JP2008232966A - On-board navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make a user perceive correct road, irrespective of the form of the crossroad. <P>SOLUTION: An on-board navigation system has a plurality of speakers located at different locations in a vehicle for navigating to a destination by outputting voice guidance from the speakers. It includes a memory means for storing map information containing information regarding lanes constituting a road, a positioning means for positioning at least the current position and an azimuth direction, a route setting means for searching the map information based on the positioning results by positioning means to set a route to the destination, a lane determination means for referring to the map information based on the set route and the positioning results to determine a lane to drive, when passing through the next crossroad, and a speaker setting means for setting the speaker for outputting the voice guidance based on determination results by the lane determination means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an in-vehicle navigation device that has a plurality of speakers installed at different positions in a vehicle and outputs voice guidance from the speakers to perform navigation to a destination.

An in-vehicle navigation device for navigating a user to a destination is widely known and put into practical use. When such a navigation device detects that the vehicle approaches a branching point such as an intersection, it performs voice guidance according to the set route (for example, voice guidance instructing to turn left at the branching point). For example, according to the navigation device described in Patent Document 1 below, sound is reproduced from a speaker installed at a position corresponding to the course changing direction. For example, in the case of a left turn, sound is reproduced from a speaker installed on the left side in the vehicle, and in the case of a right turn, sound is reproduced from a speaker installed on the right side in the vehicle. According to such a configuration, since the user can listen to the sound from the direction corresponding to the course changing direction, the user can grasp the course changing direction sensuously.
JP-A-7-114690

  However, in the case of the navigation device described in Patent Document 1, the following inconvenience occurs when passing through a three-dimensional intersection road. FIGS. 1A and 1B are diagrams for explaining such an inconvenience.

According to FIG. 1 (a), the vehicle 1 is traveling on a straight road R _1. The straight road R ₁ has two lanes from the middle, and one of the lanes is inclined downward from the straight road R ₁ and is connected to a curved road R ₂ that curves rightward. The course on the navigation device on this three-dimensional intersection road is defined as the arrow A direction. In this case, the direction of change of the vehicle's course is right, so that sound is reproduced from the right speaker. Thus the user does not change lanes to the left of the straight road perceive that there is no problem while maintaining the right lane R ₁ are straight road R _1, as a result, there is a risk of running the wrong route.

Also, according to FIG. 1 (b), the vehicle 1 is traveling on the straight road R _3. The straight road R ₃ has two lanes from the middle, and one of the lanes is inclined downward from the straight road R ₃ and is connected to the curved road R ₄ that curves leftward. The course on the navigation device on this three-dimensional intersection road is defined as the arrow B direction. In this case, since the course change direction of the vehicle is left, sound is reproduced from the left speaker. Thus the user does not right to change lanes straight road R ₁ perceives that there is no problem while maintaining the left lane of the straight road R _3, as a result, incorrect as in the example of FIGS. 1 (a) There is a risk of traveling along the route.

  In view of the above circumstances, an object of the present invention is to provide a navigation device that allows a user to perceive a correct course regardless of the form of a branch point.

  An in-vehicle navigation device according to an aspect of the present invention that solves the above problem includes a plurality of speakers installed at different positions in a vehicle, and outputs voice guidance from the speakers to perform navigation to a destination. It is. The vehicle-mounted navigation device searches the map information based on the positioning result obtained by the storage means for storing the map information including information relating to the lanes constituting the road, the positioning means for positioning at least the current position and direction, and the positioning means. A route setting means for setting a route to the destination, a lane to be traveled when passing through the next branch point on the route with reference to the map information based on the set route and the positioning result A lane determination means for determining whether or not a speaker is set, and a speaker setting means for setting a speaker for outputting voice guidance based on a determination result by the lane determination means.

  According to the vehicle-mounted navigation device configured as described above, the user can intuitively grasp the lane to be traveled by outputting voice guidance from a speaker corresponding to the lane to be traveled when passing the next branch point. Can be made. When the user passes through the branch point, the user can always proceed to the correct route regardless of the form of the branch point by selecting the lane perceived by the voice guidance.

