JP2010266391A - Navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a "navigation device" for presenting a recommended lane in a form for facilitating obtaining of a lane to travel when travelable lanes exist separately. <P>SOLUTION: When one's own vehicle enters intersection 500 in the entering direction 501, and when the own vehicle arrives at a point 511 within a predetermined distance to the intersection 500 in a state where a guide route for turning left is set, a block 521 of the lane of lane number 1-2 as a lane only for turning left and a block 522 of the lane of lane number 6-7 are extracted (a). The own vehicle joins to a merge point 530 in a past predetermined travel distance from the left road as shown by a travel trajectory 510, so that the lane included in the first lane block 521 on the more left side, of the first lane block 521 and the second lane block 522, is set as the recommended lane (b1). <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a route guidance technique in a navigation device.

As a route guidance technique in a navigation device, a technique is widely used in which a route from a current position to a destination is searched and set as a guide route, and the set guide route is displayed on a map together with the current position.
As a route guidance technique in a navigation device, a technique for presenting a recommended lane to a user before an intersection is known (for example, Patent Document 1). In this technique, when approaching an intersection that changes the course along the guidance route, a lane before the intersection that can be used for passing the intersection in the course changing direction is presented as a recommended lane.

JP 2002-251197 A

  A technique for presenting the recommended lane when there are a plurality of lanes before the intersection that can pass through the intersection in the course changing direction along the guidance route and separated from each other with another lane in between. Thus, when all of the plurality of lanes are presented as recommended lanes, the user may be confused as to which recommended lane of the plurality of presented recommended lanes should be run.

  Therefore, the present invention can pass through the intersection in the course change direction along the guidance route, even when there are a plurality of lanes in front of the intersection separated by other lanes in between. It is an object of the present invention to provide a navigation device capable of presenting an appropriate recommended lane in a form in which the user can immediately know which lane to drive.

  In order to achieve the above object, the present invention provides a navigation device mounted on an automobile, a current position calculation unit that calculates a current position, a guidance route setting unit that sets a route to a destination as a guidance route, When the current position approaches the intersection, at least one lane of candidate lanes that are dedicated lanes in the traveling direction that can pass the intersection in the passing direction according to the guidance route among the lanes before the intersection A lane guide unit that presents the recommended lane as a recommended lane, and in the lane guide unit, the continuous portion of the lane arrangement direction of the candidate lanes is provided with a lane that is not a candidate lane sandwiched therebetween. If the vehicle has passed the junction of the roads within a predetermined distance in the past, the junction of the road traveled to the junction before the junction It is a candidate lane contained in successive portions on the direction that was set to be presented as the recommended lane for.

  Here, in such a navigation device, in the lane guide unit, the candidate lane included in the continuous portion on the direction side with respect to the junction point of the road that has traveled before the junction is the most of the intersection at the intersection. Candidate lanes on the passing direction side according to the guidance route may be presented as recommended lanes, or all candidate lanes included in the continuous part on the direction side with respect to the joining point of the road that has traveled before the joining May be presented as a recommended lane. Further, such a navigation device presents the recommended lane by displaying a lane guide map indicating the position of the recommended route on the lane map showing the lane structure before the intersection in the lane guide unit. You may comprise as follows.

  According to such a navigation device, when there are a plurality of dedicated lanes for the traveling direction that can pass in the passing direction according to the guidance route before the intersection, in a form with other lanes sandwiched therebetween, All the lanes that are apart from each other are presented as recommended lanes, and the lanes on the direction side of the merging point of the road that has traveled before the merging point to the merging point that has passed in the past, without confusing the user, A lane considered to be closer to the current vehicle position and easy to use for the user can be presented as a recommended lane.

  In order to achieve the above object, the present invention provides a navigation device mounted on an automobile, a current position calculation unit that calculates a current position, and a guidance route setting unit that sets a route to a destination as a guidance route. A traveling lane detecting unit that detects a lane in which the vehicle equipped with the navigation device is traveling as a traveling lane, and when the current position approaches the intersection, the lane before the intersection, A lane guide unit that presents at least one lane of candidate lanes that are dedicated lanes for traveling directions that can pass in the passing direction according to the guidance route as recommended lanes, in the lane guide unit, Consecutive portions of the candidate lanes in the lane arrangement direction are provided apart from each other with lanes that are not candidate lanes in between. If that is the among candidate lanes in which the closest candidate lanes traveling in the lane in which the vehicle is traveling lane detecting section detects the so presented as the recommended lane.

Here, such a navigation device presents the recommended lane by displaying the lane guide map indicating the position of the recommended route on the lane map showing the lane structure before the intersection in the lane guide unit. You may comprise.
According to such a navigation device, when there are a plurality of dedicated lanes for the traveling direction that can pass in the passing direction according to the guidance route before the intersection, in a form with other lanes sandwiched therebetween, It is possible to present a recommended lane that is closer to the current vehicle position and therefore more easily used by the user without making the user confused by presenting all of the separated dedicated lanes as recommended lanes. it can.

