JP2012198043A - Navigation device, navigation method, computer program for executing navigation method, and recording medium recording computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation device and a method therefor, which can guide a vehicle traveling straight in an intersection to a traveling lane on which the vehicle can smoothly travel if the road is congested.SOLUTION: A navigation device is configured to: extract an intersection where a navigation system performs guidance to travel straight as a target intersection from intersections on a guidance route retrieved by the navigation system; determine whether the target intersection is congested; and designate a lane by excluding a right-turn lane from lanes constituting an entry link for entering the target intersection if the target intersection is determined as a congested intersection to lead to the designated lane.

Description

  The present invention relates to a technique for setting a travel lane in which a vehicle traveling straight at an intersection can travel more smoothly when the road is congested.

In recent years, in addition to route guidance from a departure point to a destination by a navigation device, devices that guide a traveling lane (traveling lane) have been used so that vehicles traveling along the route can travel smoothly. Examples of such a navigation device include a device that guides a driving lane by displaying an enlarged view of an intersection on a display or by voice guidance when a vehicle turns right or left at an intersection.
On the other hand, the guidance of the driving lane to the vehicle going straight at the intersection is not sufficient, and it has been desired to guide the driving lane avoiding the crowded driving lane, particularly when the road is congested.
See also Patent Documents 1 and 2, which disclose the prior art related to the present invention.

Japanese Patent Application No. 2009-204514 JP 2008-196968 A

  Therefore, the present inventors have intensively studied to guide a traveling lane that avoids a congested traveling lane among traveling lanes of a road (link) entering the intersection for a vehicle that goes straight through the intersection at the time of road congestion. It has been repeated. As a result, it is possible to determine the traffic congestion at the intersection where straight travel is guided, and to exclude the traffic lane that is congested when it is determined that the traffic is congested, thereby guiding a smoother lane that can be used when the road is congested. I came up with what I can do.

The present invention has been made in view of the above-mentioned problems, and the first aspect is defined as follows. That is,
A guide route storage unit for storing the guide route searched by the navigation system;
Among intersections on the guidance route, a target intersection extraction unit that extracts, as a target intersection, an intersection where the navigation system guides straight traveling;
First determination means for determining whether the target intersection is a traffic jam intersection;
A lane setting unit configured to set a lane by excluding a right turn lane in an approach link entering the target intersection determined by the first determination unit as a traffic jam;
A navigation device comprising:

  According to the navigation device of the first aspect defined in this way, an intersection where straight traveling is guided is extracted from the guidance route, it is determined whether or not the intersection is a congested intersection, and the intersection is When it is determined that the intersection is congested, the lane setting is performed by excluding the right turn lane from the approach link to the intersection. When there is a traffic jam, the road surface paint indicating the traveling direction as the traffic classification is covered by the traffic jam vehicle, and it is difficult for the driver who is guided to travel straight ahead to determine which lane to travel. Therefore, as described above, by performing both judgment of traffic jam at the intersection and lane setting, the navigation apparatus can guide a travel lane that can be smoothly traveled corresponding to the congestion of the road.

Here, “straight running” is not limited to traveling straight along an intersection along the direction of travel of the vehicle, but when traveling along a curve with a small curvature or traveling without turning right or left. Is included.
Further, whether or not the target intersection is a traffic jam intersection may be determined based on the current traffic congestion state of the target intersection, or may be determined based on the past traffic history at the target intersection. The current traffic jam state can be determined based on traffic jam information such as VICS (registered trademark) data. Another example for determining the current traffic jam condition is a traffic jam judgment based on a comparison between speed regulation information set on a road and the running speed of a vehicle traveling on the road. On the other hand, the past traffic record can be determined from traffic information obtained in advance based on probe data or the like. Further, if the current traffic jam state is accumulated, it can be used for judgment of traffic jam as past traffic jam record.