  Note that the speaker setting means may be configured such that voice guidance is output only from a speaker installed at a position corresponding to the lane determined to be traveled by the lane determination means, for example.

  In addition, when the lane determining unit determines that any lane may travel, the speaker setting unit may be configured to perform setting so that voice guidance is output from all speakers, for example.

  When the plurality of speakers includes at least a right speaker installed on the right side of the driver's seat and a left speaker installed on the left side of the driver's seat, the speaker setting unit performs voice guidance according to a determination result by the lane determining unit, for example. A configuration in which the volume of the right speaker and the left speaker at the time of output is changed stepwise may be used.

  An in-vehicle navigation device according to another aspect of the present invention that solves the above problem includes a right speaker installed on the right side of the driver's seat and a left speaker installed on the left side of the driver's seat. It is a device that outputs guidance and navigates to the destination. The vehicle-mounted navigation device searches the map information based on the positioning result obtained by the storage means for storing the map information including information relating to the lanes constituting the road, the positioning means for positioning at least the current position and direction, and the positioning means. A route setting means for setting a route to the destination, a lane to be traveled when passing through the next branch point on the route with reference to the map information based on the set route and the positioning result And a speaker setting means for performing speaker setting so that voice guidance is output only from a speaker installed on the side corresponding to the lane determined to travel. Device.

  According to the vehicle-mounted navigation device configured as described above, the voice lane is output from the speaker installed on the side corresponding to the lane to be traveled when passing through the next branch point, so that the lane to be traveled is determined by the user. Can be sensuously grasped. When the user passes through the branch point, the user can always proceed to the correct route regardless of the form of the branch point by selecting the lane perceived by the voice guidance.

  In addition, an in-vehicle navigation device according to another aspect of the present invention that solves the above problem includes a plurality of speakers installed at different positions in the vehicle, and outputs voice guidance from the speakers to navigate to a destination. It is a device that performs. The vehicle-mounted navigation device searches the map information based on the positioning result obtained by the storage means for storing the map information including information relating to the lanes constituting the road, the positioning means for positioning at least the current position and direction, and the positioning means. A route setting means for setting a route to the destination, a lane to be traveled when passing through the next branch point on the route with reference to the map information based on the set route and the positioning result And a lane determining means for determining the currently running lane, and a speaker setting means for comparing the lane to be run with the running lane and setting a speaker for outputting voice guidance based on the comparison result. It is an apparatus characterized by comprising.

  According to the vehicle-mounted navigation device configured as described above, the vehicle travels by outputting voice guidance from a speaker set based on the lane to be traveled when passing the next branch point and the currently traveling lane. The user can be made to know the lane to be sensed. When the user passes through the branch point, the user can always proceed to the correct route regardless of the form of the branch point by selecting the lane perceived by the voice guidance.

  In the in-vehicle navigation device, the plurality of speakers include at least a right speaker installed on the right side of the driver's seat and a left speaker installed on the left side of the driver's seat, and the speaker setting means travels based on the comparison result, for example. Voice guidance is output from the right speaker when the lane to be driven is on the right side of the running lane, and voice is output from the left speaker when the lane to be driven is on the left side of the running lane according to the comparison result. The configuration may be such that settings are made so that guidance is output.

  According to the vehicle-mounted navigation device according to the present invention, a voice guidance is output from a speaker corresponding to a lane to be traveled when passing the next branch point, thereby allowing the user to sensuously grasp the lane to be traveled. Can do. When the user passes through the branch point, the user can always proceed to the correct route regardless of the form of the branch point by selecting the lane perceived by the voice guidance.

  The configuration and operation of the navigation device according to the embodiment of the present invention will be described below with reference to the drawings.

