JP2010190608A - Method for voice guidance on intersection and onboard navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a "method for voice guidance on an intersection and an onboard navigation system" which give no feeling of discomfort to a driver and perform appropriate voice guidance on the intersection even when any path to be followed or any intersection of the path to be followed is present between a guiding object intersection and a starting point of the guidance on the intersection. <P>SOLUTION: On the occasion of the voice guidance on the intersection of the onboard navigation system which guides to the destination along a guiding route, it is checked whether the path to be followed exists between the current location and the guiding object intersection, when a point located at a set distance from the guiding object intersection is reached. When the path to be followed is present, it is monitored whether an angle difference between the direction of an entry link into the guiding object intersection and the direction of advance of the vehicle gets in the range of a set angle, and when the difference gets in the range of the set angle (after passing through the path to be followed), the voice guidance on the guiding object intersection is started. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an in-vehicle navigation apparatus that guides to a destination along a guidance route and an intersection voice guidance method thereof, and more particularly, driving even when there is a road between a point where guidance guidance should be started and a guidance intersection. The present invention relates to an intersection voice guidance method and an in-vehicle navigation device that do not give a sense of incongruity to hands.

  The in-vehicle navigation device displays a map, searches for a route to the destination at the time of guidance, displays the searched route (guidance route) on the map, and guides the vehicle toward the destination. Such an in-vehicle navigation device displays an enlarged view of an intersection when the vehicle approaches a guidance intersection on the guidance route to a predetermined distance, displays a distance to the guidance intersection (remaining distance bar display), and a vehicle traveling direction at the intersection. Is displayed with an arrow, and voice guidance such as “Turn right 300m ahead” is given. In addition, the remaining distance is reduced as the vehicle travels, and voice guidance such as “I am about to go right” is given when the guide intersection is further approached. According to this intersection guidance function, the driver can easily recognize the traveling direction at the guidance intersection and can definitely drive toward the destination along the guidance route.

However, the conventional intersection voice guidance has a problem that there is a non-straight road near the guidance intersection, and the driver feels uncomfortable if the distance from the road to the guidance intersection is short. FIG. 13 is a diagram for explaining such a problem. FIG. 13A shows a case where a left-hand road CV exists between a guidance intersection GCP that turns right and an intersection guidance start point (for example, a point 300 m from the guidance intersection). B) is a case where there is a road and intersection CCP between the guidance intersection GCP turning right and the intersection guidance start point. The roadside intersection is an intersection defined as follows. That is, when the angle formed by the entrance link of the predetermined intersection and the exit link of the intersection is equal to or greater than the set angle and the entrance link and the exit link are on the same street, the intersection is defined as a road intersection. . Set angle, for example at ± 10 ^0, it is the angle which is not considered a straight.

  In each of the cases (A) and (B), the driver needs to drive in the left direction even though the voice guidance indicates a right turn at the intersection, and feels uncomfortable. In particular, if the vehicle CM approaches the guidance intersection GCP and the voice guidance “Soon to turn right” is performed in front of the road CV or the road intersection CCP, it is necessary to drive immediately in the left direction after the voice guidance. As a result, the degree of discomfort increases. In the case of (B), there is also a problem that if the voice guidance “soon to turn right” is performed in front of the road intersection CCP, the road turns right as indicated by the dotted line. FIG. 14 shows an actual display example when there is a road intersection.

As a conventional technique, it is determined whether or not an intersection is a road or intersection, and in the case of a road or intersection, no intersection guidance is performed, and when the intersection is not a road or intersection, there is an intersection guidance (Patent Document 1). However, this conventional technology does not relate to the intersection guidance at the guidance intersection GCP when there is a road CV or a road intersection intersection CCP between the guidance intersection GCP and the intersection guidance start point. Can not.
Further, as a conventional technique, there is an intersection guide method when intersections are continuous (Patent Document 2). However, this prior art relates to a method for drawing an enlarged view of an intersection when there are consecutive intersections, and does not relate to voice guidance when there is a road, and cannot solve the above problem.

