JP2009008600A - Navigation device, navigation method, and navigation program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device performing notification by alarm sound according to a remaining distance so that the discomfort felt by a user is reduced. <P>SOLUTION: The navigation device notifying the user of the distance from the current position of a mobile body to a guidance point by the continuous notification by the alarm sound includes: a trigger information acquisition part acquiring trigger information on a travel condition of the mobile body; an alarm sound stop decision part deciding whether or not to stop the notification by the alarm sound on the basis of the trigger information acquired by the trigger information acquisition part; and a notification control part controlling the notification by the alarm sound according to the decision result by the alarm sound stop decision part. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a navigation device, a navigation method, and a navigation program. More specifically, the present invention relates to a navigation device, a navigation method, and a navigation program that output a warning sound according to the remaining distance from the current position to the next guide point. .

  2. Description of the Related Art In recent years, navigation devices that inform a user of a route from a current location to a destination have been widely put into practical use as devices and portable terminals mounted on automobiles.

Such a navigation device is required to provide easy-to-understand guidance when changing the traveling direction. In view of this, conventionally, a technique for shortening the output period of the warning sound as the remaining distance from the current position to the guidance point decreases has been proposed as guidance that is easy for the user to understand (see, for example, Patent Document 1).
JP 2001-255166 A

  However, in the conventional configuration, a warning sound corresponding to the remaining distance continues to sound until the guide point is passed. Therefore, it continues to sound even when the user does not need a warning sound, such as when the user sufficiently recognizes the guide point or when the user is stopped, giving the user an unpleasant feeling.

  The present invention has been made in view of the above problems. That is, an object of the present invention is to provide a navigation device, a navigation method, and a navigation program that perform notification by a warning sound corresponding to the remaining distance so as to reduce discomfort given to the user.

  A first aspect of the present invention is directed to a navigation device that notifies a user of a distance from a current position of a moving body to a guide point by continuously alerting a warning sound. The present invention stops a notification by a warning sound based on a trigger information acquisition unit that acquires a running state of a moving body and / or trigger information that is an instruction from a user, and trigger information acquired by the trigger information acquisition unit. A warning sound stop determining unit for determining whether or not the warning sound is stopped, and a notification control unit for controlling notification by the warning sound according to the determination result of the warning sound stop determining unit.

  Moreover, it is preferable that the warning sound stop determination unit determines that the notification by the warning sound is stopped when the trigger information acquisition unit acquires trigger information indicating that the moving speed of the moving body is equal to or less than a predetermined value. .

  In addition, the warning sound stop determination unit includes trigger information indicating that the mobile body has not entered an appropriate lane at the intersection where the mobile object should bend in a section where the distance from the guide point is equal to or less than a predetermined value. Is acquired, it is preferable to determine that the notification by the warning sound is stopped.

  In addition, the warning sound stop determination unit, when the trigger information acquisition unit acquires trigger information indicating that the moving body has not entered the appropriate lane of the intersection to bend in the lane change prohibition section, notifies the warning sound by the warning sound. It is preferable to determine to stop.

  Moreover, it is preferable that a warning sound stop determination part determines to stop alerting | reporting by a warning sound, when a trigger information acquisition part acquires the trigger information which shows that a user is not following route guidance using a driving | running | working history.

  The second aspect of the present invention is directed to a navigation method for notifying a user of a distance from a current position of a moving body to a guide point by continuously alerting a warning sound. The present invention stops the notification by the warning sound on the basis of the trigger information acquired in the trigger information acquisition step and the trigger information acquisition step of acquiring the trigger information which is the traveling state of the moving body and / or the instruction from the user. A warning sound stop determination step for determining whether or not to perform the notification, and a notification control step for controlling notification by the warning sound according to the determination result of the warning sound stop determination step.

  The third aspect of the present invention is directed to a navigation program that is executed by a computer of a navigation device that notifies a user of the distance from the current position of a moving body to a guide point by continuously notifying a warning sound. . The present invention provides a computer with a trigger information acquisition step for acquiring a running state of a moving object and / or a trigger information which is an instruction from a user, and a warning sound based on the trigger information acquired at the trigger information acquisition step. A warning sound stop determination step for determining whether or not to stop and a notification control step for controlling notification by a warning sound according to the determination result of the warning sound stop determination step.

