JP2011137733A - Navigation device and route search method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation technique for performing appropriate guidance of a route including a lane which becomes passable, when predetermined conditions are satisfied. <P>SOLUTION: A navigation device includes a storage means for storing lane information including provided states of lanes (hereinafter, referred to as qualified lanes) which become passable, when the predetermined conditions are satisfied, a route search means for searching for a recommended route up to a destination by using the lane information; and a route verification means for verifying whether the recommended route searched for by the route search means, contains a traveling prohibiting section where to leave from the qualified lane is required, at a portion other than an exit from the qualified lane. The route search means searches again for a route evading the traveling prohibition section, when the recommended route contains the traveling prohibiting section. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a navigation device technology.

  2. Description of the Related Art Conventionally, a navigation apparatus uses a route search technique corresponding to a lane in which only a vehicle that satisfies a specific condition such as a high-occupancy vehicle (HOV) lane can travel. Patent Document 1 describes a technique regarding such a navigation device. The HOV lane is also called a car pool lane.

JP 2000-131085 A

  The navigation device as described above searches for a route by including the HOV lane as a route search target. However, in general, since there are limited sections in which the HOV lane and the normal lane can enter and exit, a route that is not suitable for traveling may be set.

  An object of the present invention is to provide a navigation technique capable of guiding an appropriate route including a lane (hereinafter referred to as a “conditional lane”) that can pass when a predetermined condition is satisfied.

  In order to solve the above-mentioned problems, a navigation device according to the present invention includes a storage means for storing lane information including the installation status of a lane (hereinafter referred to as a conditional lane) that can pass when a predetermined condition is satisfied, and a destination. It is necessary to exit from the conditional lane other than the exit from the conditional lane to the recommended route searched by the route searching means and the recommended route searched by the route searching means using the lane information. Route verification means for verifying whether or not a movement prohibited section is included, and when the recommended route includes the movement prohibited section, the route search means re-searches for a route that avoids the movement prohibited section. It is characterized by.

  Further, in the route searching method of the navigation device according to the present invention, storage means for storing lane information including installation conditions of lanes (hereinafter referred to as conditional lanes) that can be made to pass by satisfying a predetermined condition, and a destination The route search means for searching for the recommended route using the lane information, and the travel required to exit from the conditional lane other than the exit from the conditional lane to the recommended route searched by the route search means Route verification means for verifying whether or not a prohibited section is included, and the route search means re-searches for a route that avoids the movement prohibited section when the recommended route includes the movement prohibited section. Performing the step.

  According to the present invention, it is possible to guide an appropriate route including a lane (hereinafter referred to as a conditional lane) that can be passed when a predetermined condition is satisfied.

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 route search processing. FIG. 7 is a flowchart of the HOV priority route verification process. FIG. 8 is a diagram illustrating the HOV priority route verification process using a specific example. FIG. 9 is a flowchart of a modification of the HOV priority route verification 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 preferentially search for a route traveling on the HOV lane when performing 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. Further, at that time, the arithmetic processing unit 1 determines whether or not the route searched for is a route that can actually be traveled, and if the travel is impossible, the search condition is changed so as to be a travelable route. To search again.

  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 regarding the installation status of the HOV lane for each link, 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.

  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 route guidance unit 108, and a route verification 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 to display a map, the output processing unit 103 is requested to display a predetermined range of the map on the display 2.

  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 host 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 of the own vehicle 300 based on communication information flowing through the in-vehicle network of the own vehicle 300 via the in-vehicle network communication device 13, and the HOV lane It is determined whether the vehicle type is capable of traveling. 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 is searched based on a link cost set in advance for a predetermined section (link) of a road using a route search logic such as Dijkstra method. In this process, it is recommended that the HOV lane be preferentially used when the vehicle can travel based on whether or not the vehicle is in a situation where the vehicle can travel on the HOV lane. Search for a route. If the vehicle is not in a state where it can travel, the route search unit 107 searches for a route with the lowest link cost without considering the HOV lane. Even if the route search unit 107 determines that the HOV traveling availability determination unit 106 is not in a state where it can travel on the HOV lane in this process, if the vehicle is already traveling on the HOV lane, The recommended route using the HOV lane is searched for preferentially. 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 it is determined that the vehicle is traveling. If the attribute is “none”, it is determined that the vehicle is not traveling on the HOV lane. If the attribute is “shared”, the lane indicates whether the traveling lane is the HOV lane. The determination is made by requesting the recognition unit 105 to make a determination.