Patent No. 3380649 JP 2008-209359 A

From the above, the object of the present invention is to provide accurate intersection voice guidance without giving the driver a sense of incongruity even when there is a road CV or road lane intersection CCP between the guidance intersection GCP and the intersection guidance start point. To be able to do it.
Another object of the present invention is to enable intersection voice guidance so as not to accidentally turn left or right at a roadside intersection CCP.

The present invention is an in-vehicle navigation device that guides a destination along a guidance route and an intersection voice guidance method thereof.
Intersection voice guidance method The first intersection voice guidance method of the present invention is a step of checking whether there is a road between the current position and the guidance intersection when the vehicle reaches a set distance from the guidance intersection. If there is a step, the step of monitoring whether the angle difference between the direction of the approaching link to the guidance intersection and the vehicle traveling direction is within the range of the set angle (for example, ± 10 ⁰ ), when it is within the range of the set angle And starting voice guidance at the guidance intersection.
The second intersection voice guidance method of the present invention is a step of checking whether or not there is a road between the current position and the guidance intersection when the vehicle reaches a set distance from the guidance intersection. Includes a step of voice guidance of the existence of a road, the presence of a guidance intersection after the road, and the traveling direction at the guidance intersection.
In the second intersection voice guidance method, if the direction of the exit link at the intersection is larger than the set angle when the direction of the approach link at the intersection is a reference, and the entrance link and the exit link are the same street, , Defining the intersection as a road intersection and checking whether a road intersection exists between the current position and the guidance intersection; if present, the road intersection is present, after the road intersection There is a step of performing voice guidance on the existence of the guidance intersection and the traveling direction at the guidance intersection.
The second intersection voice guidance method further includes a step of monitoring whether the angle difference between the direction of the approach link to the guidance intersection and the vehicle traveling direction is within the set angle range, and when the angle is within the set angle range, There is a step of performing voice guidance again at the guidance intersection.
In the road existence check step of the first and second intersection voice guidance methods, there is a road when the angle difference between the vehicle traveling direction at the current position and the direction of the approach link at the guidance intersection is larger than a set angle. Judge that.

On-vehicle navigation device The first on-vehicle navigation device of the present invention includes a guidance route search unit that searches for a guidance route to a destination and stores it in a memory, a vehicle current position calculation unit that calculates the current position of the vehicle, and a guidance route When reaching a set distance from the guide intersection, check if there is a road between the current position and the guide intersection, and if there is a road, the direction of the approach link to the guide intersection and the vehicle It has an intersection voice guidance unit that monitors whether or not the angle difference in the traveling direction is equal to or less than the set angle and starts voice guidance at the guidance intersection when the angle is equal to or less than the set angle.
The second in-vehicle navigation device of the present invention includes a guidance route search unit that searches for a guidance route to a destination and stores it in a memory, a vehicle current position calculation unit that calculates the current position of the vehicle, and a guidance intersection on the guidance route. When you reach the set distance, check if there is a road between the current position and the guidance intersection. If there is a road, there is a road, and there is a guidance intersection after the road. And an intersection voice guide for voice guidance of the traveling direction at the guidance intersection.
The intersection voice guidance unit of the second in-vehicle navigation device further has an exit link direction at the intersection larger than a set angle when the direction of the approach link at the intersection is a reference, and the entrance link and the exit link are on the same street. If this is the case, define the intersection as a road intersection, and check whether there is a road intersection between the current position and the guidance intersection. Is followed by voice guidance of the presence of a guidance intersection and the direction of travel at the guidance intersection.
The intersection voice guidance unit of the first and second vehicle-mounted navigation devices checks whether there is a road or a road intersection according to the steps shown in the intersection voice guidance method.