In addition, “lane” means a traffic zone divided by white lines, yellow lines, etc. drawn on the road. In addition, it is a concept including a lane connected to a right turn additional lane.
The lane setting unit may further set the lane by excluding the left turn lane (second aspect). By setting the lane in this way, it is possible to guide smoother traveling of the vehicle that goes straight through the intersection.

By the way, especially when a traffic regulation such as a route change prohibition is attached to the road, the lane cannot be changed at a place where the traffic regulation is attached, so the timing for guiding the set travel lane is important. . The timing for guiding the travel lane may be, for example, when the distance or the arrival time reaches a predetermined threshold based on the distance from the vehicle position to the start point of the route change prohibition restriction and the arrival time. As will be described later, when the current traffic jam information is obtained, it is preferable to determine the timing in consideration of the traffic jam start point.
Therefore, the third aspect of the present invention is defined as follows. That is,
In the navigation device defined in the first or second aspect, a second determination unit that determines whether or not a route change prohibition restriction exists in the entry link;
A guidance timing determination unit for determining a timing for guiding the set lane based on a first point where the route change prohibition restriction starts when the second determination unit determines that there is a route change prohibition restriction; Prepare.

  According to the navigation device of the third aspect defined as described above, it is determined whether there is a route change prohibition restriction on the approach link entering the target intersection, and it is determined that the route change prohibition restriction exists. The timing for guiding the set lane is determined based on the starting point of the route change prohibition regulation. When the route change prohibition restriction is attached to the approach link, the driver needs to change the lane before entering the restriction. Thus, if the guidance timing is determined in consideration of the starting point of the route change prohibition restriction, the lane guidance can be performed at a more appropriate timing for the driver.

If the length of the traffic jam that is currently occurring is longer than the length of the route change prohibition regulation placed on the approach link, the driver needs to change the lane before entering the traffic jam.
Therefore, the fourth aspect of the present invention is defined as follows. That is,
In the navigation device defined in the third aspect, the navigation device includes a third determination unit that determines whether or not a traffic jam is currently occurring in the approach link,
The guidance timing determination unit determines the timing based on a point closest to the current position of the vehicle to be guided among the first point and a second point where traffic congestion occurs at present. .
According to the navigation device of the fourth aspect defined in this way, in addition to the first point, the guidance timing is determined in consideration of the second point that enters the traffic jam. The driver can be guided to the lane at a more realistic timing considering the state.

  In addition, the guidance timing determination unit further determines the guidance timing based on the arrival distance and / or arrival time from the current position of the vehicle to be guided to the first point or the second point. Can be determined (fifth aspect). By determining the guidance timing in this way, lane guidance can be performed at a more appropriate timing for the driver corresponding to the driving situation of the driver.

The sixth aspect of the present invention is defined as follows. That is,
Of the intersections on the guidance route searched by the navigation system, an intersection extraction step for extracting the intersection where the navigation system guides straight traveling as a target intersection;
A first determination step of determining whether the target intersection is a traffic jam intersection;
A lane setting step for setting a lane by excluding a right turn lane in an approach link entering the target intersection determined as a traffic jam in the first determination step;
A navigation method comprising:
According to the sixth aspect of the invention thus defined, the same effect as the first aspect can be obtained.

The seventh aspect of the present invention is defined as follows. That is,
In the navigation method defined in the sixth aspect, the lane setting step further sets a lane by excluding a left turn lane.
According to the seventh aspect of the invention thus defined, the same effects as those of the second aspect can be achieved.

The eighth aspect of the present invention is defined as follows. That is,
In the navigation method defined in the sixth or seventh aspect, a second determination step of determining whether there is a route change prohibition restriction on the approach link;
A guidance timing determination step for determining a timing for guiding the set lane based on a first point where the path change prohibition restriction starts when the second determination step determines that there is a course change prohibition restriction; Prepare.
According to the invention of the eighth aspect defined as described above, the same effect as that of the third aspect can be obtained.