  The route guidance unit 108 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.

  The route verification unit 109 searches the recommended route searched by the route search unit 107 for a portion (movement prohibited section) that straddles the movement prohibited portion of the HOV lane, and if there is a corresponding portion, avoids traveling in that portion. Re-search for recommended routes. That is, does the route verification unit 109 need to travel out of the HOV lane at a portion where the recommended route is not allowed to move between the HOV lane and the normal lane, for example, other than the exit from the HOV lane? If the recommended route is necessary, the search condition is changed and the search is performed again to set a more appropriate route.

  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, the route The guidance unit 108 and the route verification 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 route search process performed by the navigation device 100 will be described. FIG. 6 is a flowchart showing route 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 main control unit 101 sets a destination (step S001). Specifically, the main control unit 101 receives a destination input from the user via the input receiving unit 102. Then, the main control unit 101 sets the destination as a route search destination.

  Next, the route search unit 107 determines whether or not the navigation device 100 is set to use the HOV lane (step S002). 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 S002), the route search unit 107 determines whether or not the vehicle can travel on the HOV lane (step S003). Specifically, the route search unit 107 requests the HOV traveling availability determination unit 106 to determine whether or not the host vehicle can travel on the HOV lane.

  If the vehicle is not set to use the HOV lane (“No” in step S002), or if the vehicle cannot travel on the HOV lane (“No” in step S003), the route search The 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 S004).

  If the HOV attribute of the traveling lane is “dedicated”, the route search unit 107 advances the processing to step S007 described later, and performs route search with priority on the HOV lane. If the HOV attribute of the traveling lane is “None”, the route search unit 107 advances the processing to Step S006, which will be described later, and performs a route search that does not use the HOV lane. If the HOV attribute of the traveling lane is “shared”, the lane recognition unit 105 determines whether or not the host vehicle is traveling in the HOV lane using the image captured by the camera 12 (step S005). ).

  If it is determined using the image captured by the camera 12 that the vehicle is traveling on the HOV lane (“Yes” in step S005), the route search unit 107 proceeds to step S007 described later. Route search with priority given to the HOV lane is performed.

  If it is determined using the image taken by the camera 12 that the vehicle is not traveling on the HOV lane (“No” in step S005), the route search unit 107 proceeds to step S006, which will be described later. Route search without using the HOV lane is performed.

  If the HOV attribute of the traveling lane is “None” (when “None” in Step S004), or the image taken by the camera 12 is used, it is determined that the vehicle is not traveling on the HOV lane. If it is found (“No” in step S005), the route search unit 107 searches for a route by performing a route search that does not use the HOV lane. Then, the route guidance unit 108 performs guidance for the recommended route (step S006). Specifically, the route search unit 107 specifies a predetermined link cost for each link regardless of the value of the HOV attribute 228 of each link, and reaches the destination set in step S001 from the departure point or the current location. A route with a favorable link cost (for example, the smallest) is determined as a recommended route. Then, the route guidance unit 108 guides the user according to the recommended route.

  If the vehicle is capable of traveling in the HOV lane (“Yes” in step S003), or if the lane in which the vehicle is traveling is the HOV lane (“dedicated” in step S004) or “Yes” in step S005 ]), The route search unit 107 searches for a route that travels preferentially on the HOV lane. Then, the route guidance unit 108 performs guidance (step S008). Specifically, the route search unit 107 sets a predetermined coefficient (for example, link travel time) for a link cost (for example, a link travel time) for a link whose HOV attribute 228 is “dedicated” or “shared” (that is, a road including an HOV lane). And a route search using a value multiplied by a predetermined value such as “0.7”.

  When the route guidance is started, the route guiding unit 108 specifies the current location by acquiring the current location specified by the main control unit 101 (step S008), and determines whether the destination has been reached (step S008). In S009), when arriving at the destination (“Yes” in step S009), the route guidance unit 108 ends the route search process. If the destination has not been reached (“No” in step S009), the route guidance unit 108 determines whether the current location has deviated from the recommended route (step S010). If not deviating from the recommended route (“No” in step S010), route search unit 107 returns the process to step S008. If the route deviates from the recommended route (“Yes” in step S010), the route search unit 107 returns the process to step S007 and re-searches the recommended route.

  The above is the processing content of the route search processing. By performing the route search processing described above, the navigation device 100 can search for a recommended route that preferentially uses the HOV lane in a situation where the HOV lane can be used. Therefore, the navigation apparatus 100 can preferentially guide the route using the HOV lane.

