JP2011137729A - Navigation system and route search method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation technique which enables a route search to be performed accurately, by making traffic situation of a lane passable by satisfying prescribed conditions reflected on the search. <P>SOLUTION: A navigation system includes a storage means which stores lane information, including the state of installation of the lane (hereinafter, referred to as "conditional lane") made passable by the prescribed conditions being satisfied and statistical traffic information regarding the conditional lane; a conditional lane traveling advisability determining means which determines whether a vehicle carrying the navigation system satisfies the conditions enabling traveling in the conditional lane; and a route search means which searches for a recommended route to the destination. When the conditions are determined as being satisfactory by the conditional lane traveling advisability determining means, the route search means searches for the route by using the statistical traffic information about the conditional lane. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a navigation device technology.

  Conventionally, a navigation apparatus uses a technique for searching for a route using statistical information collected for each road. Patent Document 1 describes a technique regarding such a navigation device.

JP 2006-58100 A

  By the way, there are lanes called HOV (High-Occupancy Vehicles) lanes. In such lanes, the traffic situation (congestion level, etc.) is often different from other lanes. Therefore, using uniform statistical traffic information regardless of lanes does not always mean that a route can be searched with high accuracy.

  An object of the present invention is to provide a navigation technique capable of performing a route search with high accuracy by reflecting a traffic condition of a lane that can pass when a predetermined condition is satisfied.

  In order to solve the above problems, the navigation device according to the present invention provides an installation status of lanes (hereinafter referred to as conditional lanes) that can be passed by satisfying predetermined conditions, statistical traffic information about the conditional lanes, Storage means for storing lane information including: conditional lane traveling availability determination means for determining whether or not a vehicle on which the navigation device is mounted satisfies the condition for traveling on the conditional lane; and Route search means for searching for a recommended route, and the route search means, when it is determined by the conditional lane traveling availability determination means that the condition is satisfied, the statistical traffic for the conditional lane The route is searched using information.

  Further, in the route searching method for the navigation device according to the present invention, the navigation device installs lanes (hereinafter referred to as conditional lanes) that can be passed when predetermined conditions are satisfied, and statistics on the conditional lanes. Storage means for storing lane information including traffic information; and conditional lane travel availability determination means for determining whether a vehicle on which the navigation device is mounted satisfies a condition for traveling in the conditional lane; Route search means for searching for a recommended route to the destination, and the route search means when the conditional lane traveling availability determination means determines that the condition is satisfied, the conditional lane The step of searching for a route using the statistical traffic information about is performed.

  According to the present invention, it is possible to provide a navigation technique capable of accurately performing a route search by reflecting the traffic conditions of a lane that can be passed by satisfying a predetermined condition.

FIG. 1 is a schematic configuration diagram of a navigation device. FIG. 2 is a diagram illustrating the configuration of the link table. FIG. 3 is a diagram showing the mounting position of the camera. FIG. 4 is a diagram illustrating a state in which a captured image is projected onto the ground surface. FIG. 5 is a functional configuration diagram of the arithmetic processing unit. FIG. 6 is a flowchart of the statistical information utilization search process.

  A navigation apparatus to which a first embodiment of the present invention is applied will be described below with reference to the drawings.

  FIG. 1 shows an overall configuration diagram of the navigation device 100. The navigation device 100 is a so-called navigation device capable of displaying map information and indicating a point indicating the current location of the navigation device 100 and information for guiding a route to a set destination.

  The navigation device 100 includes an arithmetic processing unit 1, a display 2, a storage device 3, a voice input / output device 4 (including a microphone 41 as a voice input device and a speaker 42 as a voice output device), an input device 5, and a ROM. A device 6, a vehicle speed sensor 7, a gyro sensor 8, a GPS (Global Positioning System) receiver 9, an FM multiplex broadcast receiver 10, a beacon receiver 11, a camera 12, an in-vehicle network communication device 13, It has.

  The arithmetic processing unit 1 is a central unit that performs various processes. For example, the current location is calculated based on information output from the various sensors 7 and 8, the GPS receiver 9, the FM multiplex broadcast receiver 10, and the like. Further, map data necessary for display is read from the storage device 3 or the ROM device 6 based on the obtained current location information.

