JP2013029381A - Traveling guide system, traveling guide device, traveling guide method, and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling guide system, a traveling guide device, a traveling guide method, and a computer program capable of preventing such a situation as issuing no guide speech although the guide speech can be issued and allowing a user to perform an appropriate preparation operation at a guide branch point.SOLUTION: The traveling guide system is configured to: set a guide end point of a guide performed at a part before the departure-side branch point out of guides of a guide branch point, to points B and D that are present at the guide branch point side with respect to the point where the guide is started and at the parts short of a first predetermined distance of a forward departure-side branch point; and set a guide end point of a guide performed at a place before the guide branch point, to a point F that is present at the guide branch point side with respect to the point where the guide is started and at the place short of a second predetermined distance of the forward guide branch point, the second predetermined distance being longer than the first predetermined distance.

Description

  The present invention relates to a movement guidance system, a movement guidance device, a movement guidance method, and a computer program that guide the movement of a moving body based on a guidance route.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, such a navigation device has a route search function for searching for an optimum route from the departure place to the destination when a desired destination is input. The guidance route set based on the search result is displayed on the display screen, and when approaching a branch point (hereinafter referred to as a guidance branch point) for guidance such as turning left or right, a voice or display screen is displayed. By performing the guidance used, the user is surely guided to a desired destination. In recent years, some cellular phones, PDAs (Personal Digital Assistants), personal computers, and the like have functions similar to those of the navigation device. Furthermore, it is also possible to perform the above guidance for pedestrians and two-wheeled vehicles as well as vehicles.

  Here, when performing guidance such as turning left or right at the guidance branch point, it is necessary for the user to accurately identify the guidance branch point. For this purpose, it is important to set the timing for starting guidance and the timing for ending guidance to appropriate timings. Therefore, for example, in Japanese Patent Application Laid-Open No. 2002-156242, when guidance of a guidance branch point is performed by voice guidance using the number of traffic lights, before passing the next branch point with a traffic signal with respect to the own vehicle position. When the voice guidance output ends, voice guidance using the number of traffic lights is performed, and when the voice guidance output does not end before passing the branch point with the next traffic light with respect to the vehicle position, It describes a technology that is configured not to perform voice guidance.

JP 2002-156242 A (pages 4 to 6, FIG. 3)

  Here, in the technique described in Patent Document 1, regardless of whether the branch point with the next traffic light with respect to the own vehicle position is a branch point to be passed to the vehicle or a branch point to be turned left or right, The point where the guidance utterance needs to be terminated was set based on the same standard. However, for example, if the next branching point with a traffic light with respect to the vehicle position is a branching point for the vehicle to turn left or right, a preparatory operation for turning right or left (for example, deceleration, turn signal indicator) Lighting, lane change, etc.), it is desirable that the utterance of the guidance be finished as soon as possible. On the other hand, if the next branch point with a traffic light is the target branch point for the vehicle, there is no need to perform a preparation operation for turning left or right. It is desirable to set a point that needs to be terminated as close as possible to the guidance branch point side so that guidance is easily performed.

  Therefore, with the technique described in Patent Document 1, guidance utterance may not be performed despite the guidance utterance being performed, or the user may not be able to perform appropriate vehicle operation at the guidance branch point. there were.

  The present invention has been made to solve the above-described conventional problems, and can prevent a situation in which guidance is not spoken despite the fact that guidance can be spoken. It is an object of the present invention to provide a movement guide system, a movement guide apparatus, a movement guide method, and a computer program that make it possible to perform various preparation operations.

In order to achieve the above object, a travel guidance system (1) according to claim 1 of the present application comprises a guide route setting means for setting a guide route for guiding the movement of a moving body and a guidance branch point (61) on the guide route. 13), a front branch point acquisition means (13) for acquiring the position of the front branch point (62, 64, 67) existing on the departure side of the guide route from the guide branch point, and the front branch point A first branch point guide means (13) that performs speech at the timing when the moving body is located on the departure side of the guide route and performs a first branch point guide that is a guide of the guide branch point, and the front branch A second branch which is a guide for the guidance branch point when the moving body is positioned at the destination side of the guidance route from the point and at the departure side of the guidance route from the guidance branch point. Second branch point guidance means for performing point guidance 13) and guidance end point setting means (13) for setting a guidance end point, which is a point where the utterance of the guidance needs to be terminated, with respect to the first branch point guidance and the second branch point guidance, And the guidance end point setting means has a guidance end point of the first branch point guidance closer to the guidance branch point than a point where guidance by the first branch point guidance means is started, It is set at a point that is a first predetermined distance before the previous branch point, and the guidance end point of the second branch point guidance is closer to the guidance branch point than the point where the guidance by the second branch point guidance unit is started. And it sets to the point before the 2nd predetermined distance longer than the said 1st predetermined distance with respect to the said guidance branch point, It is characterized by the above-mentioned.
The “moving body” includes a pedestrian and a two-wheeled vehicle in addition to the vehicle.
In addition, the “guidance branch point” corresponds to a branch point that is a target for performing guidance such as a right / left turn instruction when performing guidance of movement of the moving object according to the guidance route.