The ninth aspect of the present invention is defined as follows. That is,
A navigation method defined in an eighth aspect, comprising: a third determination step of determining whether or not a traffic jam is currently occurring in the approach link;
In the guidance timing determination step, the timing is determined based on a point closer to the current position of the vehicle to be guided among the first point and the second point where traffic congestion is present. .
According to the ninth aspect of the invention thus defined, the same effects as in the fourth aspect can be achieved.

The tenth aspect of the present invention is defined as follows. That is,
In the navigation method defined in the eighth or ninth aspect, the guidance timing determination step further includes a reach distance from a current position of the vehicle to be guided to the first point or the second point, and The guidance timing is determined based on the arrival time.
According to the tenth aspect of the invention thus defined, the same effects as in the fifth aspect are achieved.

Furthermore, the eleventh aspect of the present invention is defined as follows. That is,
A computer program for navigating a computer,
Among intersections on the guidance route searched by the navigation system, target intersection extraction means for extracting, as a target intersection, an intersection where the navigation system guides straight traveling;
First determination means for determining whether the target intersection is a traffic jam intersection;
Lane setting means for setting a lane by excluding a right turn lane in an approach link entering the target intersection determined by the first determination means as a traffic jam;
As a computer program.
According to the eleventh aspect of the invention thus defined, the same effects as in the first aspect can be achieved.

The twelfth aspect of the present invention is defined as follows. That is,
In the computer program defined in the eleventh aspect, the lane setting means further sets a lane by excluding a left turn lane.
According to the twelfth aspect of the invention thus defined, the same effects as those of the second aspect can be achieved.

The thirteenth aspect of the present invention is defined as follows. That is,
In the computer program defined in the eleventh or twelfth aspect, the computer further comprises:
Second determination means for determining whether there is a route change prohibition restriction on the approach link;
When the second determination means determines that there is a route change prohibition restriction, it functions as a guidance timing determination means that determines the timing for guiding the set lane based on the first point where the route change prohibition restriction starts. Let
According to the thirteenth aspect of the invention thus defined, the same effects as those of the third aspect are achieved.

The fourteenth aspect of the present invention is defined as follows. That is,
In the computer program defined in the thirteenth aspect, the computer is further
Functioning as third determination means for determining whether or not a traffic jam is currently occurring in the approach link;
The guidance timing determination means determines the timing based on a point closer to the current position of the vehicle to be guided among the first point and a second point where traffic jams currently occur. .
According to the fourteenth aspect of the invention thus defined, the same effects as in the fourth aspect can be achieved.

The fifteenth aspect of the present invention is defined as follows. That is,
In the computer program stipulated in the thirteenth or fourteenth aspect, the guidance timing determination means further includes a reach distance from the current position of the vehicle to be guided to the first point or the second point, and The guidance timing is determined based on the arrival time.
According to the fifteenth aspect of the invention thus defined, the same effects as in the fifth aspect are achieved.

  A recording medium for recording the computer program defined in any one of the 11th to 15th aspects is defined as the 16th aspect.

It is a block diagram which shows the structure of the navigation apparatus of embodiment of this invention. It is a block diagram which shows the structure of the apparatus which produces | generates the traffic congestion information for the 1st determination means of embodiment of this invention to use for traffic congestion determination. It is a flowchart which shows operation | movement of the navigation apparatus of embodiment of this invention. It is a flowchart which shows operation | movement of a traffic information generation apparatus. It is a block diagram which shows the structure of the navigation apparatus of the Example of this invention. It is a block diagram which shows the structure of the navigation apparatus of the other Example of this invention. It is a flowchart which shows operation | movement of the navigation apparatus of the other Example of this invention. It is a flowchart which shows operation | movement of the navigation apparatus of the other Example of this invention.