  As described above, according to each aspect of the present invention, there is provided a navigation device, a navigation method, and a navigation program for performing notification by a warning sound according to the remaining distance so as to reduce discomfort given to a user. Can do.

  Hereinafter, a navigation device according to an embodiment of the present invention will be described in detail with reference to the drawings. The navigation device according to the present embodiment provides the user with information on guidance points existing on the route, and guides the route from the departure point to the destination.

  FIG. 1 is a block diagram showing the overall configuration of the navigation device according to the embodiment. In FIG. 1, the navigation device includes an input unit 1, a position detection unit 2, a data storage unit 3, an arithmetic processing unit 4, and an output unit 5.

  The input unit 1 is, for example, a remote controller, a microphone that collects voice, a mobile phone equipped with an IrDA (infrared communication) function, a personal digital assistant (PDA), or the like that receives input of instructions from the user. The user performs various settings such as destination setting via the input unit 1. Information and operation requests input to the input unit 1 are input to the arithmetic processing unit 4. The input unit 1 also includes a warning sound stop request switch 11 for the user to stop the warning sound. When the user presses the warning sound stop request switch 11 while the warning sound is sounding, a warning sound stop request signal is input to the arithmetic processing unit 4. Note that a sound collection microphone may be used instead of the warning sound stop request switch 11, and a warning sound stop request may be made by a user's utterance input.

  The position detection unit 2 is attached to the navigation device and detects the current position, speed, direction, and current time of the moving body. The position detection unit 2 includes, for example, a speed sensor, a gyro sensor, a GPS receiver, and the like. The position detection unit 2 may be configured by combining two or more of these sensors and receivers. The speed sensor detects the moving speed of the moving body. The gyro sensor detects the traveling direction of the moving body. Furthermore, the GPS receiver receives radio waves from a plurality of satellites and demodulates the received radio waves to measure the absolute position of the receiver. Information detected by the speed sensor, the gyro sensor, and the GPS receiver is input to the arithmetic processing unit 4, and is used by the arithmetic processing unit 4 for a map matching process and a warning sound stop determination process described later.

  The data storage unit 3 stores a map database 31, a warning sound source 32 used as a sound source for a warning sound, a travel history 33 having route information traveled in the past, and various data used for route search, for example, CD- ROM, DVD-ROM, HDD (hard disk drive), memory and the like. The map database 31 includes road network data used for route search, guidance, map matching, and the like in the arithmetic processing unit 4 and background data used for map display. The road network data is mainly composed of node data indicating intersections and link data indicating roads connecting the nodes. Note that the map data and various data may be downloaded as appropriate from the center facility via the communication unit (not shown) of the mobile phone and stored in the data storage unit 3. The warning sound source 32 may be stored in the data storage unit 3 from a medium such as a portable music playback device, a CD, or a DVD.

  The arithmetic processing unit 4 performs various processes such as route search, guidance, and map matching, and stops the warning sound stop determination unit 41, the guidance information control unit 42, and the warning sound that determine whether or not to stop the warning sound. It is comprised from the trigger information acquisition part 43 which acquires the trigger information used as the material of the judgment to make. Examples of the trigger information acquired by the trigger information acquisition unit 43 include a moving body speed, a current position, a warning sound stop request signal from a user, or lane information. The trigger information is not limited to a single one, but may be a combination thereof, or other information may be used.

  Next, route search processing, guidance guidance processing, and map matching processing performed by the guidance information control unit 42 will be described. The route search processing is processing for obtaining a recommended route from the current position of the moving object to the destination set by the user via the input unit 1. The guidance guidance process is a process of first generating information necessary for guidance guidance, and then presenting guidance information to the destination based on the current position of the mobile object. The guidance guidance process includes a process of outputting a warning sound to the output unit 5 described later at a guidance point and a process of stopping the warning sound based on a warning sound stop signal. Further, the map matching process is a process of correcting the position when the current position of the moving body is off the road based on the information on the current position detected by the position detection unit 2.

  The output unit 5 is, for example, a display device, a speaker, or the like that outputs a map, the current position of a moving body, guidance guidance information, guidance voice, and warning sound. The display device visually displays the above information, and the speaker provides the above information by voice or outputs a warning sound.