  In order to achieve the above object, the present invention provides a navigation device mounted on an automobile, a current position calculation unit that calculates a current position, and a guidance route setting unit that sets a route to a destination as a guidance route. A traveling lane detecting unit that detects a lane in which the vehicle equipped with the navigation device is traveling as a traveling lane, and when the current position approaches the intersection, the lane before the intersection, A lane guide unit that presents at least one lane of candidate lanes that are dedicated lanes for traveling directions that can pass in the passing direction according to the guidance route as recommended lanes, in the lane guide unit, Consecutive portions of the candidate lanes in the lane arrangement direction are provided apart from each other with lanes that are not candidate lanes in between. Of the candidate lanes, the candidate lanes that can be changed from the running lane detected by the running lane detection unit without crossing the dedicated lane of the vehicle type different from the vehicle type of the vehicle on which the navigation device is mounted. Is presented as the recommended lane.

  Here, in such a navigation device, in the lane guide unit, the traveling lane detected by the traveling lane detection unit does not cross a dedicated lane of a vehicle type different from the vehicle type of the vehicle on which the navigation device is mounted. Among candidate lanes that can be changed, the candidate lane that is closest to the intersection in the passing direction according to the guidance route may be presented as a recommended lane, or the running lane detection unit may detect From the running lanes, all candidate lanes that can be changed without traversing a dedicated lane of a vehicle type different from the vehicle type on which the navigation device is mounted may be presented as the recommended lanes. Further, such a navigation device presents the recommended lane by displaying a lane guide map indicating the position of the recommended route on the lane map showing the lane structure before the intersection in the lane guide unit. You may comprise as follows.

  According to such a navigation device, when there are a plurality of dedicated lanes for the traveling direction that can pass in the passing direction according to the guidance route before the intersection, in a form with other lanes sandwiched therebetween, It is possible to change the lane without crossing a dedicated lane of a vehicle type different from the vehicle type of the vehicle on which the navigation device is mounted without presenting all of the separated dedicated lanes as recommended lanes and confusing the user. Lanes that can be used with better manners can be presented as recommended lanes.

  As described above, according to the present invention, a plurality of lanes in front of the intersection that can pass through the intersection in the course changing direction along the guidance route are separated from each other with another lane in between. Also in this case, it is possible to provide a navigation device that can present an appropriate recommended lane in a form in which the user can immediately know which lane to drive.

It is a block diagram which shows the structure of the navigation apparatus which concerns on embodiment of this invention. It is a figure which shows the content of the map data which concern on embodiment of this invention. It is a figure which shows the example of a display of the navigation apparatus which concerns on embodiment of this invention. It is a flowchart which shows the lane guidance process which concerns on embodiment of this invention. It is a figure which shows the process example of the lane guidance process which concerns on embodiment of this invention. It is a figure which shows the process example of the lane guidance process which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows a configuration of a navigation system according to the present embodiment.
The navigation system is a device mounted on a car. As shown in the figure, the navigation system includes a navigation device 1, an operation unit 2, a display device 3, a vehicle state sensor 4, and a GPS receiver 5. Composed. Here, the vehicle state sensor 4 is a sensor group that detects various states of the vehicle, such as an azimuth sensor such as an angular acceleration sensor or a geomagnetic sensor, or a vehicle speed sensor such as a vehicle speed pulse sensor.

  The navigation device 1 includes a storage device 11 such as a DVD drive or HDD that stores map data representing a map, a current state calculation unit 12, a GUI control unit that provides a user with a GUI using the operation unit 2 or the display device 3. 13, a route search unit 14, a memory 15, a control unit 16, and a guide image generation unit 17.

  However, the above navigation apparatus 1 may be a CPU circuit having a general configuration including peripheral devices such as a microprocessor, a memory, and other graphic processors and geometric processors in terms of hardware. In this case, each unit of the navigation device 1 described above may be realized as a process embodied by a microprocessor executing a program prepared in advance. In this case, such a program may be provided to the navigation apparatus 1 via a recording medium or an appropriate communication path.

Next, the contents of the map data stored in the storage device 11 are shown in FIG.
As shown in the figure, the map data includes management data describing production date and time of the map data, basic map data representing the map, and the like.
The basic map data includes a road unit that represents a road network and a drawing unit that defines a display map.
Here, in the road unit, the road network is defined as a set of nodes representing road connection points such as intersections and links connecting the nodes, and the road unit includes node data provided for each node. A node table, and a link table including link data provided for each link.

  Each node data includes a node number serving as an identifier of the corresponding node, a node attribute indicating various attributes of the corresponding node, node coordinates indicating the position of the corresponding node, and a connection link indicating a link connected to the corresponding node. Information, connection node information representing other nodes connected to the corresponding node via one link, and intersection lane information.

