersection is determined to be a pedestrian crossing that needs to be stopped or checked for safety, and the process proceeds to S225. For example, the number of times “face orientation information” is stored is about 50% or more of the number of stops for safety confirmation in the past three months at the pedestrian crossing on the exit side when turning right or left at this intersection In this case, the CPU 41 determines that the pedestrian crossing on the exit side when turning right or left at this intersection is a pedestrian crossing that needs to be stopped or checked for safety, and proceeds to the process of S225.
On the other hand, if the driver does not check the left and right frequently when stopping or decelerating to a predetermined speed or less at the pedestrian crossing on the exit side when turning right or left at this intersection (S226: NO), the CPU 41 Then, the sub-process is terminated and the process returns to the main flowchart.

  Therefore, the CPU 41 of the navigation device 1 uses each pedestrian crossing when there is a pedestrian crossing without a traffic light in front of the traveling direction of the host vehicle 2 or when there is a pedestrian crossing on the exit side when turning right or left at the intersection. When the vehicle is stopped or decelerated below a predetermined speed for safety confirmation, “stop information” regarding each pedestrian crossing is acquired and stored in the travel history DB 22. At the same time, the CPU 41 detects the movement of the face when the driver confirms the left and right via the camera ECU 51 and the driver camera 52, and if the driver confirms the left and right two to three times or more, this crosswalk Is acquired and stored in the travel history DB 22 (S212 to S213, S222 to S223). Subsequently, the CPU 41 reads “stop information” for a predetermined period related to each pedestrian crossing from the travel history DB 22, and when the stop frequency at each pedestrian crossing point is high, it is a pedestrian crossing that requires stop or safety confirmation. It is determined that there is, and information such as the coordinate position, name, traveling direction, and the like of the pedestrian crossing without the traffic signal or the exit side pedestrian crossing at the time of turning right or left at the intersection is stored in the pedestrian crossing information 24 (YES in S214). -S215, S224: YES-S225). If the stop frequency at each pedestrian crossing is not high, the CPU 41 reads out “face orientation information” for a predetermined period regarding each pedestrian crossing from the travel history DB 22, and displays the “face” for the number of stops at each pedestrian crossing. If the number of “direction information” is stored many times, that is, if the frequency of left and right confirmation is greater than or equal to a predetermined frequency, it is determined that the pedestrian crossing requires stoppage or safety confirmation, and the pedestrian crossing without the traffic signal In addition, information such as the coordinate position, name, and traveling direction of the pedestrian crossing on the exit side when the intersection turns right or left is stored in the pedestrian crossing information 24 (S214: NO to S215, S224: NO to S225).

As a result, the pedestrian crossing without a traffic light with the frequency of storage of “stop information” in the travel history DB 22 within a predetermined period exceeding the predetermined frequency, and the pedestrian crossing on the exit side when turning right or left at the intersection are stopped or confirmed safety Is automatically stored in the pedestrian crossing information 24 as a pedestrian crossing that requires a pedestrian crossing. Therefore, the CPU 41 of the navigation apparatus 1 can detect each of the pedestrian crossings without traffic lights and the pedestrian crossings on the exit side when turning right or left at the intersection. It is possible to determine whether or not the pedestrian crossing is an intersection that needs to be stopped or checked for safety and automatically register it.
In addition, the number of times the “face orientation information” is stored, that is, the pedestrian crossing without a traffic signal with the frequency of left-right confirmation exceeding a predetermined frequency or the pedestrian crossing on the exit side when turning right or left at an intersection is stopped or Since it is automatically stored as a pedestrian crossing that requires safety confirmation, the CPU 41 of the navigation device 1 stores “stop information” at a pedestrian crossing without a traffic light or at a pedestrian crossing on the exit side when turning right or left at an intersection. Even if the frequency is less than the predetermined frequency, it is possible to determine whether or not each pedestrian crossing is a pedestrian crossing that needs to be stopped or safety checked, and automatically register it.