According to the present invention, when reaching a point of a set distance from the guidance intersection (a point where guidance should be started), it is checked whether there is a road between the current position and the guidance intersection. To monitor whether the angle difference between the direction of the approaching link to the guidance intersection and the vehicle traveling direction is within the set angle range, and when the angle is within the set angle range, voice guidance at the guidance intersection is started. Therefore, since the intersection voice guidance is performed after passing along the road, it is possible to eliminate the sense of incongruity of the voice guidance at the intersection, and it is not mistakenly deviated from the guidance route at the road intersection.
According to the present invention, when reaching a point of a set distance from the guidance intersection (a point where guidance should be started), it is checked whether there is a road between the current position and the guidance intersection. In order to inform the driver that there is a road, there is a guidance intersection after the road, and the direction of travel at the guidance intersection is voice-guided. It is possible to eliminate the uncomfortable feeling of intersection voice guidance due to the road. In this case, when the angle difference between the direction of the approach link to the guidance intersection and the vehicle traveling direction is within the set angle range, even if the voice guidance is performed again, the intersection voice guidance is uncomfortable because it is after passing the road. It can be eliminated, and it will not be mistakenly deviated from the guidance route at the road intersection.
According to the present invention, if the direction of the exit link of the intersection is larger than the set angle when the direction of the entrance link of the intersection is a reference, and the entrance link and the exit link are the same street, the intersection is a road. Define as an intersection, and check whether there is a road intersection between the current position and the guidance intersection, and if it exists, that there is a road intersection, that there is a guidance intersection after the road intersection, In addition, since the direction of travel at the guidance intersection is voice-guided, it is possible to notify the driver of the existence of the road intersection and to prevent the guidance route from being deviated at the road intersection. In this case, by including in advance information on whether or not the road is an intersection in the guidance route information, it is possible to determine the presence or absence of a road intersection only by referring to the guidance route information. Then, the voice guidance can be made by distinguishing the road intersection and the road.
In addition, according to the present invention, when the angle difference between the vehicle traveling direction at the current position and the direction of the approach link at the guidance intersection is larger than the set angle, it is determined that there is a road. The presence or absence can be determined.

It is a block diagram of the navigation apparatus of this invention. It is an example of the node record which comprises a road layer, and an intersection record. It is an example of a link record. It is a storage example (guidance route information) of the guidance route memory. It is a table | surface which shows the judgment criteria of the intersection which does not perform intersection guidance, a roadside intersection, and a guidance intersection. It is the guidance route information creation processing flow of a route search part. It is a flow of the 1st voice guidance processing by an intersection guidance part. It is a road explanatory drawing. It is a processing flow of the 1st modification. It is a processing flow of the 2nd modification. This is a flow of voice guidance processing for detecting the presence or absence of a roadside intersection and, if present, providing voice guidance including the presence of a roadside intersection. This is another flow of voice guidance processing for detecting the presence or absence of a roadside intersection and, if present, providing voice guidance including the presence of a roadside intersection. It is explanatory drawing of the problem of the conventional voice guidance. It is an example of a display when there is a road intersection.