  The arithmetic processing unit 1 develops the read map data in graphics, and displays a mark indicating the current location on the display 2 in a superimposed manner. In addition, an optimal route (or a route or stopover) that connects the departure point or current location instructed by the user with the map data or the like stored in the storage device 3 or the ROM device 6 is used. Search for the recommended route. Further, the user is guided using the speaker 42 and the display 2.

  Further, as will be described later, the arithmetic processing unit 1 can accurately perform a route search in consideration of the HOV lane when performing a route search. Note that the HOV lane is defined such that only vehicles having a specified number of passengers (for example, two people including the driver) or more and vehicles satisfying a specific standard (low fuel consumption or low pollution) can travel. Lane.

  The arithmetic processing unit 1 of the navigation device 100 has a configuration in which each device is connected by a bus 25. The arithmetic processing unit 1 includes a CPU (Central Processing Unit) 21 that executes various processes such as numerical calculation and control of each device, and a RAM (Random Access Memory) that stores map data, arithmetic data, and the like read from the storage device 3. ) 22, a ROM (Read Only Memory) 23 for storing programs and data, and an I / F (interface) 24 for connecting various types of hardware to the arithmetic processing unit 1.

  The display 2 is a unit that displays graphics information generated by the arithmetic processing unit 1 or the like. The display 2 is configured by a liquid crystal display, an organic EL display, or the like.

  The storage device 3 is composed of at least a readable / writable storage medium such as an HDD (Hard Disk Drive) or a nonvolatile memory card.

  This storage medium stores a link table 200 that is map data (including link data of links constituting roads on a map) necessary for a normal route search device.

  FIG. 2 is a diagram showing the configuration of the link table 200. The link table 200 includes, for each mesh identification code (mesh ID) 201, which is a partitioned area on the map, link data 202 of each link constituting a road included in the mesh area.

  For each link ID 211 that is a link identifier, the link data 202 includes coordinate information 222 of two nodes (start node and end node) constituting the link, a road type 223 indicating the type of road including the link, and a link length. Link length 224 indicating the link travel time 225 stored in advance, a start connection link that is a link connected to the start node of the link, and an end connection link that is a link connected to the end node of the link It includes a start connection link, an end connection link 226, a speed limit 227 indicating the speed limit of the road including the link, an HOV attribute 228 for specifying an attribute relating to the installation status of the HOV lane for each link, statistical traffic information 229, and the like.

  The HOV attribute 228 includes a “dedicated” attribute 231 when the link is a road composed only of the HOV lane, and “none” when the link is a road not including the HOV lane. Attribute 234. If the link has both a HOV lane and a normal lane, and the road cannot be changed between the HOV lane and the normal lane, the attribute 232 of “shared-solid line” is used. If the link has both a HOV lane and a normal lane, and the road can change lanes between the HOV lane and the normal lane, An attribute 233 is provided. That is, it can be said that the HOV attribute 228 stores information specifying the installation status of the HOV lane.

  The statistical traffic information 229 stores statistical information 233 obtained by statistically processing information on vehicles traveling on the road according to the type 231 such as weekdays / holidays / continuous holidays and the time zone 232 thereof. . The statistical information 233 includes a link cost used when traveling on the link in the route search process. In addition, in the case where the link includes an HOV lane, the statistical information 233 includes information on each of the normal lane and the HOV lane of the link.

Generally, the HOV lane is allowed to run only by vehicles that satisfy limited conditions, and therefore, the time required to travel a predetermined distance is less than that of the normal lane. That is, even if the roads are represented by the same link, the HOV lane and the normal lane have different traffic flow trends, and it can be said that the HOV lane has a smooth traffic flow. Therefore, the link cost for the HOV lane is smaller than the link cost of the normal lane for the same time zone and the same link. The statistical information 233 stores information on the link cost reflecting this.

  Here, by distinguishing the start node and the end node for the two nodes constituting the link, the upward direction and the downward direction of the same road are managed as different links.

  Returning to FIG. The voice input / output device 4 includes a microphone 41 as a voice input device and a speaker 42 as a voice output device. The microphone 41 acquires sound outside the navigation device 100 such as a voice uttered by a user or another passenger.

  The speaker 42 outputs a message to the user generated by the arithmetic processing unit 1 as voice. The microphone 41 and the speaker 42 are separately arranged at a predetermined part of the vehicle. However, it may be housed in an integral housing. The navigation device 100 can include a plurality of microphones 41 and speakers 42.