Next, a driving support process for supporting the driver's safety confirmation at an intersection without a traffic light or a pedestrian crossing executed by the CPU 41 of the navigation device 1 configured as described above will be described with reference to FIGS. 9 and 10.
FIG. 9 is a main flowchart showing a driving support process for supporting the driver's safety check at an intersection or a pedestrian crossing without a traffic signal, which is executed by the CPU 41 of the navigation device 1 according to the present embodiment. FIG. 10 is a sub-flowchart showing a sub-process of the “safety confirmation process” of FIG. 9 is stored in the ROM 43 provided in the navigation control unit 13 of the navigation device 1 and is executed by the CPU 41 at regular intervals (for example, every 10 msec to 100 msec).

  As shown in FIG. 9, first, in S31, the CPU 41 detects the vehicle position indicating the vehicle position and the direction of the vehicle by the current position detection processing unit 11, and coordinates data (e.g., latitude) And the longitude of the vehicle.) And the vehicle direction are stored in the RAM 42.

Subsequently, in S32, the CPU 41 needs to stop or confirm safety registered in the intersection information 23 within the vehicle traveling direction R3 (m) from the own vehicle position (for example, within about 100 m to 300 m). A determination process for determining whether there is an intersection without a traffic signal is executed.
If there is an intersection without a traffic signal that needs to be stopped or checked for safety within the vehicle traveling direction R3 (m) from the vehicle position (S32: YES), the CPU 41 performs S33. Move on to processing. In S33, the CPU 41 proceeds to the process of S34 after executing a sub-process (see FIG. 10) of “safety confirmation process” described later.
On the other hand, when there is no intersection registered in the intersection information 23 with no traffic signal requiring stop or safety confirmation within the vehicle traveling direction R3 (m) from the own vehicle position (S32: NO), the CPU 41 performs S34. Move on to processing.

In S <b> 34, the CPU 41 needs to stop or confirm safety registered in the pedestrian crossing information 24 within the vehicle traveling direction R <b> 3 (m) from the own vehicle position (for example, within about 100 m to 300 m). A determination process for determining whether or not there is a pedestrian crossing is executed.
If there is a pedestrian crossing that is registered in the pedestrian crossing information 24 and requires safety confirmation within the vehicle traveling direction R3 (m) from the vehicle position (S34: YES), the CPU 41 Transition to processing. In S <b> 35, the CPU 41 ends the process after executing a sub-process (see FIG. 10) of “safety confirmation process” described later.
On the other hand, if there is no pedestrian crossing registered in the pedestrian crossing information 24 or requiring safety confirmation within the vehicle traveling direction R3 (m) from the own vehicle position (S34: NO), the CPU 41 Exit.

Next, the sub-process of the “safety confirmation process” executed in S33 or S35 will be described with reference to FIG.
As shown in FIG. 10, in S <b> 311, the CPU 41 acquires vehicle information related to the host vehicle 2 (for example, date, time, speed, brake operation, shift operation, etc.). In addition, the CPU 41 acquires a left / right face direction movement detection signal that detects the movement of the face when the driver performs left / right confirmation via the camera ECU 51 and the driver camera 52, and moves the face to the left / right of the driver. The number of times is counted and stored in the face direction counter 42A.

  Subsequently, in S312, the stop registered in the intersection information 23 extracted in S32 or an intersection without a traffic signal that requires safety confirmation, or the stop registered in the pedestrian crossing information 24 extracted in S34. Alternatively, the vehicle speed sensor 21 measures a vehicle speed of about 50m to 100m in front of a pedestrian crossing that requires safety confirmation, and whether or not the speed is high, that is, whether or not the vehicle is decelerated to a speed that can be stopped at this intersection or pedestrian crossing. A determination process for determining

  When the speed is high, that is, when the vehicle has not been decelerated to a speed that can be stopped at this intersection or pedestrian crossing (S312: YES), the CPU 41 proceeds to the process of S313. In S <b> 313, the CPU 41 displays a warning on the liquid crystal display 15 that the vehicle should be decelerated, and warns the user that the vehicle should be decelerated via the speaker 16. Further, the CPU 41 performs brake control and shift down control through a vehicle ECU (not shown) to decelerate the speed of the host vehicle 2, and then ends the sub-process and returns to the main flowchart.