  Intersection lane information is provided when the corresponding node is an intersection, and includes entry link data provided for each link in which a lane having a direction of entering the node as a traveling direction is provided. . Each entry link data includes a link number of the corresponding link and an entry lane table, and the entry lane table includes, for each lane in which the direction of entering the node of the corresponding link is the traveling direction. The corresponding entry lane data is included. Each approach lane data includes a lane number indicating the order of the lane counted from the lane from the end of the road among the lanes in the same traffic direction as the corresponding lane, It includes traffic classification information for each traveling direction and exit link information. The traveling direction-specific traffic classification information represents the type of dedicated lane related to the traveling direction, such as a left turn dedicated lane, a right turn dedicated lane, a straight traveling dedicated lane, a U-turn dedicated lane, and a non-dedicated lane. Further, in the exit link information, the link number of a link that can proceed from the corresponding lane through the intersection that is the corresponding node is registered.

  Each link data includes a link number that is an identifier of the corresponding link, a link attribute that represents various attributes of the corresponding link, and a node number of the first node that is a node that is one end point of the corresponding link. 1 node number, the 2nd node number showing the node number of the 2nd node which is a node used as the other corresponding end point, a forward lane table, and a reverse lane table are stored.

  The forward lane table has lane data provided corresponding to each lane on the corresponding link, the direction of travel from the first node to the second node, and the lane data is The lane number, the dedicated / priority traffic band information, and the connected lane information of the corresponding lane are included. The dedicated / priority lane information represents the type of the dedicated / priority lane related to the vehicle type such as the car-only lane, the bus-only lane, and the bus-priority lane. The connection lane information is continuous with the corresponding lane (can proceed without changing the lane), the link lane adjacent to the corresponding link, the link number of the other link and the other lane. This is indicated by the lane number of the link lane. Further, the reverse lane table has lane data provided corresponding to each lane whose traveling direction is the direction from the second node to the first node, and the contents of each lane data are stored in the forward lane table. This is the same as the lane data.

Now, in such a configuration, the current state calculation unit 12 of the navigation device 1 repeatedly performs the following processing.
That is, the current state calculation unit 12 determines the current position previously determined by the road unit of the basic map of the map data read from the storage device 11 with respect to the current position estimated from the outputs of the vehicle state sensor 4 and the GPS receiver 5. Map matching processing with a map around the position is performed, and the most probable coordinates as the current position and the most probable direction as the current traveling direction are determined as the current position and the current traveling direction, respectively. Set.

On the other hand, the control unit 16 saves in the memory 15 the vehicle trajectory obtained from the current position history set in the memory 15.
The control unit 16 receives a destination setting from the user via the operation unit 2 and the GUI control unit 13, and sets the destination setting in the memory 15.
And if the control part 16 receives the setting of the destination, it will make the route search part 14 search for the guidance route which reaches the destination. The route search unit 14 reads out data of road units in the necessary geographical range from the storage device 11, and sets a minimum cost route from the current position to the destination set in the memory 15 to a predetermined cost model such as a minimum distance. And the route data of the calculated guide route is set in the memory 15.

In addition, when the current position set in the memory 15 is near the destination, the control unit 16 determines that the destination has arrived, and also performs processing for clearing the destination and the guidance route set in the memory 15. .
The guide image generation unit 17 then displays a map display range that is a geographical range around the current position calculated by the control unit 16 according to the current position set in the memory 15 and the map display scale set at that time. A map image is drawn based on a map data drawing unit stored in the storage device 11. In addition, a current position, a guidance route, and a graphic representing the destination set in the memory 15 are drawn on the map image, and a guide image is generated and displayed on the display device 3 via the GUI control unit 13.

  FIG. 3 shows an example of the guide image 300 displayed on the display device 3 in this way. As shown in the figure, the guide image 300 represents the current position on the map image 301 around the current position. A current position mark 302 is shown. Here, when the guidance route is set, the route graphic 303 representing the guidance route within the map display range is displayed on the map image 301 in the guide image 300, and the destination is set. When the destination is included in the display range, the destination mark indicating the destination is also displayed on the map image 301.

  In addition, when the guidance route is set, the control unit 16 generates a lane guidance image that guides a recommended lane that is a lane that is recommended for traveling when approaching an intersection by a lane guidance process described later. A process of displaying on the guide image 300 via the control unit 13 is also performed.

  That is, for example, as shown in FIG. 3, when the control unit 16 approaches an intersection to be turned right according to the guidance route, the lane configuration before the intersection is a left turn exclusive lane and two straight lanes in order from the road end side. In the case of a right turn dedicated lane, a lane guide image 310 highlighting the right turn lane that is the recommended lane is generated by the lane guide processing on the lane configuration diagram representing the lane configuration before the intersection, and the guide image Display on top of 300. Here, in the lane configuration diagram, rectangles representing each lane are arranged in the horizontal direction in the order of the lanes viewed from the approach direction to the intersection, and are classified as dedicated lanes of the lanes represented by the rectangles in each rectangle. It is assumed that the figure which represents is arranged. The figure representing the type as a dedicated lane is an arrow representing the traveling direction for the type related to the traveling direction, and the figure of the dedicated / priority lane regarding the vehicle type is a figure representing the vehicle type.