  Next, processing in the navigation device having the above configuration will be described. FIG. 2 is a flowchart showing a main processing procedure in the navigation apparatus. First, a destination is set (step S101). Specifically, the user inputs information necessary for specifying the destination by operating the input unit 1 (for example, the destination zip code and address, telephone number), or a map displayed on the display device. Specify the destination from. The arithmetic processing unit 4 sets a destination necessary for the route search based on the operation information input to the input unit 1.

  Subsequently, a recommended route to the destination is acquired (step S102). That is, the arithmetic processing unit 4 searches for a route to the destination set in step S101 using the current position detected by the position detection unit 2 as a starting point. As a route search algorithm, for example, the well-known Dijkstra method is used. Here, the recommended route to be acquired is composed of data on nodes and links.

  In the process of step S102, the starting point (departure point) of the route is not limited to the current position of the moving body, and may be a point input by the user via the input unit 1. In addition, the user may be able to set conditions in advance for route search. For example, before the route search is executed, the user may operate the input unit 1 to specify the road type, such as whether to give priority to general roads or to give priority to expressways (or toll roads). In this case, the arithmetic processing unit 4 searches for a route that satisfies the conditions of the road type specified by the user. In addition, the arithmetic processing unit 4 may obtain a plurality of routes from the current position to the destination, and may be configured such that the user can select one of the plurality of routes as a recommended route.

  When the recommended route is acquired in step S102, the current position of the moving body is calculated according to the progress of the moving body (step S103). Specifically, the arithmetic processing unit 4 performs map matching using the moving speed and traveling direction of the moving object detected by the position detecting unit 2, the absolute position of the moving object, and the map data stored in the data storage unit 3. To calculate the current position of the moving object.

  Next, in step S104, guidance data necessary for guidance guidance is created according to the moving state of the moving object. In other words, in the guidance data, information on guidance points existing on the route from the current position of the moving object to the destination, such as an intersection or a branch point, and the traveling direction and guidance point at the guidance point are specified. Information, road names, and information regarding the timing for providing these information. Normally, the guide data of all the guide points on the route is not held at a time, but guide data within a certain range is sequentially generated from the current location of the moving body as necessary. This is to make effective use of storage capacity. Of course, all the guidance data to the destination may be generated at once.

  Subsequently, guidance guidance processing is performed (step S105). That is, the guidance information control unit 42 causes the output unit 5 to output voice guidance information based on the positional relationship between the current position of the moving object and the guidance point. FIG. 3 shows an example of voice guidance for the remaining distance to the current position of the mobile object. A point where the remaining distance from the current position of the moving body to the C intersection, which is a guide point, is a fixed distance is determined as the voice guidance occurrence place. In the example of FIG. 3, the points where the remaining distance is 700 m, 300 m, 100 m, and 0 m are voiced. Guidance generation places P1, P2, P3, and P4 are used. It should be noted that the distance to the voice guidance occurrence location may be a different value or may be given a width as a voice guidance occurrence section instead of a fixed distance point. Further, the voice guidance occurrence location may be dynamically changed according to the moving body speed and the road condition at that time.

  A template of a sentence to be read out at the voice guidance occurrence locations P1 to P4 is determined in advance, and a voice guidance reading sentence is determined by applying an intersection name or a road name that is unique to the guide point to the template. In the case of FIG. 3, in P1, “It is about 700m and the C intersection is in the right direction”, in P2, “About 300m, the C intersection is in the right direction”, in P3 “Soon, the C intersection is in the right direction”, and P4 Then, “It is right direction” is guided. In this way, by performing voice guidance everywhere, it is possible to notify the user of the approach of the guide point and to call attention. The sentence template to be read may be different from the example of FIG. 3, or a plurality of templates may be used in combination.

  In the guidance guidance processing, a warning sound may be sounded according to the remaining distance from the current position of the moving body to the guidance point, in addition to the voice guidance, to inform the user of the approach of the guidance point. In this process, a warning sound is emitted when the moving body approaches a certain distance in front of the next guide point so that the user can easily grasp the position of the next guide point. Note that the position where the warning sound sounds is not a certain distance before the guide point, but may be changed according to the speed of the moving body, for example, or may be changed according to road type, weather, daytime and night. Furthermore, as the sound source of the warning sound, for example, a continuous sound such as a music file may be reproduced, or a mechanical intermittent sound such as a metronome or an electronic intermittent sound may be generated. In addition, relatively long music may be played without repeating until the moving body passes through the guide point, or short music may be played repeatedly.