  On the other hand, when the speed is low, that is, when the vehicle is decelerated to a speed that can be stopped at this intersection or pedestrian crossing (S312: NO), the CPU 41 proceeds to the process of S314. In S314, the CPU 41 again reads out the count value of the face direction counter 42A, and determines whether or not the count value is one or more times, that is, whether or not the driver has confirmed safety by performing left and right confirmation. Execute the process.

Then, when the count value of the face orientation counter 42A is 0, that is, when the driver does not confirm the left and right and does not confirm the safety (S314: NO), the CPU 41 proceeds to the process of S315. In S315, the CPU 41 takes a picture of the surrounding situation in the left-right direction of the host vehicle 2 via the camera ECU 51 and each of the outside cameras 53, 53, and displays it on the liquid crystal display 15 in a divided display, etc. Return to the main flowchart.
On the other hand, when the count value of the face direction counter 42A is one or more times, that is, when the driver confirms safety by checking the left and right (S314: NO), the CPU 41 sets the face direction counter 42A to the initial value. Then, the sub-process is terminated and the process returns to the main flowchart.

  Therefore, the CPU 41 of the navigation device 1 displays the intersection or the pedestrian crossing information 24 within the R3 (m) ahead of the traveling direction of the host vehicle 2 in the intersection information 23 that is registered in the intersection information 23 and does not require a stop or safety check. When there is a registered pedestrian crossing that does not require a stop or safety check, or when there is a pedestrian crossing on the exit side at the time of turning right or left at the intersection, it acquires vehicle information such as the vehicle speed related to the host vehicle 2, Detects the number of movements of the face to the left and right of the driver. When the speed of the host vehicle 2 is high, the CPU 41 displays a warning on the liquid crystal display 15 that the vehicle should be decelerated and warns the speaker 16 that the vehicle should be decelerated. In addition, the CPU 41 performs brake control via a vehicle ECU (not shown) and shifts down to reduce the speed of the host vehicle 2. Further, when the driver does not check the safety by checking the left and right, the CPU 41 shoots the surrounding situation in the left and right direction of the own vehicle 2 with each of the outside cameras 53 and 53 and displays it on the liquid crystal display 15 in a divided manner. Etc.

  As a result, when there is no traffic signal that requires a stop or safety check that is registered in the intersection information 23, or when there is a traffic light that does not require a stop or safety signal that is registered in the pedestrian crossing information 24, or a right turn at an intersection Or, at the exit side pedestrian crossing at the time of the left turn, the driver surely stops the vehicle 2, and sees the images taken by the cameras 53, 53 in the left-right direction of the vehicle 2 to ensure the safety of the surrounding situation in the left-right direction. It is possible to assist in ensuring the confirmation.

  In addition, this invention is not limited to the said Example, Of course, various improvement and deformation | transformation are possible within the range which does not deviate from the summary of this invention. For example, the following may be used.

  (A) In the above step 311, if a monitoring camera device or the like that captures the situation around an intersection without a traffic light or a pedestrian crossing without a traffic light is installed, and the video data and the like by this monitoring camera device can be acquired, the CPU 41 The video captured by the monitoring camera device or the like is image-recognized to detect the movement state of vehicles, bicycles, pedestrians, etc. near this intersection or pedestrian crossing. Then, when there is a vehicle, bicycle, pedestrian, etc. approaching the intersection or pedestrian crossing, the CPU 41 executes the processing from step 312 onwards, and the vehicle, bicycle, pedestrian approaching the intersection or pedestrian crossing. If there is no such as, the sub-processing may be terminated without executing the processing after step 312.