(A) Navigation Device FIG. 1 is a configuration diagram of the navigation device of the present invention.
Map data is recorded on a map recording medium (CD-ROM, DVD, HDV, etc.) 11 and can be read as necessary. Map data is composed of road layer information used for guidance route search and map matching, background layer information for displaying objects on the map, character layer information for displaying characters such as city names on the map, etc. Yes. FIG. 2 shows an example of a node record and an intersection record constituting a road layer, and FIG. 3 shows an example of a link record. In the node record, a node number (node ID) is assigned to each node, (1) the position (latitude and longitude) of the node, (2) an intersection flag indicating whether it is an intersection, or (3) the intersection if it is an intersection Pointers indicating the positions of intersection records in which information is stored are recorded. In the intersection record, (1) an intersection ID and (2) an intersection configuration link ID are recorded. In the figure, it is assumed that the intersection is composed of four links, and the link IDs (L ₀ , L ₁ , L ₂ , L ₃ ) of the four links are intersection configuration link IDs. As shown in Figure 3, the link record consists of (1) link ID, (2) node number 1 at one end of the link, (3) node number 2 at the other end of the link, (4) distance between links, and (5) link cost. , (6) Road type flag, (7) Road attribute flag / lane width information, (8) Expressway code, (9) Street name, (10) Number of lanes, (11) Number of traffic lights, (12) Node number Traffic restriction flag from 1 to node number 2 direction, (13) Traffic restriction flag to reverse direction, (14) Direction by road shape from node number 1 to node number 2, (15) Road shape to reverse direction And (16) link shape data (position data for approximating the link shape to a polygonal line) and the like are recorded.
Returning to FIG. 1, the operation unit 12 operates the navigation apparatus body 10 and includes a remote controller, operation hard keys, and the like. The GPS receiver 13 receives position information sent from a GPS satellite and measures the absolute current position of the vehicle. The self-contained navigation sensor 14 includes an angle sensor 14a such as a gyro that detects a vehicle rotation angle, and a distance sensor 14b that generates a pulse at every predetermined travel distance, and can autonomously estimate the current position of the vehicle. Yes. The navigation device 10 uses a GPS and a self-contained navigation sensor in combination, and appropriately performs map matching to estimate the current vehicle position.
The touch-panel display device 15 displays a vehicle periphery map, an enlarged intersection view, other guidance information, a menu, and the like according to instructions from the navigation device 10. The touch panel display device 15 is adapted to input a predetermined command to the navigation device 10 when a soft key displayed on the screen is pressed. When the vehicle reaches a predetermined distance (for example, 300 m) from the guidance intersection, the audio unit 16 guides the distance to the intersection, the traveling direction (left turn / right turn), and the like by voice.

In the navigation device 10, the map buffer 21 stores map data read from a map recording medium. The control unit 22 is based on various information and commands input via the interfaces 23 to 26, (1) calculation control of the current position of the vehicle, and (2) map reading control for reading out map data around the vehicle into a buffer, (3) Execute guidance route search control, (4) Map matching control, etc. The control unit 22 includes a map read control unit 22a, a current position calculation unit 22b, a route search unit 22c, and the like.
The map drawing unit 27 uses the map data read out to the map buffer 21 to generate a map image around the vehicle and writes it to the VRAM 28, and the image reading unit 29 reads a predetermined image from the VRAM 28 in accordance with an instruction from the control unit 22. The portion is cut out and input to the image composition unit 30.
The guidance route memory 31 records the guidance route information to the destination searched by the route search unit 22c of the control unit 22, that is, the position data of all the nodes constituting the guidance route in order of passing from the departure point to the destination.
FIG. 4 shows an example of storage in the guidance route memory 31. The position data (longitude and latitude) of all nodes constituting the guidance route, the intersection identification ID indicating whether the passing node is an intersection, and whether or not the intersection provides guidance for the intersection. A guidance flag FG indicating whether the intersection is a road or intersection, and a road intersection flag FC indicating whether or not the intersection is a road or intersection are stored. Even if it is an intersection, no intersection guidance is provided at straight intersections. Even if it is not a straight-ahead intersection, no guidance is given at the intersection. For this reason, when the guide route information is created, the guide flag FG is included in the guide route information. Further, in the present invention, when the intersection voice guidance is performed, the guidance voice information includes a road intersection flag FC in order to control the intersection voice guidance depending on whether or not there is a road between the vehicle position and the guidance intersection. .

FIG. 5 is a chart showing criteria for judging intersections that do not provide intersection guidance, roadside intersections, and guidance intersections. If the angle of the incoming link and the exit link at the target intersection 170 ^{0-190 0} (when referenced to the direction of the incoming link of the intersection, if the direction of the outgoing link of the intersection is smaller than the set angle), the intersection It is a straight intersection. At straight intersections, no guidance will be given regardless of whether the street name (street name) of the entrance link and exit link is the same or different. That is, such an intersection is a guidance non-target intersection.
On the other hand, when the angle of approach link and the exit link at the target intersection exceeds the range of 170 ⁰ to 190 ⁰ (when referenced to the direction of the incoming link of the intersection, if the direction of the outgoing link of the intersection set angle greater than ) No longer a straight intersection. In such a case, if the street names of the entrance link and the exit link are the same, the intersection is a road or intersection, and no intersection guidance is provided even if the road or intersection is not straight ahead. However, if the street names of the entrance link and the exit link are different, intersection guidance is provided. That is, beyond the angle 170 ^{0-190 0} range of the incoming link and the exit link at the target intersection, when the street name of the approach link and the exit link are different, the intersection is the guidance intersection.