  The input device 5 is a device that receives an instruction from the user through an operation by the user. The input device 5 includes a touch panel 51, a dial switch 52, and other hardware switches (not shown) such as scroll keys and scale change keys. In addition, the input device 5 includes a remote controller that can perform operation instructions to the navigation device 100 remotely. The remote controller includes a dial switch, a scroll key, a scale change key, and the like, and can send information on operation of each key or switch to the navigation device 100.

  The touch panel 51 is mounted on the display surface side of the display 2 and can see through the display screen. The touch panel 51 specifies a touch position corresponding to the XY coordinates of the image displayed on the display 2, converts the touch position into coordinates, and outputs the coordinate. The touch panel 51 includes a pressure-sensitive or electrostatic input detection element.

  The dial switch 52 is configured to be rotatable clockwise and counterclockwise, generates a pulse signal for every rotation of a predetermined angle, and outputs the pulse signal to the arithmetic processing unit 1. The arithmetic processing unit 1 obtains the rotation angle from the number of pulse signals.

  The ROM device 6 includes at least a readable storage medium such as a ROM (Read Only Memory) such as a CD-ROM or a DVD-ROM, or an IC (Integrated Circuit) card. In this storage medium, for example, moving image data, audio data, and the like are stored.

  The vehicle speed sensor 7, the gyro sensor 8, and the GPS receiver 9 are used by the navigation device 100 to detect the current location (own vehicle position). The vehicle speed sensor 7 is a sensor that outputs a value used to calculate the vehicle speed. The gyro sensor 8 is composed of an optical fiber gyro, a vibration gyro, or the like, and detects an angular velocity due to the rotation of the moving body. The GPS receiver 9 receives a signal from a GPS satellite and measures the distance between the mobile body and the GPS satellite and the rate of change of the distance with respect to three or more satellites to thereby determine the current location, travel speed, and travel of the mobile body It measures the direction.

  The FM multiplex broadcast receiver 10 receives an FM multiplex broadcast signal transmitted from an FM broadcast station. FM multiplex broadcasting includes VICS (Vehicle Information Communication System: Registered Trademark) information, current traffic information, regulatory information, SA / PA (service area / parking area) information, parking information, weather information, and FM multiplex general information. As text information provided by radio stations.

  The beacon receiving device 11 receives rough current traffic information such as VICS information, regulation information, SA / PA (service area / parking area) information, parking lot information, weather information, emergency alerts, and the like. For example, it is a receiving device such as an optical beacon that communicates by light and a radio beacon that communicates by radio waves.

  FIG. 3 shows the camera 12 attached to the rear of the vehicle 300. The camera 12 faces slightly downward, and images the ground surface behind the vehicle using an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. In addition, there is no restriction | limiting in the position to which the camera 12 is attached, For example, the camera 12 may be attached to the front of the vehicle 300 and may image the ground surface ahead of the vehicle.

  FIG. 4 is a diagram for explaining a method of generating a ground projection image using an image captured by the camera 12 of FIG. The camera control unit 104 to be described later obtains the position of the viewpoint P of the camera 12 (coordinate position in a three-dimensional space with a predetermined position in the vehicle as the origin) and the imaging direction (gaze direction) K. Then, the camera control unit 104 projects the captured image 510 onto the ground surface 520 from the position of the viewpoint P of the camera 12 in the imaging direction K, and generates a ground projection image 530. Note that the imaging direction K intersects the center of the captured image 510 perpendicularly. The distance from the viewpoint P of the camera 12 to the captured image 510 is determined in advance. The ground projection image 530 generated in this way is an image that looks like a bird's-eye view of the vehicle periphery from above the vehicle.

  The in-vehicle network communication device 13 connects the navigation device 100 to a network (not shown) corresponding to CAN, which is a vehicle control network standard, and an ECU (Electronic control unit) that is another vehicle control device connected to the network. It is a device that communicates by exchanging CAN messages.

  FIG. 5 is a functional block diagram of the arithmetic processing unit 1. As shown in the figure, the arithmetic processing unit 1 includes a main control unit 101, an input receiving unit 102, an output processing unit 103, a camera control unit 104, a lane recognition unit 105, an HOV travel availability determination unit 106, a route A search unit 107, a branch guide unit 108, and a route guidance unit 109 are included.