  In addition, the control unit 16 displays command buttons for receiving various user instructions via the GUI control unit 13 at the lower part of the guide image 300, and allows the user to operate the command buttons via the operation unit 2. Perform appropriate processing. For example, in FIG. 3, as this command button, a wide area button and map detail button 3041 for changing the map scale, a menu button 3042 for calling various menus, and a destination for receiving a user operation and setting a destination as described above. A destination button 3043 for calling the setting process is provided.

Hereinafter, the above-described lane guidance process performed by the control unit 16 will be described.
FIG. 4 shows the procedure of this lane guidance process.
As shown in the figure, this process waits for the guidance route to be set (step 402). If the guidance route is set, the current position approaches within a predetermined distance (for example, 300 m) to the guidance intersection. Is monitored (step 404). Here, the guidance intersection refers to an intersection that will be passed next among intersections that are to change course (such as a right-left turn U-turn) according to the guidance route.

  If the current position approaches within a predetermined distance to the guidance intersection, refer to the intersection lane information of the node data of the node corresponding to the guidance intersection, and pass through the guidance route among the lanes before the guidance intersection. Lanes that can be used for passing the intersection in the direction, that is, lanes that are not dedicated lanes in the traveling direction other than the passing direction according to the guidance route are extracted (step 406).

Then, a lane block is set for each collection of extracted lanes in which the lane numbers are continuous, and therefore the positions in the lane arrangement direction are continuous (step 408).
Next, it is checked whether or not a plurality of lane blocks are set (step 410). If only one lane block is set, one lane selected from the extracted lanes is set as a recommended lane ( The process proceeds to step 422) and step 416.
Here, in step 422, for example, of the extracted lanes, the extracted lane located on the route change direction side at the guidance intersection that most follows the guidance route is set as the recommended lane. That is, if the direction change direction at the guidance intersection according to the guidance route is a left turn, the leftmost extraction lane is set as the recommended lane, and if the direction change direction at the guidance intersection according to the guidance route is a right turn, The extraction lane located on the rightmost side is set as a recommended lane, and if the direction change direction at the guidance intersection according to the guidance route is a U-turn, the extraction lane positioned on the opposite lane side is set as the recommended lane.

  On the other hand, when a plurality of lane blocks are set (step 410), the vehicle is referred to the past travel distance (for example, 1 km) by referring to the trajectory of the own vehicle stored in the memory 15 and the road unit of the map data. ) (Step 412), and if the vehicle has not passed the road junction within the past predetermined travel distance, proceed to step 422 and select the recommended lane as described above. Set.

  Further, when the own vehicle has passed the merge point of the road within the past predetermined travel distance (step 412), the merge direction of the own vehicle at the merge point, that is, the two roads that merge at the merge point. Of these, the road on the left side or the right side is driven to determine whether the vehicle has reached the merging point. Of the multiple lane blocks, the extracted lanes included in the lane block located closest to the merging direction are used. One of the selected lanes is set as a recommended lane (step 414), and the process proceeds to step 416.

Here, in step 414, for example, among the extracted lanes included in the lane block located closest to the merge direction, the extracted lane located on the route change direction side at the guidance intersection that most follows the guidance route is set as the recommended lane. To do.
When the recommended lane is set in step 414 or step 422 in this way and the process proceeds to step 416, the lane configuration diagram before the guidance intersection obtained from the intersection lane information of the node data of the node corresponding to the guidance intersection is displayed. Then, a lane guide image that highlights and represents the recommended lane is generated and displayed on the guide image 300. Then, after waiting for the guidance intersection at the current position (step 418), the display of the lane guidance image 310 is deleted (step 420), and the process returns to step 402.

The lane guidance process has been described above.
Here, FIG. 5 shows a processing example of such lane guidance processing.
Now, as shown in FIG. 5 a, consider a case where a guidance route is set in which the vehicle enters the intersection 500 in the entry direction 501, turns left, and exits the intersection 500 in the exit direction 502. In addition, eleven lanes exist in front of the intersection 500 from the approach direction 501 side, and each lane is sequentially assigned a lane number from 1 to 11 from the left end side to the right side of the road. The lanes with lane numbers 1-2 (1st to 2nd lane from the left) are left turn lanes, and the lanes with lane numbers 3-5 (3rd to 5th lanes from the left) are straight lanes. Yes, the lanes with lane numbers 6-7 (6th to 7th lane from the left) are lanes dedicated to left turns, and the lanes with lane numbers 8-9 (8th to 9th lanes from the left) are dedicated lanes for straight ahead Yes, lanes with lane numbers 10-11 (10th to 11th lanes from the left) are lanes dedicated to right turns.

  When the vehicle travels to such an intersection 500 as indicated by the travel locus 510 and reaches a point 511 within a predetermined distance to the intersection 500 (step 404), the guidance route is followed. Since the passing direction of the intersection 500 is a left turn, the lane with the lane number 1-2 and the lane with the lane number 6-7, which are dedicated left turn lanes, are extracted (step 406).