  FIG. 2 is a schematic diagram of a vehicle C equipped with the navigation device according to the embodiment of the present invention. The navigation device according to this embodiment is a so-called car navigation system, and includes a main body 200 and speakers FSR, FSL, RSR, and RSL. The main body 200 is installed in a dash box, for example, and is connected to the speakers FSR, FSL, RSR, and RSL by wiring routed in the vehicle. Note that the speakers FSR, FSL, RSR, and RSL are respectively installed on the right front, left front, right rear, and left rear in the vehicle. In addition, the speakers FSR and RSR are installed at least on the right side of the driver seat, and the speakers FSL and RSL are installed at least on the left side of the driver seat.

  FIG. 3 is a block diagram showing the configuration of the main body 200. The main body 200 includes a GPS receiver 100, a gyro sensor 102, a vehicle speed sensor 104, a gate array 106, a CPU (Central Processing Unit) 108, an HDD (Hard Disk Drive) 110, a RAM (Random Access Memory) 112, a display unit 114, and An input unit 116 is provided. The CPU 108 performs overall control of the main body 200. Each component of the main body 200 implements various functions under the control of the CPU 108.

  The GPS receiver 100 captures and tracks some of a plurality of GPS satellites that orbit the earth. Then, using the GPS signals from the respective GPS satellites received during acquisition and tracking, position and speed positioning (note that speed positioning includes positioning of both moving speed and direction) is executed. The GPS receiver 100 outputs the calculated positioning result (hereinafter referred to as “GPS positioning” for convenience) to the CPU 108.

  The gyro sensor 102 and the vehicle speed sensor 104 are sensors for known dead reckoning (hereinafter abbreviated as “DR”). The gyro sensor 102 measures the angular velocity related to the direction of the vehicle C in the horizontal plane, and outputs the measurement result to the CPU 108. The vehicle speed sensor 104 detects the rotational speeds of the left and right drive wheels of the vehicle C, and outputs the number of pulses corresponding to the detection result to the CPU 108. For convenience of explanation, these sensor outputs are referred to as “DR sensor outputs”. The DR sensor output is input to the CPU 108 via the gate array 106. The CPU 108 can perform well-known autonomous navigation based on these DR sensor outputs.

  The HDD 110 is a recording medium that stores various data such as a map database and a program. The RAM 112 is a memory in which, for example, data and programs stored in the HDD 110 are temporarily expanded. For example, the CPU 108 reads out a program stored in the HDD 110, expands it in a predetermined area of the RAM 112, and executes it. Thereby, for example, a navigation program operates to realize a navigation function.

  The display unit 114 is for displaying, for example, a navigation screen. The display unit 114 is a known touch panel such as a pressure-sensitive type or an electrostatic type, and also serves as an input unit. The input unit 116 is for performing a user operation, and is, for example, a mechanical input key installed on a front panel (not shown). For example, the power switch is one element constituting the input unit 116. When the display unit 114 or the input unit 116 is operated, a signal corresponding to the operation is input to the CPU 108. The CPU 108 controls each component so that processing corresponding to the user operation is executed.

  The speakers FSR, FSL, RSR, and RSL output navigation voice such as notification of the traveling direction at a branch point, for example.

  Next, the processing of the CPU 108 when receiving the GPS positioning result from the GPS receiver 100 and the DR sensor output from each sensor will be described.

  The CPU 108 performs DR positioning calculation based on the DR sensor output output by each sensor, and obtains a DR positioning result. Next, the calculated DR positioning result, the GPS positioning result, and the error estimation value for each positioning result are compared. Then, a positioning result determined to have high accuracy is selected based on the comparison result, and the selected positioning result is determined as a final positioning result and map matching is performed. Further, the CPU 108 searches the map database of the HDD 110 based on each positioning result, and extracts map image data around the current position. Next, a screen in which the vehicle position mark indicating the current position of the vehicle C is superimposed on the extracted map image data is displayed on the display unit 114.

  Note that the map matching here refers to correcting an error such as a vehicle position mark being displayed at a position off the road in the map displayed on the display unit 114. By performing map matching, the vehicle position can be matched with the map, and the user can accurately grasp the current position of the vehicle. Map matching is always performed regardless of the execution of navigation.