  In the above process, it is determined whether or not the vehicle can travel on the HOV lane immediately after setting the destination, but the present invention is not limited to this. For example, when opening / closing of the door of the host vehicle 300 is detected during route guidance, there may be a change in the number of passengers, so it may be determined whether or not the vehicle can travel on the HOV lane again.

  The above route search process makes it possible to perform a route search so that a road having an HOV lane is given priority. However, a route that needs to travel in a position where the HOV lane and the normal lane cannot be entered and exited. It can also be searched. The HOV priority path verification process that is a process for correcting this will be described with reference to FIG.

  FIG. 7 is a flowchart showing the processing contents of the HOV priority route verification processing. This flow is started after the route is searched in step S007 of the route search process and guidance is started.

  First, the route verification unit 109 determines whether or not the vehicle is traveling in a HOV-only lane where there is no exit from the HOV lane until the exit ramp that the vehicle enters on the route (step S101). Specifically, the route verification unit 109 extracts an exit ramp that is an exit from a road having an HOV lane from information on the recommended route searched by the route search unit 107, and from the departure point or the current location to the exit ramp. It is determined whether or not all the HOV attributes 228 of the roads included in the recommended route are “dedicated”. If all the HOV attributes are “dedicated”, it is determined that the vehicle is traveling in the HOV-dedicated lane.

  If the vehicle is traveling in the HOV-dedicated lane (“Yes” in step S101), the route verification unit 109 cancels the guidance setting for the exit lamp (step S102). Specifically, the route verification unit 109 sets the route guidance unit 108 so as not to guide to the exit lamp on the recommended route to the exit lamp. Then, the path verification unit 109 ends the HOV priority path verification process. Note that the route verification unit 109 is not limited to setting a non-guided range as described above, and may set other ranges as non-guided ranges. In other words, the route verification unit 109 sets at least the route guidance unit 108 so as not to guide the exit ramp (a road entering immediately after exiting the HOV lane in the movement prohibited section).

  If the vehicle is not traveling in the HOV-only lane (“No” in step S101), the route verification unit 109 does not seem to have an HOV lane exit even if the route is traced back to the HOV-only lane or the vehicle position on the searched route. It is determined whether or not an exit lamp is included (step S103). Specifically, the route verification unit 109 extracts an exit ramp from the recommended route searched by the route search unit 107. Then, for each exit lamp, the path verification unit 109 has the shorter one of the section from the exit lamp to the start position of the path (departure location or current location) and the section from the exit ramp to the link having the attribute dedicated to the HOV. It is determined whether or not a HOV lane exit (that is, an exit from an HOV lane that does not include a link whose HOV attribute is “shared-dashed line”) is included. The path verification unit 109 includes, in the extracted exit lamp, an exit lamp that does not have an HOV lane exit between the exit lamp and the link having the start position or the attribute dedicated to the HOV. Is determined to include an exit lamp without an HOV lane exit.

  If an exit lamp without an HOV lane exit is not included (“No” in step S103), the path verification unit 109 determines that there is no problem with the recommended path, and ends the HOV priority path verification process.

  When an exit lamp that does not have an HOV lane exit is included (“Yes” in step S103), the path verification unit 109 determines whether it is essential to pass an exit ramp that does not have the HOV lane exit to the destination. (Step S104). Specifically, when the only route to the destination passes through the exit ramp, the route verification unit 109 determines that the exit ramp without the HOV lane exit is essential to the destination. . For example, a facility that can only enter from an exit ramp corresponds to this.

  If it is not essential to pass the exit ramp without the HOV lane exit (“No” in step S104), the route verification unit 109 sets the exit ramp as a prohibited road or sufficiently increases the link cost of the exit ramp. Set (for example, increase the link cost by a predetermined value or weight the link cost by a predetermined coefficient of 1 or more) and instruct the route search unit 107 to search again (step S105). . Then, the path verification unit 109 returns the control to step S103.

  If passage of an exit ramp without the HOV lane exit is indispensable (“Yes” in step S104), the route verification unit 109 determines the HOV lane (departure location or current location side) before the exit ramp on the recommended route. The closest HOV lane exit (the link where the HOV attribute is “shared-dashed line”) in the direction of travel (destination side) from the junction is identified, and the relevant HOV lane exit The route search unit 107 is instructed to search for a route to be performed (step S106). Then, the path verification unit 109 returns the control to step S103.