A navigation device according to an embodiment of the present invention will be described.
FIG. 1 shows a schematic configuration of a navigation apparatus 1 according to an embodiment of the present invention.
As shown in FIG. 1, the navigation device 1 includes a guide route storage unit 3, a target intersection extraction unit 5, a target intersection storage unit 7, a first determination unit 9, a first storage unit 11, a lane setting unit 13, and a lane storage. Part 15 is provided.

The guide route storage unit 3 stores guide routes searched by the navigation system. The guide route preferably stores the shape of the link and the lane information together.
The target intersection extraction unit 5 refers to the guidance route storage unit 3 and extracts, as the target intersection, an intersection that is guided to travel straight by the navigation system among the intersections on the guidance route. The extracted target intersection is stored in the target intersection storage unit 7.
The first determination unit 9 refers to the guide route storage unit 3 and the target intersection storage unit 7 to determine whether or not the stored target intersection is a traffic jam intersection. For example, the first determination unit 9 can determine the current congestion state of the link entering the target intersection with reference to the congestion information of the VICS data. In the approach link, when the VICS data of “congestion” and “congestion” is acquired, the target intersection can be determined as a traffic congestion intersection. The result determined by the first determination unit 9 is stored in the first storage unit 11.

As another example, the first determination means 9 can determine whether or not the target intersection is a traffic jam intersection with reference to past traffic jam information stored in advance at the target intersection.
For example, the traffic information of the intersection based on the past traffic record can be generated as follows.
An example of the traffic jam information generation apparatus 101 is shown using FIG.
The traffic jam information generating apparatus 101 includes a map data storage unit 103, a probe information storage unit 105, a right turn probe information selection unit 107, a right turn probe storage unit 109, a right turn waiting time calculation unit 111, a right turn waiting time storage unit 113, a comparison unit 115, A traffic jam intersection determination unit 117 and a traffic jam intersection storage unit 119 are provided, and it is determined whether or not the extracted intersection is a traffic jam intersection.

The map data storage unit 103 stores map information. The map information includes information on road elements for defining map information such as links and nodes, information drawn on the map, and the like.
The probe information storage unit 105 stores probe information obtained from the vehicle. The probe information includes at least coordinate information, speed information, time information, and ID information for specifying the probe car. Any vehicle having a position detection function such as GPS can identify these pieces of information.
The right-turn probe information selection unit 107 refers to the map data storage unit 103 and the probe information storage unit 105 and selects the probe information that is turned right at the intersection. Whether or not the probe information is right-turned is determined based on a travel locus formed by the probe information. The selected right turn probe information is stored in the right turn probe information storage unit 109.

The right turn waiting time calculation unit 111 calculates, as the right turn waiting time, the time required for the vehicle that has formed the selected right turn probe information to pass through the intersection from the point where it stopped before the intersection. For example, it is possible to calculate and calculate the time required from the point where the vehicle first stopped in the section from the center of the intersection to a predetermined distance before (for example, 100 meters before) to pass through the center of the intersection. The calculated right turn waiting time is stored in the right turn waiting time storage unit 113.
The comparison unit 115 compares the right turn waiting time stored in the right turn waiting time storage unit 113 with a preset upper limit time required for a right turn. The upper limit time may be a predetermined time (for example, 1 minute), or may be set according to a signal control cycle.

When the right turn waiting time exceeds the upper limit time with reference to the comparison result in the comparison unit 115, the traffic jam determination unit 117 determines that the traffic intersection is a traffic jam intersection. The determination result is stored in the traffic jam storage unit 119. The determination that the traffic congestion intersection is present may be determined when, for example, there is a vehicle whose right turn waiting time exceeds the upper limit time, or when the corresponding vehicle is equal to or greater than a predetermined threshold. It is also good. In addition, when the number of vehicles whose right turn waiting time exceeds the upper limit in the number of vehicles that have made a right turn at the target intersection is equal to or greater than a predetermined ratio, it can be determined that the intersection is a traffic jam. The information as to whether or not it is a traffic jam intersection may be set for each time zone, day of the week, month, day, season, and the like.
By providing information related to the traffic jam intersection, the first determination unit 9 can determine whether the target intersection is a traffic jam intersection with reference to the traffic jam intersection storage unit 119.