  The main control unit 101 is a central functional unit that performs various processes, and controls other processing units according to the processing content. In addition, information on various sensors, the GPS receiver 9 and the like is acquired, and a map matching process is performed to identify the current location. In addition, the travel history is stored in the storage device 3 for each link by associating the travel date and time with the position as needed. Further, the current time is output in response to a request from each processing unit. The main control unit 101 manages various setting information included in the navigation device 100. That is, the main control unit 101 receives information to be set as the various setting information from the user via the input receiving unit 102 and stores it in a predetermined position of the storage device 3. The main control unit 101 receives information related to the use of the HOV lane (for example, information on whether to use the HOV lane actively or not) as various setting information, and stores the information in the storage device 3. When the main control unit 101 receives a request for provision of the various setting information from another control unit, the main control unit 101 transfers the various setting information to the control unit that is the request source.

  The input receiving unit 102 receives an instruction from a user input via the input device 5 or the microphone 41, and controls each unit of the arithmetic processing unit 1 so as to execute processing corresponding to the requested content. For example, when the user requests a recommended route search, the output processing unit 103 is requested to display a map on the display 2 in order to set a destination.

  The output processing unit 103 receives screen information to be displayed such as polygon information, for example, converts it into a signal for drawing on the display 2, and instructs the display 2 to draw.

  The camera control unit 104 controls the operation of the camera 12. For example, the start / end timing of imaging by the camera 12 is set. In addition, transmission of the captured image to the lane recognition unit 105 is controlled.

  The lane recognition unit 105 acquires an image captured by the camera 12 as image data. Then, the acquired image is converted into an image for display (ground projection image). Further, from the acquired image, a sign laid or colored on the road surface of the road is recognized, and the lane in which the vehicle travels is specified. For example, as will be described later, the lane recognition unit 105 recognizes the presence of a sign (rhombic paint) or the like indicating that it is an HOV lane, and if the sign is present near the left and right center in the image, It is determined that 300 is traveling on the HOV lane. Alternatively, the lane recognition unit 105 recognizes the sign not in the vicinity of the left and right center in the image but in a position shifted to the left or right rather than the vicinity of the center of the left and right. If the sign is recognized, it is determined that the vehicle is traveling in an adjacent lane that is not an HOV lane.

  The HOV traveling availability determination unit 106 determines whether or not the vehicle 300 can travel on the HOV lane. In the determination of the propriety of traveling, the HOV traveling propriety determining unit 106 determines the vehicle type and the like of the vehicle 300 based on communication information flowing through the in-vehicle network of the vehicle 300 via the in-vehicle network communication device 13 and travels in the HOV lane. It is determined whether or not the vehicle type is possible. Of course, the determination process for determining whether or not the vehicle can travel on the HOV lane is not limited to this, and the HOV vehicle traveling determination unit 106 identifies the number of passengers from a load sensor (not shown) attached to the vehicle seat or wears a seat belt. The number of passengers may be specified via a sensor, and it may be determined whether or not the number of passengers that can travel on the HOV lane has been reached.

  The route search unit 107 searches for an optimum route (recommended route) that connects the starting point or current location instructed by the user and the destination. In the route search, a route search logic such as Dijkstra method is used to search for a route based on a link cost using statistical traffic information 229 preset for a predetermined section (link) of a road. In the route search, the route search unit 107 selects statistical information corresponding to the arrival date / day type predicted based on the current date and time from the statistical traffic information 229 and uses it as the link cost. In this processing, when the HOV driving availability determination unit 106 is requested to determine whether or not the vehicle is capable of traveling on the HOV lane, and a determination result is obtained that the vehicle is capable of traveling In addition, the recommended route is searched using the link cost of the route using the HOV lane as that of the HOV lane. When the vehicle is not in a travelable state, the route search unit 107 searches for a route with the minimum link cost using the link cost of the normal lane without considering the HOV lane. Note that the route search unit 107 prioritizes the route using the HOV lane if the vehicle is already traveling on the HOV lane even if it is determined in the processing that the vehicle is not in a state where it can travel on the HOV lane. To search for a recommended route. When the route search unit 107 determines whether or not the vehicle has already traveled in the HOV lane, the route search unit 107 refers to the HOV attribute 228 of the link to which the current location belongs. If the attribute is “no”, it is determined that the vehicle is not traveling on the HOV lane, and if the attribute is “shared”, the lane recognition is performed as to whether the traveling lane is the HOV lane. The determination is made by requesting the determination to the unit 105.