  When a user operation is performed so as to navigate toward a certain destination, the CPU 108 reads out the navigation program from the HDD 110 and develops it in, for example, the DRAM 112. Next, the map database of the HDD 110 is read, and the route search is executed by, for example, a known Dijkstra method with reference to the current position information based on the positioning result and the set destination information. Then, a route determined to be optimal is obtained as a search result. For example, the CPU 108 causes the display unit 114 to display the obtained route and various information related to the route. The user can grasp the route to the destination by referring to such navigation information.

  Here, one of the processes executed by the CPU 108 using the navigation program is an auxiliary sound reproduction process. This auxiliary sound reproduction process is a process executed in order for the user to sensuously grasp the traveling direction when the vehicle C reaches the branch point. Hereinafter, the auxiliary sound reproduction process will be described.

  FIG. 4 shows a flowchart of the auxiliary sound reproduction process. The auxiliary sound reproduction process is started when a destination is set by a navigation program, for example. First, the CPU 108 compares the current position and direction information of the vehicle C after the map matching with the route information set by the navigation program. Next, referring to the comparison result, it is determined whether or not the distance between the branch point where the vehicle C passes next on the route and the current position of the vehicle C is equal to or less than a predetermined distance (step 1, the following specification) And steps are abbreviated as “S” in the drawings).

  The CPU 108 repeatedly executes the determination process of S1 until the distance to the next branch point is equal to or less than the predetermined distance. When the distance reaches the predetermined distance (S1: YES), it is determined that the navigation sound should be output because the vehicle C has approached the branch point, and the process proceeds to S2.

  In the process of S2, the CPU 108 refers to the road data included in the map database, and acquires information on the lane immediately before the next branch point (for example, information including the number of lanes and the type (right turn dedicated lane, etc.)). Next, based on the acquired lane information and route information, it is determined whether or not the vehicle C can follow the route regardless of which lane the vehicle C travels (S2).

  If the CPU 108 determines that the vehicle can travel along the route regardless of which lane it travels (S2: YES), the CPU 108 operates to reproduce the navigation sound in a normal manner (S3). Specifically, navigation sound is output from all the speakers FSR, FSL, RSR, and RSL.

  Next, the CPU 108 compares the current position and direction information of the vehicle C after the map matching with the route information set by the navigation program, and refers to the comparison result to determine whether the vehicle C has passed the branch point. Is monitored (S4). Then, the navigation sound is reproduced at, for example, predetermined timings until the passage of the branch point is detected. When the passage of the branch point is detected (S4: YES), the auxiliary sound reproduction process of FIG. 4 is returned to return to the process of S1, that is, the state of monitoring the approach of the next branch point.

  Further, in the process of S2, when the CPU 108 determines that the vehicle cannot travel along the route unless traveling on a specific lane (S2: NO), the lane to which the vehicle C should travel based on the acquired lane information and the route information. Is determined (S5). Next, a speaker is set based on the determined lane (S6), and navigation sound is output to the set speaker (S7). Thereby, the navigation sound is output from the speaker corresponding to the lane determined in the process of S5.

  This navigation sound is reproduced at, for example, predetermined timings until the vehicle passes through a branch point that is the target of the sound (S8). Specifically, the CPU 108 compares the current position and direction information of the vehicle C after the map matching with the route information set by the navigation program, and monitors the passage of the branch point using the comparison result. When the passage of the branch point is detected (S8: YES), the auxiliary sound reproduction process of FIG. 4 is returned to return to the process of S1, that is, the state of monitoring the approach of the next branch point.

With reference to FIG. 1, the auxiliary sound reproduction process will be described more specifically. For example, as shown in FIG. 1 (a), it is assumed that the branch point through which the vehicle passes next consists of two lanes. When the set route is going straight on the straight road R ₁ , the CPU 108 detects the approach to the branch point, and determines the route at the branch point based on the lane information and the route information “straight road R _1. Straight ahead ”. Then, it is determined that the vehicle should travel in the right lane in order to go straight on the branch point in FIG. Based on the determination result, navigation sound is output from the speaker installed on the right side in the vehicle, that is, the speakers FSR and RSR installed at the position corresponding to the right lane.