  (B) In step 311, the CPU 41 communicates with another navigation device 1 mounted on another vehicle in the vicinity of an intersection without a traffic light or a pedestrian crossing without a traffic light, and whether there is an approach to this intersection or a pedestrian crossing. Configure to detect nothing. Then, when there is a vehicle approaching the intersection or pedestrian crossing, the CPU 41 executes the processing after step 312. When there is no vehicle approaching the intersection or pedestrian crossing, the CPU 41 performs step 312 and subsequent steps. The sub-process may be terminated without executing the process.

It is a schematic block diagram of the vehicle by which the navigation apparatus concerning a present Example is mounted. It is a block diagram which shows typically the control system centering on the navigation apparatus mounted in a vehicle. It is a main flowchart which shows the intersection registration process which performs the automatic registration of the intersection without the traffic signal which needs the stop or safety confirmation which CPU of a navigation apparatus performs. 4 is a sub-flowchart showing a sub-process of “intersection registration process 1” in FIG. 3. 4 is a sub-flowchart showing a sub-process of “intersection registration process 2” in FIG. 3. It is a main flowchart which shows the pedestrian crossing registration process which automatically registers the pedestrian crossing without the traffic signal which needs the stop or safety confirmation which CPU of a navigation apparatus performs. 7 is a sub-flowchart showing a sub-process of “pedestrian crossing registration process 1” in FIG. 6. 7 is a sub-flowchart showing a sub-process of “pedestrian crossing registration process 2” in FIG. 6. It is a main flowchart which shows the driving assistance process which assists the driver | operator's safety confirmation in the intersection and crosswalk without a traffic signal which CPU of a navigation apparatus performs. 10 is a sub-flowchart showing a sub-process of “safety confirmation processing” in FIG. 9.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 2 Vehicle 11 Present location detection process part 13 Navigation control part 15 Liquid crystal display 16 Speaker 21 Vehicle speed sensor 22 Traveling history DB
23 Intersection information 24 Crosswalk information 25 Map information DB
26 Navi Map Information 41 CPU
42 RAM
43 ROM
51 Camera ECU
52 Driver camera 53 Outside camera

Claims (7)