FIG. 6 is a flow chart of guidance route information creation processing by the route search unit 22c.
When the destination is set (step 101), the route search unit 22c performs a route search based on predetermined search software (for example, Dijkstra algorithm) (step 102). Thereby, the creation of the guide route information excluding the guidance flag FG and the roadside intersection flag FC in FIG. 4 ends.
Next, the route search unit 22c sets i = 1 (step 103), checks whether the i-th node is an intersection (step 104), and if it is an intersection, calculates the angle formed by the entrance link and the exit link of the intersection. Then, based on the angle, it is determined whether to go straight through the intersection (step 105). If it is not straight, it is checked whether the street names of the incoming link and the outgoing link match (step 106). If they match, the road intersection flag FC is turned on (= 1) because it is a road intersection (step 107). However, if the street name of the exit link is different, the intersection is a guidance intersection, so the guidance flag FG is turned on (= 1) (step 108).
On the other hand, if it is not an intersection in step 104, or if it is a straight line in step 105, neither the road intersection flag FC nor the guide flag FG is turned on.
Thereafter, it is checked whether the processing is completed for all the nodes (step 109). If not completed, i is incremented (step 110), and the processing after step 104 is repeated to complete the processing for all the nodes. The intersection information creation process is completed.

Returning to FIG. 1, the guidance route drawing unit 32 generates a guidance route image using the guidance route information, inputs it to the image composition unit 30, and highlights it on the drawing map. The operation screen generation unit 33 generates various menu screens (operation screens) and inputs them to the image composition unit 30, and the mark generation unit 34 generates various marks such as a vehicle position mark and a cursor and inputs them to the image composition unit 30. .
The intersection guide unit 35 refers to the current vehicle position and guidance route information to check whether the vehicle has reached a predetermined distance from the guidance intersection, and if so, performs guidance at the guidance intersection using a display image and voice. In other words, if the vehicle reaches a predetermined distance from the guidance intersection during actual route guidance, the intersection guidance unit 35 displays the intersection guidance map (intersection enlarged map, travel direction arrow, remaining distance, etc.) on the display screen. In addition, the direction of travel at the intersection is guided by voice. The voice guidance method will be described later.
The image compositing unit 30 displays various marks, a guide route image, and an enlarged intersection view as appropriate on the map image read from the VRAM 28 and displays them on the display screen.

(B) First Voice Guidance Process FIG. 7 is a flowchart of a first voice guidance process by the intersection guide unit 35.
The intersection guide unit 35 checks whether or not a predetermined distance from the guidance intersection has been reached (step 201), and if it has reached, displays an intersection guide map (intersection enlarged map, travel direction arrow, remaining distance, etc.) on the display screen. (Step 202). Next, an angle formed between the approach direction of the guidance intersection and the current vehicle traveling direction is calculated (step 203). For example, as shown in FIGS. 8A to 8C, the angle formed by the direction θ1 of the approach link LK at the guidance intersection and the current vehicle travel direction θ2, or the approach link and the vehicle at the guidance intersection are currently traveling. If the links are different, the angle between the directions of both links is calculated. Note that the clockwise angle θ is positive (+ θ) and the counterclockwise angle θ is negative (−θ) with respect to the direction of the entry link LK.
Intersection guidance unit 35 when the absolute value of the angle setting angle for example 10 ⁰ greater than or checked (step 204), large, it is determined that a road is present, determines that if a road does not exist less. If there is no road, immediately use normal voice guidance, for example, “Turn right after 300m”
Voice guidance is performed (step 205). On the other hand, if a road is present, not voice guidance, orientation and angle of the current vehicle heading of entering link LK is set angle, and monitors for example whether entered ± 10 ⁰ within (step 206), ± if placed in a 10 ⁰ within, "Turn right this earlier, 50m" immediately voice guidance, for example,
Voice guidance is performed (step 205).
In this way, the driver does not feel uncomfortable because the voice guidance for the intersection is given after passing the road. In addition, there is no way to accidentally leave the guidance route at a roadside intersection.