  A travel guidance system (1) according to claim 2 is the travel guidance system according to claim 1, wherein stop lines (65, 68, 71) are arranged at the guidance branch point and the front branch point. The guide end point setting means (13) defines the guide end point by a relative position with respect to the stop line.

The movement guidance system (1) according to claim 3 is the movement guidance system according to claim 1 or 2, wherein the first branch point guide means (13) Uttering at the timing when the vehicle passes the exit-side traffic signal at the branch point adjacent to the departure point side of the guide route, and the second branch point guide means (13) provides the guidance to the guide branch point. It is characterized in that an utterance is performed at a timing when the vehicle passes through a leaving signal at a branching point adjacent to the departure point side of the route.
Note that “the vehicle has passed the exit signal” means that the vehicle has passed the point where the exit signal is installed, or the exit signal is switched from a state where the occupant can visually recognize the exit side signal. It may be a case where the vehicle passes a point (for example, a point a predetermined distance before the exit-side signal).

  A travel guidance system (1) according to claim 4 is the travel guidance system according to any one of claims 1 to 3, wherein the first branch point guide and the second branch point guide are: A first phrase for specifying the guidance branch point (61) and a second phrase for specifying a moving direction of the moving body at the guidance branch point are included.

  Further, the movement guidance system (1) according to claim 5 is the movement guidance system according to claim 4, wherein the first phrase is located between the moving body and the guidance branch point (61). It is the phrase which specifies the said guidance branch point using the number of the traffic signal (63, 66, 69) or branch point to perform.

  According to a sixth aspect of the present invention, there is provided a travel guide device (1) comprising a guide route for guiding movement of a moving body, a guide route setting means (13) for setting a guide branch point (61) on the guide route, and the guide A front branch point acquisition means (13) for acquiring a position of a front branch point (62, 64, 67) existing on the departure side of the guide route from the branch point, and a departure point of the guide route from the front branch point Utterance is performed at the timing when the moving body is located on the side, and a first branch point guide means (13) for performing a first branch point guide that is a guide of the guide branch point; A second utterance is performed in which a utterance is made at a timing when the moving body is located on the destination side and on the departure side of the guidance route from the guidance branch point, and the second branch point guidance is performed to guide the guidance branch point. Branch point guide means (13) and the first branch point Guidance end point setting means (13) for setting a guidance end point, which is a point where the utterance of the guidance needs to be ended, for the inside and the second branch point guidance, and the guidance end point setting The means has a first predetermined point with respect to the preceding branch point, the guide end point of the first branch point guide being closer to the guide branch point than the point where the guidance by the first branch point guide unit is started. A point before the distance is set, and the guidance end point of the second branch point guidance is closer to the guidance branch point than the point where the guidance by the second branch point guidance unit is started, On the other hand, it is set to a point before a second predetermined distance longer than the first predetermined distance.

  According to a seventh aspect of the present invention, there is provided a movement guidance method comprising: a guidance route for guiding movement of a moving body; a guidance route setting step for setting a guidance branch point (61) on the guidance route; A front branch point acquisition step for acquiring the position of the front branch point (62, 64, 67) existing on the departure point side of the route, and a timing at which the moving body is located on the departure point side of the guide route from the previous branch point A first branch point guide step for performing a first branch point guide that is a guide for the guide branch point, a destination side of the guide route from the front branch point, and from the guide branch point A second branch point guide step for performing a second branch point guide, which is a guide of the guide branch point, when an utterance is performed at the timing when the moving body is located on the departure side of the guide route, and the first branch point guide And the second branch point A guidance end point setting step for setting a guidance end point, which is a point where it is necessary to end the utterance of guidance, respectively, and the guidance end point setting step includes: A guidance end point is set at a point closer to the guidance branch point than the point at which guidance by the first branch point guidance means is started, and a point a first predetermined distance before the previous branch point, and The guidance end point of the two branch point guidance is closer to the guidance branch point than the point where the guidance by the second branch point guidance unit is started, and is longer than the first predetermined distance with respect to the guidance branch point. 2 It is characterized in that it is set at a point before a predetermined distance.

  Further, a computer program according to an eighth aspect is mounted on a computer, and a guide route setting function for setting a guide route for guiding movement of a moving body, a guide branch point (61) on the guide route, and the guide branch point. The front branch point acquisition function for acquiring the position of the front branch point (62, 64, 67) existing on the departure point side of the guide route, and the moving body from the near branch point to the departure point side of the guide route A first branch point guidance function for performing first branch point guidance, which is guidance for the guidance branch point, and at the destination side of the guide route from the near branch point, and A second branch point guidance function for performing a second branch point guidance, which is a guidance of the guide branch point, at the timing when the mobile body is positioned on the departure side of the guide route from the guidance branch point; 1 branch point guidance And a guidance end point setting function for setting a guidance end point, which is a point where the guidance utterance needs to be terminated, with respect to the second branch point guidance, The setting function is such that the guidance end point of the first branch point guidance is closer to the guidance branch point than the point where the guidance by the first branch point guidance unit is started, and is first with respect to the preceding branch point. Set at a point before a predetermined distance, and the guidance end point of the second branch point guidance is closer to the guidance branch point than the point where the guidance by the second branch point guidance means is started, and the guidance branch point Is set at a point before a second predetermined distance longer than the first predetermined distance.