  Further, in the section where the warning sound is sounded, the warning sound is stopped when the user sufficiently recognizes the position of the guide point or when the warning sound becomes unnecessary for other reasons. In this process, when the warning sound stop signal becomes 1, the warning sound is stopped by an appropriate stopping method. The warning sound stop signal is a signal that becomes 1 when the trigger information for determining whether or not to stop the warning sound satisfies a predetermined stop condition. The warning sound stop method includes setting the volume of the warning sound to 0, gradually decreasing the volume, and the like. Details of the warning sound stop timing and stop method will be described later.

  In addition, when the output unit 5 includes a display, the navigation system uses the enlarged intersection view to show the shape of the guidance point, the name of the intersection, the remaining distance from the current position of the moving object to the guidance point, or the vicinity of the guidance point. A landmark may be displayed. However, regarding the image display on the display, since there are many prior documents, detailed description is omitted.

  Next, it is determined by the arithmetic processing unit 4 whether or not the mobile object has arrived at the destination (step S106). If it is determined in step S106 that the vehicle has arrived at the destination, the arithmetic processing unit 4 provides information notifying the user that the vehicle has arrived at the destination (step S107), and the processing is terminated. On the other hand, when it is determined in step S106 that the vehicle has not arrived at the destination, the process returns to step S103 again. Therefore, the processes in steps S103 to S105 are repeated until the destination is reached.

  Next, the warning sound stop process in the guidance guidance process in step S105 will be described. FIG. 4 is a flowchart showing a warning sound stop process in the guide guidance process in step 105. The warning sound stop process is performed by the warning sound stop determination unit 41 of the arithmetic processing unit 4. First, a warning sound stop determination process is performed (step S201). Here, using the trigger information obtained by the trigger information acquisition unit 43, it is determined whether or not to stop the warning sound according to a predetermined determination condition. When the warning sound is stopped by this determination, the warning sound stop signal is set to 1. Otherwise set to 0. Details of step S201 will be described later.

  Next, it is determined whether or not the warning sound stop signal has become 1 by the warning sound stop determination process in step S201 (step S202). When the warning sound stop signal is 1, it means that the warning sound is stopped, and when it is 0, it is not stopped. If this determination result is not true, the subsequent steps S203 to S206 are not executed. Note that the value of the warning sound stop signal may not be 0 and 1.

  Next, a warning sound stop method selection process is performed (step S203). In this embodiment, there are two methods for stopping the warning sound: a method of suddenly stopping and a method of gradually decreasing the volume. The method for stopping the warning sound is not limited to these, and other methods may be used. For selection of the stop method, a travel history 33 that stores information on a route traveled by the moving body in the past is used. If the travel history shows that the moving body has passed the next guide point at the current location many times in the past and often does not follow guidance at this intersection, the user is used to this intersection. And, for example, there is a high possibility that the user is not following the guidance based on the user's own judgment such as predicting the road condition, and in this case, it may be uncomfortable for the user to sound the warning sound for a long time. Stop the sound suddenly. At this time, a stop method selection signal is prepared and is set to 0 in order to transmit the stop method of the warning sound to the subsequent step S205 or step S206. The stop method selection signal takes a value of 0 or 1. When 0, it means that the warning sound is suddenly stopped, and when it is 1, it means that the volume of the warning sound is gradually lowered.

  Next, if the above determination is false, the user may be unfamiliar with the road that is currently in progress, and suddenly stopping the warning sound may surprise or confuse the user, Reduce the volume of the warning sound gradually to stop it. That is, the stop method selection signal is set to 1. Details of step S203 will be described later.

  It is determined whether the stop method selection signal determined in step S203 is 0 (step S204). If this is true, the process proceeds to step S205, and if false, the process proceeds to step S206.

  In step S205, processing for suddenly stopping the warning sound is performed. Specifically, the guidance information control unit 42 controls the output unit 5 to suddenly stop the warning sound.