(C) Modified Example of First Voice Guidance Process First Modified Example In the voice guidance process flow of FIG. 7, when there is a road, a point at a predetermined distance from the guidance intersection (point where voice guidance starts). Even if it arrives, voice guidance is not performed, but voice guidance is performed after passing the road. However, when there is a road, the voice guidance including the presence of the road can be performed immediately at the point where the voice guidance is started.
FIG. 9 is a processing flow of the first modified example, and the same steps as those in FIG. 7 are denoted by the same step numbers. The difference is that in step 204, if there is a road, voice guidance including the presence of the road is performed (step 210), and voice guidance is not performed after passing the road. That is, in step 204, if there is a road, for example,
“There is a road on the right. After that, turn right.”
Voice guidance including the existence of a road (see Fig. 8 (B)) or "There is a road on the left. Then turn right."
The voice guidance including the fact that there is a road exists (FIG. 8C), and the voice guidance processing is terminated.
In this way, there is no sense of incongruity because the driver is informed of the existence of the road.

Second Modified Example In the voice guidance process of the first modified example, voice guidance is not performed after passing along the road, but it may be performed.
FIG. 10 shows the processing flow of the second modification. The same steps as those in FIG. 7 are given the same step numbers. The difference is that in step 204, when there is a road, voice guidance including the presence of the road is provided (step 220). That is, if there is a road in step 204,
“There is a road on the right. After that, turn right.”
And voice guidance (see Fig. 8 (B)) or "There is a road on the left. After that, turn right."
And voice guidance (FIG. 8C). Thereafter, the processing after step 206 is performed in the same manner as the first processing, and the intersection guidance is again made after passing the road, for example,
"I will turn right soon"
Voice guidance is performed.
According to this process, the intersection voice guidance that there is a road first is given, and further the intersection voice guidance is given after passing the road, so that a careful intersection voice guidance can be provided and the driver feels uncomfortable. In addition, there is no way to accidentally leave the guidance route at a road or intersection.

(D) Second Voice Guidance Process FIGS. 11 and 12 each detect the presence or absence of a road intersection and, if present, a second voice guidance process for voice guidance including the presence of a road intersection. This is a flow, and the same step numbers are assigned to the same partial processes as those in FIGS.
A different point is that after reaching a predetermined distance from the guidance intersection and displaying the intersection guide map, it is checked whether there is a road between the guidance intersection and the intersection (step 301). Voice guidance including the presence of an intersection (step 302) is a point.
Whether there is a roadside intersection can be determined by referring to the guidance route information and checking whether there is an roadway where the roadway intersection flag FC is “1” between the current position and the target guidance intersection. Voice guidance including the existence of a road intersection is, for example,
“There is an intersection on the right direction. After that, turn right.”
Or
“There is an intersection on the left road. After that, turn right.”
It is.
According to the second voice guidance process, voice guidance can be performed by distinguishing roads and intersections from roads, and it is possible to prevent a guidance route from being mistakenly removed at a road or intersection.
In the above description, the road / intersection flag is included in the guidance route information. However, it is not always necessary to include the road / intersection flag, and it can be configured to detect the road according to the flow of FIG. 7, FIG. 9, and FIG. .