  The set of extracted lanes with consecutive lane numbers is a first set of lanes with lane number 1 and lane number 2, and a second set of lanes with lane number 6 and lane number 7. Since this is a set, a first lane block 521 consisting of a lane with lane number 1 and a lane with lane number 2 and a second lane block 522 consisting of a lane with lane number 6 and a lane with lane number 7 are set. (Step 408).

  Then, as indicated by the travel locus 510, the own vehicle has passed the junction point 530 within the past predetermined travel distance (step 412), and since the vehicle joins the junction point from the left road, the junction direction is on the left side. Of the lane number 1 and the lane number 2 included in the first lane block 521 on the left side of the first lane block 521 and the second lane block 522 (the lane number of the lane to which the lane belongs is smaller). Of the lanes, the lane with the lane number 1, which is the lane located on the left side of the guidance intersection along the guidance route, which is on the route change direction side, is set as the recommended lane (step 414).

Then, as shown in FIG. 5b1, a lane guide image 310 highlighting the lane of lane number 1 which is the recommended lane on the lane configuration diagram representing the lane configuration before the intersection 500 is as shown in FIG. (Step 416).
On the other hand, if the vehicle travels as shown by the travel locus 512 with respect to the intersection 500 shown in FIG. 5a and reaches a point 513 within a predetermined distance to the intersection 500 (step 404), again. Similarly, a first lane block 521 composed of a lane of lane number 1 and a lane of lane number 2 and a second lane block composed of a lane of lane number 6 and a lane of lane number 7 are set ( Step 408).

  However, as indicated by the travel locus 510, the vehicle has passed through the junction 530 within the past predetermined travel distance (step 412), and has joined the junction from the right road. Of the first lane block 521 and the second lane block 522, the lane number 6 and the lane number 7 included in the second lane block 522 on the right side (the lane number of the lane to which the lane belongs is larger). Among the lanes, the lane with the lane number 6 that is the lane located on the left side that is the direction change direction side at the guidance intersection according to the most guidance route is set as the recommended lane (step 414).

Then, as shown in FIG. 5c1, the lane guide image 310 highlighting the lane of the lane number 6 which is the recommended lane on the lane configuration diagram showing the lane configuration before the intersection 500 is the guide image 300 as shown in FIG. (Step 416).
The lane guidance process performed by the control unit 16 has been described above.
By the way, step 414 of the lane guidance process may be a process of setting all the extracted lanes of the lane block on the merging direction side as recommended lanes. In this case, in the example of FIG. 5, in place of the lane guide image 310 of FIG. 5b1, as shown in FIG. 5b2, the lane number which is the recommended lane on the lane configuration diagram representing the lane configuration before the intersection 500 A lane guidance image 310 highlighting all lanes included in the first lane block 521, which is the lane of No. 1 and Lane No. 2, that is, the lane on the left side, is displayed, replacing the lane guidance image 310 of FIG. 5c1. As shown in FIG. 5c2, the lane of the lane number 6 and the lane of the lane number 7 that are recommended lanes on the lane configuration diagram representing the lane configuration before the intersection 500, that is, the second lane block that is the lane on the right side A lane guide image 310 in which all lanes included in 522 are highlighted is displayed.

The embodiment of the present invention has been described above.
Thus, according to the present embodiment, when there are a plurality of dedicated lanes for the traveling direction that can pass in the passing direction according to the guidance route before the intersection, with other lanes sandwiched therebetween In addition, the lane on the direction side with respect to the junction point of the road that has traveled before joining the junction point that has passed in the past without presenting all the dedicated lanes that are separated as recommended lanes and confusing the user, That is, it is possible to present a lane that is closer to the current vehicle position and is likely to be used by the user as a recommended lane.

  By the way, the above embodiment provides the navigation device 1 with a function of detecting the lane in which the host vehicle is traveling, and recommends the extraction lane closest to the traveling lane in the processing of steps 412 and 414 of the lane guidance processing. You may make it replace with the process set as a lane. Here, the function of detecting the lane in which the host vehicle is traveling is provided, for example, by providing a camera that captures the front or rear of the vehicle in the navigation device 1 and performing white line recognition processing or lane recognition processing on an image captured by the camera. And can be realized by identifying the number of lanes on the running road and the running lane. Alternatively, the function of detecting the lane in which the vehicle is traveling is calculated from the position information of each lane in the map data and the current position calculated by the GPS receiver 5 by including the position information of each lane on the road. It may be realized by doing. Alternatively, the function of detecting the lane in which the vehicle is traveling detects the position of a traveling vehicle around the intersection, and wirelessly communicates the lane information representing the lane configuration around the traveling lane and the intersection to the vehicle. In the navigation device 1, the receiving device provided in the navigation device 1 receives lane information from the roadside device, and identifies the lane in which the host vehicle is traveling from the received lane information. It may be realized by doing.