  Returning to FIG. 1, the lane setting unit 13 excludes the right turn lane and sets the lane in the approach link entering the target intersection determined by the first determination unit 9 as being congested. The lane setting unit 13 may further set the lane by excluding the left turn lane. The set lane is stored in the lane storage unit 15.

The operation of the navigation device 1 shown in FIG. 1 will be described with reference to FIG.
First, in step 1, the guide route storage unit 3 is referred to, and from the intersections on the guide route, an intersection for which straight traveling is guided by the navigation system is extracted and stored as a target intersection.

In step 3, the guidance route storage unit 3 and the target intersection storage unit 7 are referred to determine whether or not the stored target intersection is a traffic jam intersection, and the determination result is stored. For example, in step 3, the first determination unit 9 can determine the current congestion state of the link entering the target intersection by referring to the congestion information of the VICS data. In the approach link, when the VICS data of “congestion” and “congestion” is acquired, the target intersection can be determined as a traffic congestion intersection.
Here, whether or not the target intersection is a traffic jam intersection may be determined based on the current traffic congestion state of the target intersection, or may be determined based on the past traffic history at the target intersection. .

As another example, Step 3 can determine whether or not the target intersection is a traffic jam intersection based on the past traffic jam record.
The operation of the traffic jam information generating apparatus 101 shown in FIG. 2 will be described with reference to FIG.
In step 31, the right-turn probe information selection unit 107 refers to the map data storage unit 103 and the probe information storage unit 105, selects and stores the probe information that is turned right at the intersection.

In step 33, the right turn waiting time calculation unit 111 calculates the time required for the vehicle that formed the right turn probe information selected in step 31 to pass through the intersection from the point where it stopped before the intersection as the right turn waiting time. ,save.
In step 35, the right turn waiting time calculated in step 33 is compared with a preset upper limit time required for the right turn. As a result of the comparison, when the right turn waiting time exceeds the upper limit time (step 37: Yes), the process proceeds to step 39, where the intersection is determined as a traffic jam intersection and stored (step 39).
Therefore, in step 3, the first determination means 9 can determine whether or not the target intersection is a traffic jam intersection with reference to the traffic jam storage unit 119.

Returning to FIG. 3, in step 5, when it is determined that the target intersection is a traffic jam intersection based on the determination result of step 3 (step 5: Yes), the process proceeds to step 7.
In step 7, the lane setting unit 13 excludes the right turn lane from the lanes of the approach link that enters the intersection determined to be a traffic jam intersection in step 3, and sets and saves the lane. In step 7, the left lane may be excluded and the lane may be set.
It should be noted that when the straight link on the entry link exits the target intersection, it is possible to determine the traffic congestion state, and when the traffic congestion is recognized on the exit link, the above process may be canceled.

FIG. 5 shows a navigation device 41 according to an embodiment of the present invention.
The navigation device 41 includes a control unit 410, a memory unit 411, an input unit 412, an output unit 413, an interface unit 414, a vehicle position specifying unit 415, a vehicle information detection unit 416, a search unit 418, a navigation information storage unit 419, and a guide. A route storage unit 3 is provided.
The control unit 410 is a computer device that includes a CPU, a buffer memory, and other devices, and controls other elements constituting the navigation device 41.
A computer program is stored in the memory unit 411, and this computer program is read into the control unit 410, which is a computer device, and causes it to function. This computer program can be stored in a general-purpose medium such as a DVD.