Further, in the example of FIG. 1 (a), if the set route is one that enters the curved road R _2, CPU 108, upon detecting the approach to the branching point, based on the lane information and route information corresponding The course at the branch point is determined to be “entry into curved road R ₂ ”. In order that the vehicle enters the branch point shown in FIG. 1 (a) in curved road R ₂ is judged to be traveling in the left lane. Based on the determination result, navigation sound is output from the speaker installed on the left side in the vehicle, that is, the speakers FSL and RSL installed at the position corresponding to the left lane.

The same applies to the example of FIG. That is, if the set route is one which straight straight road R _3, CPU 108 determines that should travel on the left lane, outputs voice navigation from the speaker FSL and RSL is installed on the left side of the vehicle Let Further, when the set route is one that enters the curved road R _4, it determines to travel on the right lane, and outputs sounds navigation speaker FSR and RSR is installed in the vehicle right .

  According to the navigation device of the present embodiment, as described above, the voice guidance is output from the speaker corresponding to the lane to travel when passing the next branch point. For this reason, it becomes possible to make a user grasp the lane which should be traveled sensuously. When the user passes through the branch point, the user can always proceed to the correct route regardless of the form of the branch point by selecting the lane perceived by the voice guidance.

  The above is the embodiment of the present invention. The present invention is not limited to these embodiments and can be modified in various ranges. For example, the speaker may be installed not only on the left and right sides of the vehicle but also in the center (for example, in front of the driver's seat). In this case, for example, by outputting the navigation sound only from the center speaker, it is possible to make the user perceive that the vehicle should not travel on the right or left lane (for example, the right turn lane or the left turn lane). .

  Further, for example, the navigation device may be configured to output navigation sound from a speaker other than the speaker corresponding to the lane that should not travel. For example, the route when passing a certain intersection is straight, and you can follow the route if you drive on a lane other than the right lane (for example, the right turn lane) (in other words, you should not drive on the right lane) There is. In this case, the navigation device determines that the vehicle should not travel in the right lane, and outputs navigation sound from a speaker other than the speaker installed on the right side in the vehicle. By perceiving that the navigation sound cannot be heard from the right side, the user can grasp that the right lane should not be traveled.

  Further, for example, the lane to be traveled may be perceived by the user by changing the volume of the left and right speakers stepwise. For example, when driving in the right lane, the navigation sound is output from the left and right speakers, and the volume of the left speaker is gradually decreased and the volume of the right speaker is gradually increased. By listening to such sound, the user can easily perceive that a lane change should be made from the left lane to the right lane.

  Further, the navigation apparatus may not be configured to output voice guidance only from the speaker on the side corresponding to the lane to be travelled as in the present embodiment, for example, the output of the speaker on the side corresponding to the lane to be traveled. May be configured to be higher than the output of other speakers. According to such a configuration, for example, when driving on the right lane, the amplification factor for the speakers FSR and RSR is higher than the amplification factor for the speakers FSL and RSL (or the attenuation factor for the speakers FSL and RSL is higher than that for the speakers FSR and RSR). The control is performed to be higher than the attenuation rate. As a result, voice guidance having a louder volume than the speakers FSL and RSL is output from the speakers FSR and RSR. Therefore, the user can listen to voice guidance with a louder volume from the right side, and sensuously understand that the user should travel in the right lane.

  In addition, for example, it is assumed that the positioning means (GPS receiver 100 in the present embodiment) has extremely high accuracy, and the traveling lane can be specified based on the positioning result. In this case, the navigation device may be configured to output navigation sound in accordance with the traveling lane. For example, there is a road composed of three lanes, and the lane to be driven is a central lane. When it is determined from the positioning result that the traveling lane is the right lane, the navigation device outputs a navigation sound from the left speaker and prompts the user to change the lane to the left. Further, when it is determined from the positioning result that the traveling lane is the left lane, the navigation device outputs a navigation sound from the right speaker and prompts the user to change the lane to the right. Further, when it is determined that the running lane is the central lane based on the positioning result, the navigation device outputs navigation sound from the left and right speakers, for example, to notify the user that there is no need to change the lane.