  In step S206, a process is performed in which the volume of the warning sound is gradually lowered and stopped. Specifically, the guidance information control unit 42 controls the output unit 5 to gradually lower and stop the warning sound volume.

  Next, it is determined whether or not the moving body has passed the guide point (step S207). Here, when the moving body has not passed the guide point, the process proceeds to step S201 again. That is, steps S201 to S206 are repeatedly executed until the moving body passes through the guide point. When the moving body passes through the guide point, the process ends.

  Here, the warning sound stop determination process in step S201 will be described in detail. First, trigger information and stop conditions used for determining whether to stop the warning sound as shown in FIG. 5 will be described. In the present embodiment, the speed of the moving body, lane information, and a warning sound stop request signal from the user are used as trigger information that is a determination material. The trigger information and the warning sound stop condition are not limited to this.

  In FIG. 5, the stop condition concerning the speed of the moving body is that the speed of the moving body is 2 km / h or less, or the remaining speed from the current position of the moving body to the guide point is 20 m or less. Suppose that it is 50 km / h or more. The former condition is that when the speed of the moving body is 2 km / h or less, it is considered that the moving body is stopped by waiting for a signal or the like, and the warning sound should be stopped while the moving body is stopped. Is based. Further, the latter condition is that it is dangerous to guide the turn forcibly when the moving body enters the guide point at a high speed because the user does not recognize the guide point. It is based on the viewpoint that it is necessary to stop. Note that the threshold value of the speed of the moving body for determining whether the moving body is stopped is not 2 km / h, but may be other values, or the threshold value may be changed depending on the type of road on which the moving body is traveling. May be. Further, the threshold of the remaining distance under the latter condition is not limited to 20 m but may be other values, and may be changed depending on the size of the intersection, for example. Further, the map data may contain a threshold value specific to each intersection, and this may be used.

  Next, the stop condition concerning the lane information is assumed that when the remaining distance from the current position of the moving object to the guide point is 30 m or less, the currently traveling lane of the moving object is different from the lane to be entered. To do. Note that the threshold of the remaining distance from the current position of the moving body to the guide point is not 30 m, and may be other values, or the threshold may be changed according to the road type, the speed of the moving body, or the like. The lane to be entered is, for example, as shown in FIG. 6B when there is intersection C having a shape as shown in FIG. Here, in the case where the guide direction is left, if the moving body enters the intersection C while traveling along the lane 3 or the lane 4, it is impossible to turn left at the intersection C. In this case, the lanes to be entered are Lane 1 and Lane 2. If a car that tries to enter intersection C while proceeding on lane 4 in FIG. 6A continues to make a left turn and continues to sound a warning sound, the user will be forced to try to make a drastic lane change. . This stop condition is a condition for preventing a lane change accompanying such a danger.

  Next, the condition relating to the warning sound stop request signal is that the warning sound stop request signal is 1. The value of the warning sound stop request signal becomes 1 when the user presses the warning sound stop request switch 11 and becomes 0 otherwise. This stop condition allows the user to recognize the guide point at an early stage, and even if the warning sound does not need to be sounded, it may cause discomfort to the user. This is based on the viewpoint that the warning sound should be stopped by pressing the warning sound stop request switch 11 by one's own intention. Instead of the warning sound stop request signal 11, a sound collecting microphone may be used to manipulate the value of the warning sound stop request signal by the user's utterance input. Further, the value taken by the warning sound stop request signal may be a value other than 0 or 1.

  Next, a method for acquiring trigger information will be described. The trigger information acquisition unit 43 is connected to a speed sensor and converts a pulse signal or the like sent from the speed sensor into speed information. Thereafter, the converted speed information is passed to the warning sound stop determination unit 41. Note that the speed of the moving body may be obtained from the difference between the past position and the current position of the moving body based on the position information of the moving body that can be acquired from the position detection unit 2, or may be a gyro sensor or a self-supporting sensor. It may be obtained in combination with the above.