  The branch guidance unit 108 guides the user of the presence and position of a junction with another road, a branch point to another road, and the like using video and audio. For example, a display notifying that the merging point is near and an approximate distance to the merging point is output to the display 2 via the output processing unit 103 from the position before the merging position between the branch line of the expressway and the main line. Alternatively, the user is notified by voice through the speaker 42 of which lane to travel at the branch point from the main road to the ramp road.

  The route guidance unit 109 guides the user using the speaker 42 and the display 2 so that the current location of the vehicle does not deviate from the recommended route. Further, the route guiding unit 109 performs guidance to the HOV lane inlet and guidance to the normal lane.

  Each functional unit of the arithmetic processing unit 1 described above, that is, the main control unit 101, the input reception unit 102, the output processing unit 103, the camera control unit 104, the lane recognition unit 105, the HOV travel availability determination unit 106, the route search unit 107, and the branch The guide unit 108 and the route guide unit 109 are constructed by the CPU 21 reading and executing a predetermined program. Therefore, the RAM 22 stores a program for realizing the processing of each functional unit.

  In addition, each above-mentioned component is classified according to the main processing content, in order to make an understanding easy the structure of the navigation apparatus 100. FIG. Therefore, the present invention is not limited by the way of classifying the components and their names. The configuration of the navigation device 100 can be classified into more components depending on the processing content. Moreover, it can also classify | categorize so that one component may perform more processes.

  Each functional unit may be constructed by hardware (ASIC, GPU, etc.). Further, the processing of each functional unit may be executed by one hardware or may be executed by a plurality of hardware.

  [Description of Operation] Next, the operation of the statistical information use search process performed by the navigation device 100 will be described. FIG. 6 is a flowchart showing statistical information utilization search processing performed by the navigation device 100. This flow is started when a search instruction for a recommended route is received while the navigation device 100 is operating.

  First, the route search unit 107 determines whether or not the navigation device 100 is set to use the HOV lane (step S001). Specifically, the route search unit 107 performs main control on information related to the use of the HOV lane (for example, true or false information set for using the HOV lane) among various setting information included in the navigation device 100. Obtained from the unit 101. Then, the route search unit 107 determines whether the setting is to use the HOV lane with reference to the information.

  When it is set to use the HOV lane (“Yes” in step S001), the route search unit 107 determines whether or not the vehicle can travel on the HOV lane (step S002). Specifically, the route search unit 107 requests the HOV travel availability determination unit 106 to determine whether or not the vehicle can travel on the HOV lane.

  If the vehicle is not set to use the HOV lane (“No” in step S001), or if the vehicle cannot travel in the HOV lane (“No” in step S002), the route search unit 107 Acquires the HOV attribute 228 of the traveling lane and determines whether or not the vehicle is traveling on the HOV lane (step S003).

  If the HOV attribute of the traveling lane is “dedicated”, the route search unit 107 advances the process to step S004, which will be described later, and performs a route search considering the HOV lane. If the HOV attribute of the traveling lane is “None”, the route search unit 107 proceeds to the process of step S005 described later, and performs a route search that does not consider the HOV lane. If the HOV attribute of the traveling lane is “shared”, the lane recognition unit 105 determines whether or not the vehicle is traveling on the HOV lane using an image captured by the camera 12.

  If it is determined using the image captured by the camera 12 that the vehicle is traveling on the HOV lane, the route search unit 107 advances the processing to step S004, which will be described later, and performs a route search considering the HOV lane.

  If it is determined using the image captured by the camera 12 that the vehicle is not traveling on the HOV lane, the route search unit 107 advances the process to step S005 to be described later, and performs a route search that does not consider the HOV lane.

  When the vehicle can travel on the HOV lane (“Yes” in step S002) or when the vehicle is traveling on the HOV lane, the route search unit 107 considers the HOV lane (use) And) search for a route to travel. Then, the route guiding unit 109 guides the searched route (step S004). Specifically, for the link whose HOV attribute 228 is “dedicated” or “shared” (that is, a road including an HOV lane), the route search unit 107 determines the date / day of arrival at the link for each link. The statistical traffic information 233 according to the traffic is specified, the link cost for the HOV lane is specified in the statistical traffic information 233, the route from the current location to the predetermined destination is searched, and the link cost is advantageous (for example, The route with the smallest path is set as the recommended route. Note that, even for a road that includes a HOV lane, for a link that lacks the statistical traffic information for the HOV lane, the route search unit 107 determines the link having the statistical traffic information for the HOV lane within a predetermined distance. Based on the link cost difference between the normal lane and the HOV lane, the route search is performed using the link cost corresponding to the statistical traffic information for the HOV lane. In other words, if there is no link cost setting for the HOV lane, the link cost for the HOV lane is set based on the link cost for the normal lane according to the tendency of the road around the road.