  In addition, the extracted lane closest to the traveling lane is obtained based on the connection lane information in the lane table of the link data, and the traveling lane is to be traveled when the vehicle travels before the intersection without changing the lane. The extracted lane having the closest lane number to the lane number of the lane can be obtained.

Hereinafter, an example of lane guidance processing in the case where the processing in steps 412 and 414 of the lane guidance processing is replaced with the processing for setting the extracted lane closest to the traveling lane as the recommended lane will be described.
Now, as shown in FIG. 6 a 1, a guidance route is set to enter the intersection 600 in the approach direction 601, turn left, and exit the intersection 600 in the exit direction 602, as seen from the approach direction 601 side of the intersection 600. There are 11 lanes in the foreground, and each lane is assigned a sequential lane number from 1 to 11 from the left end of the road to the right. Lanes with lane numbers 1-2 (from the left) The 1st to 2nd lanes) are left turn lanes, the lanes with lane numbers 3-5 (3rd to 5th lanes from the left) are straight lanes, and the lanes with lane numbers 6-7 (from the left) 6th to 7th lanes) are left turn lanes, lanes 8-9 (lanes 8-9 from the left) are straight lanes, and lanes 10-11 lanes (from the left) No. 10 11 th lane from) is assumed to be right-turn-only lane.

  Then, with respect to such an intersection 600, when the vehicle is traveling on a lane that is continuous with the ninth lane from the left before the intersection 600 as shown by the current position 611 in FIG. The lane of lane number 7 that is closest to the ninth lane (close to the lane number) is set as a recommended lane, and as shown in FIG. 6a2, lane number 7 on the lane configuration diagram representing the lane configuration before 600 intersections. The lane guide image 310 with the lane highlighted is displayed. On the other hand, as shown by the current position 612, when the vehicle is traveling in a lane that is continuous with the fourth lane from the left before the intersection 600, the vehicle is closest to the fourth lane of the left turn exclusive lanes (the lane number is The nearest lane number 2 is set as the recommended lane, and a lane guide image 310 is displayed with the lane number 2 highlighted on the lane configuration diagram representing the lane configuration 600 before the intersection as shown in FIG. 6a3. Will be.

  In this way, when there are a plurality of dedicated lanes for the direction of travel that can pass in the passing direction according to the guidance route before the intersection, the lanes are separated with other lanes in between. The recommended lane can be presented as a recommended lane that is closer to the current vehicle position and therefore more easily used by the user without presenting all the dedicated lanes as recommended lanes. become.

  In the above embodiment, the processing of steps 412 and 414 of the lane guidance information is provided in the navigation device 1 with a function of detecting the lane in which the vehicle is traveling, and a dedicated lane for a vehicle type other than the vehicle type of the vehicle is provided. You may make it replace with the process which sets the extraction lane which can be utilized without crossing as a recommended lane. Here, the extraction lane set as the recommended lane is located on the route change direction side at the guidance intersection that most follows the guidance route among the extraction lanes that can be used without crossing the exclusive lane of the vehicle type other than the vehicle type of the own vehicle. It may be an extraction lane, or all extraction lanes that can be used without traversing a dedicated lane of a vehicle type other than the vehicle type of the own vehicle.

The presence / absence or type of a dedicated lane related to the vehicle type of each lane can be obtained from the dedicated / priority lane information of the lane data in the lane table of the link data.
Hereinafter, the lane in the case where the processing in steps 412 and 414 of the lane guidance processing is replaced with the processing for setting the extraction lane that can be used without crossing the dedicated lane of the vehicle type other than the vehicle type as the recommended lane as described above. An example of guidance processing is shown.
Now, as shown in FIG. 6b1, a guidance route is set to enter the intersection 700 in the approach direction 701, turn left, and exit the intersection 700 in the exit direction 702. There are six lanes in the foreground, and each lane is assigned a sequential lane number from 1 to 6 from the left end to the right side of the road. Lane) is a left turn lane, lane number 2 (second lane from the left) is a bicycle lane, lane number 3 lane (third lane from the left) is a straight lane, Lane No. 4 (fourth lane from the left) is a left turn lane, Lane No. 5 (fifth lane from the left) is a straight-ahead lane, Lane No. 6 (left) Et sixth lane) is assumed to be right-turn-only lane.

  Then, when the vehicle is traveling on a lane that is continuous with the third lane from the left before the intersection as shown by the current position 711 in FIG. And the lane number 4 left turn exclusive lane is extracted as an extraction lane, and among the extracted lanes, the lane of lane number 4 that can proceed without crossing the bicycle exclusive lane of lane number 2 is set as the recommended lane. A lane guide image 310 is displayed as shown in FIG. 6b2 in which the lane of the lane number 4 is highlighted on the lane configuration diagram representing the lane configuration in the foreground.

  In this way, when there are a plurality of dedicated lanes for the direction of travel that can pass in the passing direction according to the guidance route before the intersection, the lanes are separated with other lanes in between. It is possible to change the lane without crossing a dedicated lane of a vehicle type different from the vehicle type of the vehicle on which the navigation device 1 is mounted without presenting all of the dedicated lanes as recommended lanes and confusing the user. Lanes that can be used with good manners can be presented as recommended lanes.