  Further, the trigger information acquisition unit 43 acquires the lane information of the guide point on the currently traveling route from the map information stored in the map database 31. FIG. 7 shows the data structure of the lane information of the guide point. This data is composed of an intersection ID, the number N of roads connected to the intersection, and an array of connected road lane information Ri (i = 1, 2,..., N). The number of connected road lane information Ri is equal to the number N of roads connected to this intersection. Furthermore, the lane information Ri of the connection road i is configured by an array of the ID of this road, the number K of lanes of this road, and the ID of a road that can escape from the lane j. The assignment of lane numbers is determined in advance, for example, from the leftmost lane to 1, 2,. Note that the lane number assignment rules need not be in order from the left. The number of road ID arrays that can escape from the lane j is, for example, one for a right turn-only lane and two for a lane that is allowed to turn right and go straight. Note that the data structure of the lane information is not limited to the structure shown in FIG. 7, but may include other information, and the order of the components may be different.

  Next, a procedure for obtaining a lane to be entered from the lane information will be described. First, the IDs of guide link entry and exit links are stored, and guide point lane information is acquired. Next, the lane information is searched, and the lane information Rin of the connecting road having the same ID as the ID of the approach link is found. Further, the inside of Rin is searched, and it is checked in order from lane 1 whether the ID of the escape link exists in the ID array. If it exists, the lane number to be entered (hereinafter referred to as target lane) Stored as a number). The collection of target lane numbers obtained in this way is passed to the warning sound stop determination processing unit 41. Furthermore, the trigger information acquisition unit 43 obtains the currently traveling lane number (hereinafter referred to as a traveling lane number) based on the current position of the moving body output from the position detection unit 2 and the number of lanes of Rin, This is also passed to the warning sound stop determination unit 41.

  Next, the warning sound stop determination unit 41 receives a warning sound stop request signal when the user presses the warning sound stop request switch 11, and if the result of processing such as chattering removal is 1, then 1 is returned. If so, 0 is passed to the warning sound stop determination unit 41. Note that the value of the warning sound stop request signal may be a value other than 1 or 0.

  Next, details of the warning sound stop determination process in step S201 will be described. FIG. 8 is a flowchart showing details of the warning sound stop determination process in step S201. In the warning sound stop determination process, the warning sound stop signal is set to 1 if any one of the warning sound stop conditions in FIG. First, in step S301, the speed of the moving object is 2 km / h or less, or the moving speed is 50 km / h or more when the remaining distance from the current position of the moving object to the next guide point is 20 m or less. Judgment. If the determination result is true, the subsequent steps S302 to S303 are not executed, and the process proceeds to step S304.

  If the determination result of step S301 is false, the next step S302 is executed. In step S302, it is determined whether the remaining distance from the current position of the moving body to the intersection is 30 m or less, and whether the lane in which the moving body is currently traveling is different from the lane to be entered. Whether or not the currently moving lane of the moving object is different from the lane to be entered is determined by comparing the collection of target lane numbers output from the trigger information acquisition unit 43 with the moving lane number of the moving object. Judgment is made based on whether or not the lane number of the body is included in the set of lane numbers to be entered. If the determination result is true, the subsequent step S303 is not executed, and the process proceeds to S304.

  If the determination result of step S302 is false, the next step S303 is executed. In step S303, it is determined whether or not the warning sound stop request signal is 1. If the determination result is false, the next step S304 is not executed.

  If the determination result of step S303 is true, step S304 is executed. Here, 1 is set to the warning sound stop signal.

  Next, the warning sound stop method selection process in step S203 will be described. FIG. 9 is a diagram showing a flowchart in the selection process of the warning sound stop method. First, in step S401, it is determined whether or not there have been 20 or more times that the vehicle has been guided by a route that includes the same point as the next guide point and that has the same entry and exit links to this point. . This determination requires the travel history 33. A specific data structure and data extraction method will be described later. This determination is made when the user has passed the next guidance point many times at present and there is a high possibility that the user is not following the guidance based on the user's own determination such as predicting the road condition. Since sounding for a long time may be uncomfortable for the user, this is based on the viewpoint that the warning sound should be stopped suddenly. If this determination is true, step S402 is executed. If this determination is false, step S403 is executed. The threshold value such as 20 times or 80% may be other values.

  In step S402, the stop method selection signal is set to zero. The stop method selection signal is transmitted to the warning sound stop determination unit 41. In step S403, 1 is set to the stop method selection signal.