  For example, the route search unit 107 identifies a link including an HOV lane having a start node or an end node within a predetermined distance (for example, within 10 km) around the target link. Then, the route search unit 107 calculates an average value of the ratio of the link cost of the HOV lane to the link cost of the normal lane for the identified link. Then, for the target link, the route search unit 107 applies (multiplies) the average value of the ratio to the link cost of the normal lane to obtain the link cost of the HOV lane.

  When the HOV attribute of the traveling lane is “none”, or when it is determined using the image captured by the camera 12 that the vehicle is not traveling on the HOV lane, the route search unit 107 selects the HOV lane. A route search is performed by performing a route search not considered (not used). Then, the route guidance unit 109 performs guidance for the searched route (step S005). Specifically, the route search unit 107 specifies the statistical traffic information 233 according to the type of date / time to reach the link for each link regardless of the value of the HOV attribute 228 of each link, and determines the statistical traffic. The link cost for the normal lane in the information 233 is specified, the route from the current location to the predetermined destination is searched, and the route with the advantageous link cost (for example, the smallest) is set as the recommended route. Then, the route guidance unit 109 guides the user according to the recommended route.

  When route guidance is started in step S004 or step S005, the route guidance unit 109 acquires the current location specified by the main control unit 101 to identify the current location (step S006), and whether or not the destination has been reached. (Step S007), and if the destination has been reached (“Yes” in step S007), the route guidance unit 109 ends the statistical information use search process. If the destination has not been reached (“No” in step S007), the route guidance unit 109 determines whether the current location has deviated from the recommended route (step S008). If not deviating from the recommended route (“No” in step S008), route search unit 107 returns the process to step S006.

  When deviating from the recommended route (“Yes” in step S008), the route search unit 107 determines whether or not the HOV lane is traveling on a link with the HOV lane (step S009). Specifically, the route search unit 107 determines whether the link attribute 228 of the link to which the current location belongs is “dedicated” or the result of lane recognition using an image captured by the camera 12 with the attribute “shared”, When it is determined that the vehicle is traveling on the HOV lane, it is determined that the vehicle is traveling on the HOV lane.

  When it is determined that the vehicle is traveling on the HOV lane (“Yes” in step S009), the route search unit 107 returns the process to step S004. If it is determined that the vehicle is not traveling on the HOV lane (“No” in step S009), the route search unit 107 returns the process to step S005.

  The above is the processing content of the statistical information utilization search processing. By performing the above-described statistical information use search process, the navigation device 100 is likely to exhibit a tendency different from the statistical traffic information of the normal lane if the HOV lane can be used. The route can be searched using the statistical traffic information. Therefore, it can be said that the navigation apparatus 100 can search for a route with high accuracy.

  In the above processing, the statistical traffic information at the estimated arrival time at each link is used, but the present invention is not limited to this. For example, a route search may be performed using statistical traffic information at the current time at the time of route search. In this way, it is possible to shorten the processing time for route search, compared to route search using statistical traffic information at the expected arrival time. As a result, the performance can be improved while balancing the improvement of the responsiveness to the user and the high accuracy of the route.

  The first embodiment of the present invention has been described above. According to the first embodiment of the present invention, the navigation apparatus 100 can perform a route search with high accuracy using the statistical information for the HOV lane with respect to the road provided with the HOV lane.

  The present invention is not limited to the first embodiment. The first embodiment described above can be variously modified within the scope of the technical idea of the present invention. For example, the lane recognition processing by the lane recognition unit 105 may be performed by, for example, highly accurate GPS position information or lane recognition based on information received from an oscillator for lane recognition laid for each lane. .

  Also, for example, when searching for a plurality of routes for a single destination, the route travels through the HOV lane using the statistical traffic information for the HOV lane and the HOV lane using the statistical traffic information for the normal lane. It is also possible to search for a plurality of routes including routes that are not. In this way, the user can determine whether or not to use the HOV lane, and operability with a higher degree of freedom can be provided.