In the above embodiment, the navigation device is provided with a speaker and an audio output unit that outputs audio to the speaker, and when the lane guidance image is displayed in the lane guidance process described above, You may make it output from the speaker the guidance sound which guides the passing direction of an intersection, and a recommended lane.
Here, if the direction of the guidance intersection is a left turn and the recommended lane is the first lane from the left as shown in Fig. 5b1, the guidance voice is "The next intersection is a left turn. "Please go ahead" and if the direction of the guidance intersection is a left turn and the recommended lane is the first lane and the second lane from the left as shown in Fig. 5b2, turn left at the next intersection Go ahead on the 1st or 2nd lane from the left. "

  However, when the vehicle has a function of detecting the lane in which the vehicle is traveling as described above, the recommended lane may be guided based on the traveling lane in the guidance voice. That is, when the passing direction of the guidance intersection is a left turn, for example, as shown in FIG. 6b1, when driving on the third lane from the left, the fourth lane from the left is the recommended lane, Voices such as “Turn left at the next intersection. Go ahead one lane” may be output as guidance voice.

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 2 ... Operation part, 3 ... Display apparatus, 4 ... Vehicle state sensor, 5 ... GPS receiver, 11 ... Memory | storage device, 12 ... Current state calculation part, 13 ... GUI control part, 14 ... Route search part , 15 memory, 16 control unit, 17 guide image generation unit, 300 guide image, 301 map image, 302 current position mark, 303 route figure, 310 lane guide image.

Claims (20)