  Next, a specific execution method of the determination process in step S401 will be described. The travel history 33 is used for this determination. Here, in order to explain the configuration of the travel history 33, a road network as shown in FIG. Now, after the user sets a destination, the navigation apparatus recommends the route 1 in FIG. At this time, when the moving body deviates from the route 1 in the node 2, the navigation apparatus detects that the moving body deviates from the recommended route, and presents the route 2 in FIG. Here, further, when the moving body deviates from the route 2 at the node 9, the navigation device further presents another route such as the route 3 in FIG. As a result, it is assumed that the actually traveled route is as shown in FIG.

  The travel history 33 is a collection of travel history records. As shown in FIG. 11 (A), the travel history record includes summary information of this record, information on the actually traveled route, and information on all the routes recommended by the navigation device from the departure point to the destination. Is included. The general information of the record includes information on the departure point and destination, and the number N of routes included in the record. The number N of routes is N = 3 in the example of FIG. Next, the actually traveled route information P0 indicates, for example, information on a route actually traveled by the mobile body from the departure place to the destination as shown in FIG. 10D. Next, the route information P1 of the route 1 indicates the route information recommended by the navigation device first. For example, it is information on the recommended route 1 in FIG. Similarly, the route information recommended by the navigation device, such as route 2, route 3,... Route i, route N, is arranged in the order presented by the navigation device to the user. Note that the arrangement of the route information is not limited to this. For example, the route information may be arranged in ascending order of the linear distance between the route guidance start point or the route guidance end point and the departure point or the destination.

  FIG. 11B shows details of the route information Pi. The number of nodes M is the number of nodes included in the path Pi−1. For example, if the route is 1 in FIG. 10A, M = 6, and if the route is 3 in FIG. 10C, M = 3. The arrangement of the node information Ij is an arrangement of the node information having the structure as shown in FIG. The range of j is 0 to M, and information on the departure place is also included. The arrangement of the link row Lk is an arrangement of the ID arrays of links on the route in FIG. The range of k is 1 to M. The r-th node information Ir excluding the starting node information I0 and the link information Lr have a one-to-one correspondence, and the last element of the link ID array of the link string Lr, that is, the last road of the link string The information of the node connected to is equivalent to Ir.

  Based on the above, a specific execution method of the determination process in step S401 will be described. FIG. 12 is a flowchart showing details of the determination process in step S401. In step S501, the travel history 33 is read and initialization of S0 is performed. S0 is t when the next guide point with respect to the current position of the moving body is t, the entry link is lin, and the exit link is lout. It means a collection of route information P0 of a route actually traveled for a travel history record having a route equal to lin and lout.

  In step S502, iterative determination from step S502 to step S508 is performed. The end condition of the repetition is that all the travel history records Ri are checked. That is, steps S503 to S507 are repeatedly executed until all the travel history records Ri have been examined.

  Next, in step S503, iterative determination from step S503 to step S507 is performed. The condition for ending the iteration is that all route information Pj in Ri is checked. That is, steps S504 to S506 are repeatedly executed until all the route information Pj in Ri is checked.

  In step S504, it is determined whether the node information Nt of the next guide point t is included in the node information Nk in Pj. If this is false, the process moves to step S507, that is, returns to step S503.

  If the determination result of step S504 is true, step S505 is executed. In step S505, the last link ID of the link ID array of the link row Lt corresponding to Nt and the first link ID of the link ID array of the link row L (t + 1) are respectively the incoming links lin of the next guide point t. And whether it is equal to the exit link lout. In addition to the fact that the route information Pj includes the node information Nt of the next guide point, it is determined whether the approach link and the exit link are also equal to the current one. If the determination result is false, the process proceeds to step S507. That is, the process returns to step S503.

  If the determination result of step S505 is true, step S506 is executed. In step S506, Pj is added to St, and route information P0 of the route actually traveled to Pj is added to S0. Finally, step S509 passes S0 to the warning sound stop determination unit 41 as the travel history information acquisition result.

  In the present invention, a software program for realizing the above-described embodiment (in the embodiment, a program corresponding to the flowchart shown in the figure) is supplied to the apparatus, and the computer of the apparatus reads the supplied program, Including the case where it is also achieved by executing. Therefore, in order to implement the functional processing of the present invention on a computer, the program itself installed in the computer also implements the present invention. That is, the present invention also includes a navigation program for realizing the functional processing of the present invention.