201 Guiding intersection approach determination step 202 Intersection guide map display step 203 Angle calculation step of intersection approaching direction and vehicle direction 204 Presence / absence determination step 205 Voice guidance step 206 Road passage determination step

Claims (12)

In the intersection voice guidance method of the in-vehicle navigation device that guides to the destination along the guide route,
When you reach a set distance from the guidance intersection, check if there is a road between your current location and the guidance intersection.
If there is a road, monitor whether the angle difference between the direction of the approach link to the guidance intersection and the vehicle traveling direction is within the set angle range,
Start voice guidance at the guidance intersection when it is within the set angle range,
An intersection guidance method characterized by that. In the intersection voice guidance method of the in-vehicle navigation device that guides to the destination along the guide route,
When you reach a set distance from the guidance intersection, check if there is a road between your current location and the guidance intersection.
If there is a road, voice guidance will be given that there is a road, that there is a guidance intersection after the road, and the direction of travel at the guidance intersection.
An intersection guidance method characterized by that. If the direction of the exit link of the intersection is larger than the set angle when the direction of the entrance link of the intersection is a reference, and the entrance link and the exit link are the same street, the intersection is defined as a road intersection, Check if there is a road intersection between the current position and the guidance intersection,
If there is, there is a road intersection, a guidance intersection is present after the road intersection, and the direction of travel at the guidance intersection is voice-guided.
The intersection guide method according to claim 2. Monitor whether the angle difference between the direction of the approaching link to the guidance intersection and the vehicle traveling direction is within the set angle range,
When it is within the set angle range, perform voice guidance at the guidance intersection again.
The intersection guide method according to claim 2 or 3, characterized by the above. When the angle difference between the vehicle traveling direction at the current position and the direction of the approach link at the guidance intersection is larger than a set angle, it is determined that there is a road.
The intersection guide method according to claim 1 or 2, characterized by the above. After the end of the route search, check whether the intersection constituting the guide route is a road intersection, insert the result into the guide route information, and determine whether there is a road by referring to the guide route information.
The intersection guide method according to claim 3. In the in-vehicle navigation device that guides to the destination along the guide route,
A guide route search unit that searches for a guide route to the destination and stores it in a memory,
A vehicle current position calculator for calculating the current position of the vehicle;
When reaching a set distance from the guidance intersection on the guidance route, it is checked whether there is a road between the current position and the guidance intersection. If there is a road, the entry link to the guidance intersection An intersection voice guidance section that monitors whether the angle difference between the direction and the vehicle traveling direction is within a set angle range, and starts voice guidance at the guidance intersection when the angle difference is within the set angle range;
An in-vehicle navigation device comprising: In the in-vehicle navigation device that guides to the destination along the guide route,
A guide route search unit that searches for a guide route to the destination and stores it in a memory,
A vehicle current position calculator for calculating the current position of the vehicle;
When you reach a set distance from the guidance intersection on the guidance route, check whether there is a road between the current position and the guidance intersection, and if there is a road, that there is a road, An intersection voice guidance unit that provides voice guidance of the presence of a guidance intersection after the road and the direction of travel at the guidance intersection;
An in-vehicle navigation device comprising: When the direction of the exit link at the intersection is larger than the set angle and the entrance link and the exit link are on the same street, the intersection voice guidance unit is configured to pass the intersection. Nari intersection, and check if there is a road intersection between the current position and the guidance intersection,
If there is, there is a road intersection, a guidance intersection is present after the road intersection, and the direction of travel at the guidance intersection is voice-guided.
The in-vehicle navigation device according to claim 8. The intersection voice guidance section monitors whether the angle difference between the direction of the approach link to the guidance intersection and the vehicle traveling direction is within the set angle range, and when the angle difference is within the set angle range, voice guidance at the guidance intersection is performed. Do it again,
The in-vehicle navigation device according to claim 8 or 9, characterized in that. The intersection voice guidance unit determines that there is a road when the angle difference between the vehicle traveling direction at the current position and the direction of the approach link at the guidance intersection is larger than a set angle.
The in-vehicle navigation device according to claim 7 or 8, characterized in that. After the route search is completed, the guidance route search unit checks whether the intersection constituting the guidance route is a road or intersection, and inserts the result into the guidance route information. The intersection voice guidance unit refers to the guidance route information. To determine whether there is a road,
The in-vehicle navigation device according to claim 7 or 9, characterized in that.

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