The input unit 412 is used for setting a departure point and a destination, selecting a mode related to the sunshine state, and the like. As the input unit 412, a touch panel type input device that cooperates with the display content of the display can be used.
The output unit 413 includes a display, and displays map information and other information necessary for navigation. That is, the output unit 413 guides the lane stored in the lane storage unit 15. The guidance can be performed by highlighting and displaying a lane set in consideration of traffic jams. The output unit 413 can also include a voice guidance device. For example, voice guidance such as “Soon, we will enter a route change prohibition section. Please drive in the second lane from the left” can be performed.
The interface unit 414 connects the navigation device 41 to a wireless network or the like.
The own vehicle position specifying unit 415 specifies the current position of the user terminal using a GPS device or a gyro device.

The vehicle information detection unit 416 detects vehicle information indicating the traveling state of the own vehicle. As vehicle information, it is preferable to provide speed information, for example. Furthermore, the engine speed, accelerator opening, stop lamp, shift lever information, ID information for identifying the probe car, coordinate information, time information, bearing information, altitude information, longitudinal acceleration, yaw rate, ABS warning lamp, fuel consumption , A steering angle (rotation angle information of the steering wheel), a battery remaining amount, and the like may be provided.
The search unit 418 searches for a route from the designated departure point to the destination. When the vehicle user sets the destination, the navigation device operates to search for a guidance route to the destination. The searched guide route is stored in the guide route storage unit 3 described later.

The navigation information storage unit 419 includes a map information storage unit 421, a road information storage unit 423, and a lane storage unit 15.
Map information is stored in the map information storage unit 421. The map information includes information on road elements for defining map information such as links and nodes, information drawn on the map, and the like.
The road information storage unit 423 stores road information that defines the characteristics of each road element such as roads and intersections. For example, road information that defines road (link) characteristics includes road type, road width, number of lanes, travel restrictions, and others. In this case, information relating to the route change prohibition restriction is stored among the travel restrictions. Examples of the information related to the route change prohibition regulation include the distance on which the route change prohibition restriction is set, in addition to the presence or absence of the restriction.

The lane storage unit 15 stores the lanes to be guided as described above in association with the approach link.
As described above, the route searched by the search unit 418 is stored in the guide route storage unit 3. The guide route preferably stores the shape of the link and the lane information together.

FIG. 6 shows a navigation device 51 according to another embodiment. In FIG. 6, the same elements as those in FIGS. 1 and 5 are denoted by the same reference numerals, and description thereof is partially omitted.
FIG. 6 shows a navigation device 51 that can determine the timing for guiding the set lane to the driver. That is, the navigation device 51 further includes a straight intersection specifying unit 23, a second determination unit 25, a second storage unit 27, a guidance timing determination unit 29, and a lane guide unit 31 in the navigation device 41 shown in FIG. .

  The straight intersection specifying unit 23 refers to the own vehicle position specifying unit 415, the guide route storage unit 3 and the first storage unit 11 and is a traffic jam intersection connected to the link on which the host vehicle is traveling. Identify the intersection that is being done. The straight-ahead intersection may be a traffic jam intersection in which straight-ahead travel is guided, and in addition to the nearest intersection ahead of the traveling direction, the next intersection immediately before the nearest intersection can be specified.

The second determination unit 25 refers to the first storage unit 11 and the road information storage unit 423 to determine whether there is a route change prohibition restriction on the approach link to the straight intersection. The result determined by the second determination unit 25 is stored in the second storage unit 27.
The guidance timing determination unit 29 determines the timing for executing lane guidance for the driver. That is, with reference to the road information storage unit 423 and the second storage unit 27, the guide timing is determined based on the first point that enters the route change prohibition regulation placed on the approach link to the straight intersection.

The guidance timing determination unit 29 can further determine the guidance timing based on the arrival distance and / or arrival time from the current position of the vehicle to be guided to the first point or the second point. . By determining the guidance timing in this way, lane guidance can be performed at a more appropriate timing for the driver corresponding to the driving situation of the driver.
In addition, the guidance timing determination unit 29 can also determine the current congestion state on the approach link and determine the guidance timing based on the second point where the congestion enters. Furthermore, the guidance timing determination unit 29 may determine the guidance timing with reference to both the first point and the second point.
When the guidance timing determination unit 29 determines the guidance timing, the lane guide unit 31 refers to the lane stored in the lane storage unit 15 and provides guidance for changing the lane together with a preset message.