  As described above, a navigation device, a navigation method, and a navigation program that perform notification with a warning sound corresponding to the remaining distance can be provided so as to reduce discomfort given to the user.

  The configuration described in the above embodiment is merely a specific example, and does not limit the technical scope of the present invention. Any configuration can be employed within the scope of the effects of the present application.

  The present invention is useful as a navigation device that outputs a warning sound according to the remaining distance from the current position to the next guide point.

The block diagram which shows the structure of the navigation apparatus which concerns on embodiment The flowchart which shows the procedure of the main processes in a navigation apparatus The figure which showed the example of the voice guidance to the remaining distance to the present position of a moving body Flowchart showing warning sound stop processing of guidance guidance processing Diagram showing trigger information and stop conditions used for warning sound stop judgment (A) Diagram showing intersection shape and lane information of approach link (B) Diagram showing lane to be entered in the guide direction The figure which shows the data structure of the lane information of the guide point Flow chart showing details of warning sound stop determination process Flowchart in selection processing of warning sound stop method (A) A diagram showing a road network of a recommended route (B) A diagram showing a road network of another route 2 (C) A diagram showing a road network of another route 3 (D) A diagram showing a road network of a route actually traveled (A) A diagram showing an example of a travel history record (B) A diagram showing details of the route information Pi (C) A diagram showing an example of the structure of node information (D) A diagram showing an example of an ID array of links The flowchart which shows the details of the judgment processing whether or not it is guided with the same route

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Input part 2 Position detection part 3 Data storage part 4 Arithmetic processing part 5 Output part 11 Warning sound stop request switch 31 Map database 32 Warning sound source 33 Travel history 41 Warning sound stop determination part 42 Guide information control part 43 Trigger information acquisition part

Claims (7)

A navigation device that notifies the user of the distance from the current position of the moving body to the guide point by continuously informing warning sounds,
A trigger information acquisition unit that acquires trigger information that is the traveling state of the moving object;
Based on the trigger information acquired by the trigger information acquisition unit, a warning sound stop determination unit that determines whether to stop notification by the warning sound;
A navigation apparatus comprising: a notification control unit that controls notification by the warning sound according to a determination result of the warning sound stop determination unit.   The warning sound stop determination unit determines that notification by a warning sound is stopped when the trigger information acquisition unit acquires trigger information indicating that the moving speed of the moving body is equal to or less than a predetermined value. The navigation device according to claim 1.   The warning sound stop determination unit includes trigger information indicating that the moving body has failed to enter an appropriate lane at an intersection to bend in a section whose distance from a guide point is equal to or less than a predetermined value. The navigation device according to claim 1, wherein when it is acquired, it is determined that the notification by the warning sound is stopped.   The warning sound stop determination unit, when the trigger information acquisition unit acquires the trigger information indicating that the mobile body has not entered the appropriate lane of the intersection to be turned in the lane change prohibition section, the warning sound stop notification unit The navigation device according to claim 1, wherein the navigation device is determined to stop.   The warning sound stop determination unit determines to stop the notification by the warning sound when the trigger information acquisition unit acquires the trigger information indicating that the user does not follow the route guidance using the travel history. The navigation device according to claim 1. A navigation method for informing a user of a distance from a current position of a moving object to a guide point by continuously informing a warning sound,
A trigger information acquisition step of acquiring trigger information that is a traveling state of the moving body;
Based on the trigger information acquired in the trigger information acquisition step, a warning sound stop determination step for determining whether to stop notification by the warning sound;
A navigation method comprising: a notification control step for controlling notification by the warning sound according to a determination result of the warning sound stop determination step. A navigation program that is executed by a computer of a navigation device that notifies a user of a distance from a current position of a moving object to a guide point by continuously informing a warning sound,
In the computer,
A trigger information acquisition step of acquiring trigger information that is a traveling state of the moving body;
Based on the trigger information acquired in the trigger information acquisition step, a warning sound stop determination step for determining whether to stop notification by the warning sound;
The navigation program which performs the alerting | reporting control step which controls alerting | reporting by the said warning sound according to the determination result of the said warning sound stop determination step.

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