  The above is the processing content of the HOV priority route verification processing. By performing the above-mentioned HOV priority route verification processing, the navigation device 100 can correct a route that needs to travel in a position where it cannot enter and exit between the HOV lane and the normal lane. Therefore, the navigation apparatus 100 can guide an appropriate route including a lane (HOV lane) in which only a vehicle satisfying a specific condition can travel.

  In the above processing, re-searching is performed until an appropriate route is found. However, if an appropriate route is not found even after re-searching a predetermined number of times (for example, 10 times), guidance setting is performed. May be canceled to provide guidance for displaying the recommended route. By doing so, it is possible to limit the processing amount of the route search processing with a high calculation load, and prevent the responsiveness of the navigation device 100 from being lowered.

  FIG. 8 is a diagram illustrating the HOV priority route verification process using a specific example. FIG. 8A illustrates a road 400 configured by the HOV lane 401 and the normal lane 402. Note that it is assumed that movement between lanes cannot be performed between the HOV lane 401 and the normal lane 402 within the range illustrated. The road 400 includes an approach ramp road 403 that joins the HOV lane 401 of the road 400, an exit ramp road 404 that is separated from the normal lane 402 of the road 400 at a position (destination side) ahead of the entrance ramp road 403, Is provided. The road 400 includes a link 410, a link 413 at a position ahead of the link 410, and a link 415 at a position ahead of the link 410. The link 410 and the link 413 are connected by a node 412. And the link 415 are connected by a node 414. In addition, it is assumed that a link 411 constituting the entry ramp road 403 is connected to the node 412, and a link 416 constituting the exit ramp road 404 is connected to the node 414. That is, the recommended route passing through the link 411, passing through the link 413, and passing through the link 416 can run at a glance in terms of the configuration of the link and the node, but actually moves between the HOV lane 401 and the normal lane 402. Is prohibited and cannot cross lanes, it can be said that such a recommended route is not suitable for driving.

  FIG. 8B is a diagram showing an example in which passage of the exit ramp road 404 is prohibited in step S105 on the same road 400 as in FIG. 8A. By setting in this way, the route to be re-searched can be prevented from going toward the link 416 in the node 414, that is, toward the exit ramp road 404, and the lane is changed from the HOV lane 401 to the normal lane 402. Unnecessary recommended routes will be searched.

  The embodiment of the present invention has been described above. According to the embodiment of the present invention, the navigation device 100 can guide an appropriate route including a lane (HOV lane) in which only a vehicle satisfying a specific condition can travel.

  The present invention is not limited to the above embodiment. The above embodiment 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 is performed by recognizing the lane from, for example, high-accuracy GPS position information or information received from a transmitter for lane recognition laid for each lane. Also good.

  Further, the HOV priority route verification process according to the above embodiment may be modified as shown in FIG. FIG. 9 is a diagram illustrating a modification of the HOV priority route verification process. The modification basically includes the same configuration as that of the above embodiment, but there is a difference in processing when the destination is not required to pass the exit lamp in step S104 ("No" in step S104). . The difference will be described below.

  If it is not necessary to pass an exit ramp without the HOV lane exit (“No” in step S104), the route verification unit 109 may select the HOV lane (starting location or current location side) before the exit ramp on the recommended route. The nearest HOV lane exit in the direction of travel (destination side) from the nearest HOV lane) or the nearest HOV lane exit (link whose HOV attribute is “shared-dashed line”) is identified, and the HOV lane exit is used as a transit point Calculate the cost of the route. On the other hand, the route verification unit 109 calculates the cost of the route searched again by setting the exit ramp as a prohibited road or setting the link cost of the exit ramp sufficiently high (step S205). Then, the route verification unit 109 compares the costs of the routes calculated in step S205 and searches for a route with a lower cost (step S206). Then, the path verification unit 109 returns the control to step S103.

  The above is a modification of the HOV priority route verification process. According to the modified example, it is possible to re-search for a route so that the cost is lower than the configuration shown in the first embodiment, and thus it can be said that a more desirable route for the user can be guided.

  In addition, in the HOV priority route verification process, when the recommended route includes a movement prohibited section instead of re-searching for a route that avoids traveling in a portion (movement prohibited section) straddling the movement prohibited portion of the HOV lane. The route may be re-searched so as not to use the HOV lane. By doing in this way, even when it is highly possible that the recommended route includes the movement prohibited section, it is possible to increase the possibility that at least a movable route can be set.

  According to the above embodiment, the navigation device guides the exit ramp if it is a normal route, but sets a route to exit from the HOV lane to the exit ramp without going through the exit from the HOV lane. In this case, it is possible to prevent the travel guidance from exiting the exit ramp. Therefore, it can be said that route guidance that is not appropriate can be avoided.