The operation of the navigation device 51 shown in FIG. 6 will be described with reference to FIG. In FIG. 7, the same steps as those in FIG. 3 are denoted by the same reference numerals, and the description thereof is partially omitted.
In step 51, the straight intersection identifying unit 23 refers to the vehicle position identifying unit 415 and the guide route storage unit 3, and identifies an intersection connected to the link on which the vehicle is traveling. Further, referring to the first storage unit 11, if the intersection identified in step 51 is a traffic jam intersection that has been guided straight ahead (step 53: Yes), the process proceeds to step 55.

In step 55, the second determination unit 25 refers to the road information storage unit 423, and determines whether or not a route change prohibition restriction is attached to the approach link to the intersection (straight-ahead intersection) identified in step 51 and step 53. Determine and save. When it is determined that there is a route change prohibition restriction on the approach link (step 55: Yes), the process proceeds to step 57.
In step 57, the guidance timing determination unit 29 calculates a distance K from the current position of the host vehicle to the start point of the route change prohibition restriction.

In step 59, the distance K calculated in step 57 is compared with the threshold distance h. As the threshold distance h, a distance (for example, 150 m) required for the vehicle driver to change the lane can be set in advance.
As a result of the comparison, when the distance K is equal to or smaller than the threshold distance h (step 59: Yes), the guidance timing determination unit 29 refers to the lane storage unit 15 and outputs a signal for performing the change guidance to the lane. It outputs to the guide part 31 (step 60).

FIG. 8 is a flowchart showing an operation when the navigation device 51 shown in FIG. 6 determines the guide timing with reference to both the first point and the second point. In FIG. 8, the same steps as those in FIGS. 3 and 7 are denoted by the same reference numerals, and the description thereof is partially omitted.
In step 61, the second determination unit 25 refers to the current traffic jam information (for example, VICS data) for the straight-ahead intersection identified in steps 51 and 53, and whether a current traffic jam occurs at the straight-ahead intersection. Determine whether or not and save. When it is determined that a traffic jam has occurred at the straight intersection (step 61: Yes), the process proceeds to step 63.
In step 63, the guidance timing determination unit 29 calculates the distance L from the current position of the host vehicle to the point where the traffic enters.

In step 65, the distance K calculated in step 57 is compared with the distance L calculated in step 63. As a result of the comparison, when the distance K is not more than the distance L (step 65: Yes), the process proceeds to step 67. In this case, it is preferable that the guidance timing is determined in consideration of a point where traffic enters a traffic jam from the starting point of the route change prohibition regulation.
In step 67, the distance L calculated in step 63 is compared with the threshold distance h.
As a result of the comparison, when the distance L is equal to or less than the threshold distance h (step 67: Yes), the guidance timing determination unit 29 refers to the lane storage unit 15 and sends a signal for performing the change guidance to the lane. It outputs to the guide part 31 (step 60).

  On the other hand, if the distance K exceeds the distance L as a result of the comparison in step 65 (step 65: No), the process proceeds to step 59. In this case, it is preferable that the guidance timing is determined in consideration of the starting point of the route change prohibition regulation from the point of entering the traffic jam.

  As mentioned above, although embodiment of this invention has been described, you may implement combining 2 or more embodiment among these. Alternatively, one of these embodiments may be partially implemented. Furthermore, among these, two or more embodiments may be partially combined.

  The present invention is not limited to the description of the embodiments and examples of the invention described above. Various modifications may be included in the present invention as long as those skilled in the art can easily conceive without departing from the description of the scope of claims.