Current position detection means for detecting the current position of the host vehicle;
Intersection detection means for detecting an intersection without a traffic signal in the vehicle traveling direction based on map information and current position information detected by the current position detection means;
Stop determination means for determining whether the vehicle has stopped or decelerated to a predetermined speed or less at an intersection without the traffic signal,
When it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at an intersection without a traffic signal, stop information storage means for storing stop information at the intersection;
Stop frequency determining means for determining whether or not the stop frequency for an intersection without the traffic signal is equal to or higher than a predetermined frequency based on the stop information stored in the stop information storage means;
When it is determined that the stop frequency for an intersection without the traffic signal is equal to or higher than a predetermined frequency, an intersection information storage unit that stores the intersection as an intersection that needs to be stopped or checked for safety;
A navigation device characterized by comprising: Priority determining means for determining priority on traveling between a road where the vehicle is traveling at an intersection without the traffic signal and a road that intersects,
If the stop determination means determines that the priority of the road on which the host vehicle is traveling is equal to or lower than the priority of the intersecting road, has the vehicle stopped or decelerated to a predetermined speed or less at the intersection without the traffic light? The navigation device according to claim 1, wherein it is determined whether or not. A face direction detection means for detecting the movement of the face when the driver performs left-right confirmation;
Face orientation determination means for determining whether the driver has moved the face left and right more than a predetermined number of times via the face orientation detection means when it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at an intersection without the traffic light When,
Face direction information storage means for storing face direction information at the intersection when the driver determines that the face has moved left and right a predetermined number of times or more via the face direction determination means;
Left and right confirmation frequency determination means for determining whether the frequency of left and right confirmation for an intersection without the traffic light is a predetermined frequency or more based on the face direction information stored in the face direction information storage means;
With
The intersection information storage means stores the intersection as an intersection that needs to be stopped or checked for safety when it is determined that the frequency of the left / right confirmation for an intersection without the traffic signal is a predetermined frequency or more. The navigation device according to claim 1 or 2. Current position detection means for detecting the current position of the host vehicle;
Pedestrian crossing detection means for detecting a pedestrian crossing without a traffic signal in the vehicle traveling direction based on map information and current position information detected by the current position detection means;
Stop determination means for determining whether the vehicle has stopped or decelerated to a predetermined speed or less at a pedestrian crossing without the traffic signal,
When it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at a pedestrian crossing without a traffic light, stop information storage means for storing stop information at the pedestrian crossing,
Stop frequency determination means for determining whether or not the stop frequency for a pedestrian crossing without the traffic light is greater than or equal to a predetermined frequency based on stop information stored in the stop information storage means;
A pedestrian crossing information storage means for storing the pedestrian crossing as a pedestrian crossing that needs to be stopped or checked for safety when it is determined that the stop frequency for a pedestrian crossing without the traffic signal is a predetermined frequency or more;
A navigation device characterized by comprising: A face direction detection means for detecting the movement of the face when the driver performs left-right confirmation;
Face direction determination for determining whether the driver has moved the face left and right more than a predetermined number of times via the face direction detection means when it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at a pedestrian crossing without the traffic light Means,
Face direction information storage means for storing face direction information at the pedestrian crossing when it is determined that the driver has moved the face left and right more than a predetermined number of times via the face direction determination means;
Left and right confirmation frequency determining means for determining whether the frequency of left and right confirmation for a pedestrian crossing without the traffic light is a predetermined frequency or more based on the face direction information stored in the face direction information storage means;
With
The pedestrian crossing information storage means stores the pedestrian crossing as a pedestrian crossing that needs to be stopped or checked for safety when it is determined that the frequency of the left / right confirmation with respect to the pedestrian crossing without the traffic signal is equal to or higher than a predetermined frequency. The navigation device according to claim 4. Current position detection means for detecting the current position of the host vehicle;
An intersection detection means for detecting an intersection in the vehicle traveling direction based on map information and current position information detected by the current position detection means;
A right / left turn stop determining means for determining whether the vehicle is stopped at a pedestrian crossing on the exit side of the intersection or decelerated to a predetermined speed or less when turning right or left at the intersection;
When it is determined that the vehicle has stopped at the pedestrian crossing on the exit side of the intersection or decelerated to a predetermined speed or less, stop information storage means for storing stop information on the pedestrian crossing on the exit side of the intersection;
Right / left turn stop frequency determining means for determining whether the stop frequency for the pedestrian crossing on the exit side of the intersection is greater than or equal to a predetermined frequency based on stop information stored in the stop information storage means;
When it is determined that the stop frequency with respect to the pedestrian crossing on the exit side of the intersection is equal to or higher than a predetermined frequency, the pedestrian crossing information storage for storing the pedestrian crossing on the exit side of the intersection as a pedestrian crossing that needs to be stopped or safety confirmed Means,
A navigation device characterized by comprising: A face direction detection means for detecting the movement of the face when the driver performs left-right confirmation;
A face for determining whether or not the driver has moved to the left or right a predetermined number of times or more via the face direction detection means when it is determined that the vehicle has stopped or decelerated to a predetermined speed or less at the pedestrian crossing on the exit side of the intersection Direction determination means;
Face direction information storage means for storing face direction information at a pedestrian crossing on the exit side of the intersection, when it is determined that the driver has moved the face left and right a predetermined number of times or more via the face direction determination means;
Left and right confirmation frequency determining means for determining whether or not the frequency of left and right confirmation with respect to the pedestrian crossing on the exit side of the intersection is greater than or equal to a predetermined frequency based on the face direction information stored in the face direction information storage means;
With
The pedestrian crossing information storage means needs to stop or confirm the safety of the pedestrian crossing on the exit side of the intersection when it is determined that the frequency of the left and right confirmation for the pedestrian crossing on the exit side of the intersection is equal to or higher than a predetermined frequency. The navigation device according to claim 6, wherein the navigation device is stored as a pedestrian crossing.

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