A navigation device mounted on a car,
Current position calculating means for calculating the current position;
A guidance route setting unit for setting a route to the destination as a guidance route;
When the current position approaches the intersection, at least one of candidate lanes that are dedicated lanes for the traveling direction that can pass the intersection in the passing direction according to the guidance route among the lanes before the intersection. A lane guide that presents the lane as a recommended lane,
The lane guide unit is a case where continuous portions in the lane arrangement direction of the candidate lanes are provided separately in a form sandwiching lanes that are not candidate lanes, and within a predetermined distance in the past, A navigation device that presents candidate lanes included in a continuous portion on the direction side of a road that has traveled to a junction before the junction when passing through the junction as the recommended lane. . The navigation device according to claim 1,
The lane guide part is a candidate on the passing direction side according to the guidance route at the intersection, among candidate lanes included in a continuous portion on the direction side with respect to the merging point of the road traveled before the merging. A navigation device, wherein a lane is presented as the recommended lane. The navigation device according to claim 1,
The navigation device according to claim 1, wherein the lane guide unit presents all candidate lanes included in a continuous portion on a direction side with respect to the merging point of the road that has traveled before the merging as the recommended lane. The navigation device according to claim 1,
The navigation apparatus according to claim 1, wherein the lane guide unit presents the recommended lane by displaying a lane guide map representing a position of the recommended route on a lane structure diagram representing a lane structure before the intersection. A navigation device mounted on a car,
Current position calculating means for calculating the current position;
A guidance route setting unit for setting a route to the destination as a guidance route;
A running lane detection unit that detects a lane in which a vehicle equipped with the navigation device is running as a running lane;
When the current position approaches the intersection, at least one of candidate lanes that are dedicated lanes for traveling directions that can pass the intersection in the passing direction according to the guidance route among the lanes before the intersection. A lane guide that presents the lane as a recommended lane,
The lane guide unit, when continuous portions of the candidate lanes in the lane arrangement direction are provided apart from each other with a lane that is not a candidate lane interposed therebetween, the traveling of the candidate lanes A navigation device characterized in that a candidate lane closest to a traveling lane detected by a middle lane detector is presented as the recommended lane. The navigation device according to claim 5,
The navigation apparatus according to claim 1, wherein the lane guide unit presents the recommended lane by displaying a lane guide map representing a position of the recommended route on a lane structure diagram representing a lane structure before the intersection. A navigation device mounted on a car,
Current position calculating means for calculating the current position;
A guidance route setting unit for setting a route to the destination as a guidance route;
A running lane detection unit that detects a lane in which a vehicle equipped with the navigation device is running as a running lane;
When the current position approaches the intersection, at least one of candidate lanes that are dedicated lanes for traveling directions that can pass the intersection in the passing direction according to the guidance route among the lanes before the intersection. A lane guide that presents the lane as a recommended lane,
The lane guide unit, when continuous portions of the candidate lanes in the lane arrangement direction are provided apart from each other with a lane that is not a candidate lane interposed therebetween, the traveling of the candidate lanes A navigation system characterized by presenting, as the recommended lane, candidate lanes that can be changed from a running lane detected by the middle lane detection unit without crossing a dedicated lane of a vehicle type different from the vehicle type of the vehicle on which the navigation device is mounted. apparatus. The navigation device according to claim 7,
The lane guide unit is a candidate lane that can be changed from a traveling lane detected by the traveling lane detection unit without crossing a dedicated lane of a vehicle type different from the vehicle type on which the navigation device is mounted. A navigation device that presents candidate lanes on the passing direction side of the intersection according to the guidance route as the recommended lanes. The navigation device according to claim 7,
The lane guide unit recommends all candidate lanes that can be changed from the running lane detected by the running lane detection unit without crossing a dedicated lane of a vehicle type different from the vehicle type of the vehicle on which the navigation device is mounted. A navigation device characterized by being presented as a lane. The navigation device according to claim 7,
The navigation apparatus according to claim 1, wherein the lane guide unit presents the recommended lane by displaying a lane guide map representing a position of the recommended route on a lane structure diagram representing a lane structure before the intersection. A computer program that is read and executed by a computer installed in an automobile,
The computer program stores the computer,
Current position calculating means for calculating the current position;
A guidance route setting unit for setting a route to the destination as a guidance route;
When the current position approaches the intersection, at least one of candidate lanes that are dedicated lanes for traveling directions that can pass the intersection in the passing direction according to the guidance route among the lanes before the intersection. A computer program that functions as a lane guide that presents lanes as recommended lanes,
The lane guide unit is a case where continuous portions in the lane arrangement direction of the candidate lanes are provided separately in a form sandwiching lanes that are not candidate lanes, and within a predetermined distance in the past, A computer program that presents, as the recommended lane, candidate lanes included in a continuous portion on the direction side with respect to the merge point of the road that has traveled before the merge point when passing through the merge point . A computer program according to claim 11, comprising:
The lane guide part is a candidate on the passing direction side according to the guidance route at the intersection, among candidate lanes included in a continuous portion on the direction side with respect to the merging point of the road traveled before the merging. A computer program for presenting a lane as the recommended lane. The navigation device according to claim 11,
The computer program according to claim 1, wherein the lane guide unit presents all candidate lanes included in a continuous portion on a direction side with respect to the merging point of the road traveled before the merging as the recommended lanes. A computer program according to claim 11, comprising:
The computer program according to claim 1, wherein the lane guide unit presents the recommended lane by displaying a lane guide map representing a position of the recommended route on a lane structure diagram representing a lane structure before the intersection. A computer program that is read and executed by a computer installed in an automobile,
The computer program stores the computer,
Current position calculating means for calculating the current position;
A guidance route setting unit for setting a route to the destination as a guidance route;
A running lane detection unit that detects a lane in which a vehicle equipped with the navigation device is running as a running lane;
When the current position approaches the intersection, at least one of candidate lanes that are dedicated lanes for traveling directions that can pass the intersection in the passing direction according to the guidance route among the lanes before the intersection. A computer program that functions as a lane guide that presents lanes as recommended lanes,
The lane guide unit, when continuous portions of the candidate lanes in the lane arrangement direction are provided apart from each other with a lane that is not a candidate lane interposed therebetween, the traveling of the candidate lanes A computer program characterized by presenting a candidate lane closest to a traveling lane detected by a middle lane detector as the recommended lane. A computer program according to claim 15, comprising:
The computer program according to claim 1, wherein the lane guide unit presents the recommended lane by displaying a lane guide map representing a position of the recommended route on a lane structure diagram representing a lane structure before the intersection. A computer program that is read and executed by a computer installed in an automobile,
The computer program stores the computer,
Current position calculating means for calculating the current position;
A guidance route setting unit for setting a route to the destination as a guidance route;
A running lane detection unit that detects a lane in which a vehicle equipped with the navigation device is running as a running lane;
When the current position approaches the intersection, at least one of candidate lanes that are dedicated lanes for traveling directions that can pass the intersection in the passing direction according to the guidance route among the lanes before the intersection. A computer program that functions as a lane guide that presents lanes as recommended lanes,
The lane guide unit, when continuous portions in the lane arrangement direction of the candidate lanes are provided apart from each other with a lane that is not a candidate lane in between, the traveling of the candidate lanes A computer which presents candidate lanes that can be changed from the running lane detected by the middle lane detection unit without crossing a dedicated lane of a vehicle type different from the vehicle type on which the navigation device is mounted as the recommended lane. program. A computer program according to claim 17,
The lane guide unit is a candidate lane that can be changed from a traveling lane detected by the traveling lane detection unit without crossing a dedicated lane of a vehicle type different from the vehicle type on which the navigation device is mounted. A computer program for presenting candidate lanes on the side of the passing direction according to the guidance route at the intersection as the recommended lanes. A computer program according to claim 17,
The lane guide unit recommends all candidate lanes that can be changed from the running lane detected by the running lane detection unit without crossing a dedicated lane of a vehicle type different from the vehicle type of the vehicle on which the navigation device is mounted. A computer program characterized by being presented as a lane. A computer program according to claim 17,
The computer program according to claim 1, wherein the lane guide unit presents the recommended lane by displaying a lane guide map representing a position of the recommended route on a lane structure diagram representing a lane structure before the intersection.