1 41 51 Navigation device 3 Target intersection extraction unit 9 First determination means 13 Lane setting unit 23 Straight intersection identification unit 25 Second determination unit 29 Guide timing determination unit 31 Lane guide unit

Claims (16)

A guide route storage unit for storing the guide route searched by the navigation system;
Among intersections on the guidance route, a target intersection extraction unit that extracts, as a target intersection, an intersection where the navigation system guides straight traveling;
First determination means for determining whether the target intersection is a traffic jam intersection;
A lane setting unit configured to set a lane by excluding a right turn lane in an approach link entering the target intersection determined by the first determination unit as a traffic jam;
A navigation device comprising:   The navigation device according to claim 1, wherein the lane setting unit further sets a lane by excluding a left turn lane. A second determination unit that determines whether there is a route change prohibition restriction on the approach link;
A guidance timing determination unit for determining a timing for guiding the set lane based on a first point where the route change prohibition restriction starts when the second determination unit determines that there is a route change prohibition restriction;
The navigation device according to claim 1, comprising: A third determination unit that determines whether or not a traffic jam is currently occurring in the approach link;
The guidance timing determination unit determines the timing based on a point closest to the current position of the vehicle to be guided among the first point and a second point where traffic congestion occurs at present. ,
The navigation device according to claim 3.   The guidance timing determination unit further determines the timing for guidance based on an arrival distance and / or arrival time from the current position of the vehicle to be guided to the first point or the second point. The navigation device according to claim 3 or 4. Of the intersections on the guidance route searched by the navigation system, an intersection extraction step for extracting the intersection where the navigation system guides straight traveling as a target intersection;
A first determination step of determining whether the target intersection is a traffic jam intersection;
A lane setting step for setting a lane by excluding a right turn lane in an approach link entering the target intersection determined as a traffic jam in the first determination step;
A navigation method comprising:   The navigation method according to claim 6, wherein the lane setting step further sets a lane by excluding a left turn lane. A second determination step of determining whether or not there is a route change prohibition restriction on the approach link;
A guidance timing determination step for determining a timing for guiding the set lane based on a first point at which the route change prohibition restriction starts when the second determination step determines that there is a course change prohibition restriction;
The navigation method according to claim 6 or 7, further comprising: A third determination step for determining whether or not traffic congestion is currently occurring in the approach link;
In the guidance timing determination step, the timing is determined based on a point closer to the current position of the vehicle to be guided among the first point and the second point where traffic congestion is present. ,
The navigation method according to claim 8.   The guidance timing determination step further determines the guidance timing based on the arrival distance and / or arrival time from the current position of the vehicle to be guided to the first point or the second point. The navigation method according to claim 8 or 9. A computer program for navigating a computer,
Among intersections on the guidance route searched by the navigation system, target intersection extraction means for extracting, as a target intersection, an intersection where the navigation system guides straight traveling;
First determination means for determining whether the target intersection is a traffic jam intersection;
Lane setting means for setting a lane by excluding a right turn lane in an approach link entering the target intersection determined by the first determination means as a traffic jam;
As a computer program.   The computer program according to claim 11, wherein the lane setting unit further sets a lane by excluding a left turn lane. Said computer further
Second determination means for determining whether there is a route change prohibition restriction on the approach link;
Guidance timing determining means for determining a timing for guiding the set lane based on a first point where the path change prohibition restriction starts when the second determination means determines that there is a course change prohibition restriction;
The computer program according to claim 11 or 12, which is caused to function as: Said computer further
Functioning as third determination means for determining whether or not a traffic jam is currently occurring in the approach link;
The guidance timing determination means determines the timing based on a point closer to the current position of the vehicle to be guided among the first point and a second point where traffic jams currently occur. ,
The computer program according to claim 13.   The guidance timing determination means further determines the timing for guidance based on a distance and / or arrival time from the current position of the vehicle to be guided to the first point or the second point. The computer program according to claim 13 or 14.   The recording medium which records the computer program in any one of Claims 11-15.

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