It is a figure for demonstrating the conventional problem. It is the schematic of the vehicle carrying the navigation apparatus of embodiment of this invention. It is a block diagram which shows the structure of the main-body part of the navigation apparatus of embodiment of this invention. It is a flowchart which shows the auxiliary | assistant audio | voice reproduction | regeneration processing performed in embodiment of this invention.

Explanation of symbols

100 GPS receiver 108 CPU
200 Main unit FSR, FSL, RSR, RSL Speaker

Claims (8)

In a vehicle-mounted navigation device having a plurality of speakers installed at different positions in the vehicle and outputting voice guidance from the speakers to perform navigation to a destination,
Storage means for storing map information including information on lanes constituting the road;
Positioning means for positioning at least the current position and orientation;
Route setting means for searching the map information based on the positioning result by the positioning means and setting a route to the destination;
Lane determination means for referring to the map information based on the set route and the positioning result, and determining a lane to travel when passing the next branch point on the route;
An in-vehicle navigation device comprising: speaker setting means for setting a speaker that outputs voice guidance based on a determination result by the lane determination means.   The speaker setting unit performs setting so that voice guidance is output only from a speaker installed at a position corresponding to a lane determined to be traveled by the lane determination unit. The on-vehicle navigation device described.   The said speaker setting means performs a setting so that audio guidance is output from all the speakers when the said lane determination means determines that any lane can travel. Item 3. The in-vehicle navigation device according to any one of Items 2 to 3.   The plurality of speakers includes at least a right speaker installed on the right side of the driver's seat and a left speaker installed on the left side of the driver's seat, and the speaker setting unit is configured to output voice guidance according to a determination result by the lane determining unit. The in-vehicle navigation device according to claim 1, wherein the sound volume of the right speaker and the left speaker is changed stepwise. In the in-vehicle navigation device that has a right speaker installed on the right side of the driver's seat and a left speaker installed on the left side of the driver's seat, outputs voice guidance from these speakers and performs navigation to the destination,
Storage means for storing map information including information on lanes constituting the road;
Positioning means for positioning at least the current position and orientation;
Route setting means for searching the map information based on the positioning result by the positioning means and setting a route to the destination;
Lane determination means for referring to the map information based on the set route and the positioning result, and determining a lane to travel when passing the next branch point on the route;
An in-vehicle navigation device comprising: speaker setting means for performing speaker setting so that voice guidance is output only from a speaker installed on a side corresponding to the lane determined to travel.   6. The speaker setting unit performs setting so that voice guidance is output from all speakers when the lane determination unit determines that any lane may travel. In-vehicle navigation device. In a vehicle-mounted navigation device having a plurality of speakers installed at different positions in the vehicle and outputting voice guidance from the speakers to perform navigation to a destination,
Storage means for storing map information including information on lanes constituting the road;
Positioning means for positioning at least the current position and orientation;
Route setting means for searching the map information based on the positioning result by the positioning means and setting a route to the destination;
Lane determination means for referring to the map information based on the set route and the positioning result, and determining a lane to be traveled and a lane that is currently traveling when passing the next branch point on the route;
A vehicle-mounted navigation device comprising: speaker setting means for comparing the lane to be traveled with the lane being traveled and setting a speaker for outputting voice guidance based on the comparison result.   The plurality of speakers include at least a right speaker installed on the right side of the driver's seat and a left speaker installed on the left side of the driver's seat, and the speaker setting means determines that the lane to be traveled is the lane that is running based on the comparison result. In the case of the right side, the voice guidance is output from the right speaker, and the comparison result is set so that the voice guidance is output from the left speaker when the lane to be driven is on the left side of the lane that is running. The vehicle-mounted navigation device according to claim 7.

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