  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 ... route guidance unit, 109 ··· path verification unit, 200 ... link table, 300 ... vehicle

Claims (10)

Storage means for storing lane information including the installation status of lanes (hereinafter referred to as conditional lanes) that can be passed by satisfying predetermined conditions;
Route search means for searching for a recommended route to the destination using the lane information;
Route verification means for verifying whether or not the recommended route searched by the route search means includes a movement prohibition section that needs to exit from the conditional lane other than the exit of the conditional lane,
The route search means re-searches for a route that avoids the movement prohibited section when the recommended route includes the movement prohibited section.
A navigation device characterized by that. The navigation device according to claim 1,
The route search means, when the recommended route includes the movement prohibition section, perform a re-search by prohibiting passage on the road that enters immediately after exiting the conditional lane in the movement prohibition section;
A navigation device characterized by that. The navigation device according to claim 1,
The route search is performed based on a link cost,
The route search means performs a re-search by increasing a link cost by a predetermined amount for a road that enters immediately after exiting the conditional lane in the movement-prohibited section when the recommended route includes the movement-prohibited section. Do,
A navigation device characterized by that. The navigation device according to any one of claims 1 to 3,
When the recommended route includes the movement-prohibited section, the route search means is the nearest conditional lane that is closer to the destination side than the road that travels immediately before leaving the conditional lane in the movement-prohibited section. Perform a re-search on the route driving the exit from
Navigation device characterized by that The navigation device according to any one of claims 1 to 4,
The route search means includes
When the recommended route includes the movement prohibited section, if the passage of the road entering immediately after exiting the conditional lane in the movement prohibited section is essential to reach the destination, the movement prohibited section Re-search for a route that travels the exit from the nearest conditional lane that is closer to the destination side than the road that travels immediately before leaving the conditional lane in
If it is not essential for the road to enter immediately after exiting the conditional lane in the movement prohibited section to reach the destination, the road entering immediately after exiting the conditional lane in the movement prohibited section Re-search with no traffic,
A navigation device characterized by that. The navigation device according to any one of claims 1 to 5,
The route search is performed based on a link cost,
The route search means, when the recommended route includes the movement-prohibited section, the link cost of the route that is prohibited from passing on the road that enters immediately after exiting the conditional lane in the movement-prohibited section, and the movement In the prohibited section, set a route that has an advantageous link cost among the link cost of the route that travels the exit from the nearest conditional lane that is closer to the destination side than the road that travels just before leaving the conditional lane ,
A navigation device characterized by that. The navigation device according to any one of claims 1 to 5,
The route search is performed based on a link cost,
The route search means includes
If the recommended route includes the movement prohibited section, it is not essential that the road that enters immediately after exiting the conditional lane in the movement prohibited section to reach the destination,
The link cost of the route that prohibits the passage of roads that enter immediately after leaving the conditional lane in the movement prohibited section,
Of the link cost of the route that travels the exit from the nearest conditional lane that is closer to the destination side than the road that travels immediately before leaving the conditional lane in the movement prohibited section,
Set a route with favorable link cost,
A navigation device characterized by that. The navigation device according to claim 7,
The route search means exits from the conditional lane in the movement-prohibited section if it is necessary to pass the road immediately after exiting the conditional lane in the movement-prohibited section to reach the destination. Search for a route that travels from the nearest conditional lane that is closer to the destination side than the road that runs immediately before,
A navigation device characterized by that. Storage means for storing lane information including installation conditions of lanes (hereinafter referred to as conditional lanes) in which only vehicles satisfying specific conditions can travel;
Route search means for searching for a recommended route to the destination using the lane information;
Route guidance means for guiding a recommended route searched by the route search means;
Route verification means for verifying whether the recommended route includes a movement prohibition section that needs to exit from the conditional lane other than the exit from the conditional lane,
The route guidance means does not perform guidance of a road that enters immediately after exiting from the conditional lane of the recommended route when the recommended route includes the movement prohibited section.
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 passed by satisfying predetermined conditions;
Route search means for searching for a recommended route to the destination using the lane information;
Route verification means for verifying whether or not the recommended route searched by the route search means includes a movement prohibition section that needs to exit from the conditional lane other than the exit from the conditional lane. ,
The route search means, when the recommended route includes the movement prohibited section, re-searching a route that avoids the movement prohibited section;
The route search method characterized by implementing.

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