  In the above, this invention was demonstrated centering on embodiment. In the above-described embodiment, the example in which the present invention is applied to the navigation apparatus has been described. However, the present invention is not limited to the navigation apparatus, and can be applied to all apparatuses that perform route guidance of a moving body.

DESCRIPTION OF SYMBOLS 1 ... Arithmetic processing part, 2 ... Display, 3 ... Memory | storage device, 4 ... Voice output device, 5 ... Input device, 6 ... ROM device, 7 ... Vehicle speed sensor , 8 ... Gyro sensor, 9 ... GPS receiver, 10 ... FM multiplex broadcast receiver, 11 ... Beacon receiver, 12 ... Camera, 13 ... In-vehicle network communication device, 21 ... CPU, 22 ... RAM, 23 ... ROM, 24 ... I / F, 25 ... bus, 41 ... microphone, 42 ... speaker, 51 ... touch panel, 52 ... Dial switch, 100 ... Navigation device, 101 ... Main control unit, 102 ... Input reception unit, 103 ... Output processing unit, 104 ... Camera control unit, 105 ... Lane Recognizing part, 106 ・ ・ ・ HOV running possible Determination unit, 107 ... route search section, 108 ... branch guidance unit, 109 ··· route guidance unit, 200 ... link table, 300 ... vehicle

Claims (7)

Storage means for storing lane information including the installation status of lanes (hereinafter referred to as conditional lanes) that can be made to pass by satisfying predetermined conditions, and statistical traffic information about the conditional lanes;
Conditional lane traveling availability determination means for determining whether a vehicle on which the navigation device is mounted satisfies a condition for traveling in the conditional lane;
A route search means for searching for a recommended route to the destination,
The route searching means searches for a route using the statistical traffic information about the conditional lane when it is determined that the condition satisfies the condition by the conditional lane traveling availability determination means.
A navigation device characterized by that. The navigation device according to claim 1,
The statistical traffic information includes a cost for a normal lane for a road that does not include the conditional lane, and includes a cost for the conditional lane and a cost for a normal lane for a road that includes the conditional lane,
When it is determined that the condition for the road including the conditional lane satisfies the condition, the route search means uses the cost for the conditional lane and based on the total cost to the destination. , Route search,
A navigation device characterized by that. The navigation device according to claim 2,
When there is no cost setting for the conditional lane for the road including the conditional lane, the route search means is based on the cost for the normal lane according to the tendency of the road around the road. To set the cost for the conditional lane,
A navigation device characterized by that. The navigation device according to any one of claims 1 to 3, further comprising:
The conditional lane traveling availability determination means identifies the number of people on the vehicle on which the navigation device is mounted and the vehicle type, and whether or not the conditions for traveling in the conditional lane are satisfied. Determine
A navigation device characterized by that. The navigation device according to any one of claims 2 to 4, further comprising:
Lane detection means for detecting the lane in which it is traveling;
Route guidance means for guiding in accordance with the recommended route searched by the route search means,
The storage means stores statistical traffic information about a normal lane,
When the route guidance unit detects a departure from the recommended route, the route search unit determines whether the lane detection unit is traveling in the conditional lane and travels in the conditional lane. In the case of the road including the conditional lane, the route is re-searched using the cost for the conditional lane, and the road including the conditional lane is not traveled in the conditional lane. For, re-search the route using the cost for normal lanes,
A navigation device characterized by that. The navigation device according to any one of claims 1 to 5,
The route search means uses statistical traffic information corresponding to an estimated arrival time to the conditional lane in the route search processing using the statistical traffic information about the conditional lane.
A navigation device characterized by that. A navigation device route search method,
The navigation device
Storage means for storing lane information including the installation status of lanes (hereinafter referred to as conditional lanes) that can be made to pass by satisfying predetermined conditions, and statistical traffic information about the conditional lanes;
Conditional lane traveling availability determination means for determining whether a vehicle on which the navigation device is mounted satisfies a condition for traveling in the conditional lane;
A route search means for searching for a recommended route to the destination,
The route search means, when it is determined that the condition is satisfied by the conditional lane traveling availability determination means, using the statistical traffic information about the lane, to search for a route;
The route search method characterized by implementing.

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