  According to the movement guidance system according to claim 1 having the above-described configuration, the guidance utterance can be performed by loosening the condition of the end timing of the guidance utterance performed before the branch point to be passed. Nevertheless, it is possible to prevent a situation in which guidance is not spoken. On the other hand, by making the conditions for the end time of the guidance utterance performed before the branch point to be guided, such as turning left and right, the utterance of the guidance can be ended as soon as possible, and the user at the guidance branch point Can be made to perform an appropriate preparation operation.

  Further, according to the movement guidance system according to claim 2, since the guidance end point where the utterance of the guidance needs to be terminated is defined by the relative position of the stop line, the position of the moving body with respect to a mark such as a branch point or a traffic light This makes it possible to set the guidance end point to an appropriate position.

  Further, according to the movement guidance system according to the third aspect, since the guidance utterance of the guidance branch point is started at the timing when the vehicle passes the exit side traffic light, the user's visual state with respect to the landmarks such as the branch point and the traffic light is taken into consideration. Thus, it is possible to provide guidance that does not contradict the guidance content and the actual user's field of view. Therefore, it is possible to make the user specify the guidance branch point accurately.

  Moreover, according to the movement guidance system of Claim 4, since guidance which each includes the 1st phrase which specifies a guidance branch point, and the 2nd phrase which specifies the moving direction of the mobile body in a guidance branch point is performed, It becomes possible for the user to appropriately grasp the moving direction of the moving body at the guidance branch point and the guidance branch point.

  Further, according to the movement guidance system of the fifth aspect, since the guidance including the phrase for specifying the guidance branch point is performed using the traffic signal or the number of the branch points located between the vehicle and the guidance branch point, Even if the route is simple, the user can easily and accurately grasp the position of the guidance branch point.

  Further, according to the movement guide device of the sixth aspect, the guidance utterance can be performed by loosening the condition of the end timing of the guidance utterance performed before the branch point to be passed. Regardless of this, it is possible to prevent a situation in which guidance is not spoken. On the other hand, by making the conditions for the end time of the guidance utterance performed before the branch point to be guided, such as turning left and right, the utterance of the guidance can be ended as soon as possible, and the user at the guidance branch point Can be made to perform an appropriate preparation operation.

  Further, according to the movement guidance method of the seventh aspect, the guidance utterance can be performed by loosening the condition of the termination timing of the guidance utterance performed before the branch point to be passed. Regardless of this, it is possible to prevent a situation in which guidance is not spoken. On the other hand, by making the conditions for the end time of the guidance utterance performed before the branch point to be guided, such as turning left and right, the utterance of the guidance can be ended as soon as possible, and the user at the guidance branch point Can be made to perform an appropriate preparation operation.

  Furthermore, according to the computer program of the eighth aspect, although the guidance utterance can be uttered by loosening the condition of the end time of the guidance utterance performed before the branch point to be passed. Therefore, it is possible to prevent the situation where guidance is not spoken. On the other hand, by making the conditions for the end time of the guidance utterance performed before the branch point to be guided, such as turning left and right, the utterance of the guidance can be ended as soon as possible, and the user at the guidance branch point Can be made to perform an appropriate preparation operation.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the traffic signal and stop line which are arrange | positioned at a branch point. It is the figure which showed an example of the guidance phrase condition table. It is a figure explaining the guidance start area and guidance end area prescribed | regulated by the guidance phrase condition table. It is a flowchart of a branch point guidance processing program according to the present embodiment. It is a flowchart of the sub process program of the guidance implementation determination process which concerns on this embodiment. It is the figure explaining the determination method of the sub process program of guidance implementation determination processing.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a movement guide system and a movement guide apparatus according to the present invention will be described in detail with reference to the drawings based on an embodiment in which the navigation apparatus is embodied. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, A navigation ECU 13 that performs various arithmetic processes based on the input information, an operation unit 14 that receives operations from the user, and a liquid crystal display 15 that displays a map around the vehicle and facility information related to the facility to the user. Communicating between a speaker 16 that outputs voice guidance regarding route guidance, a DVD drive 17 that reads a DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center And a communication module 18 for performing.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all of the above five types of sensors, and the navigation device 1 may include only one or more of these types of sensors.

  Further, the data recording unit 12 reads out a hard disk (not shown) as an external storage device and a recording medium, a map information DB 31 recorded on the hard disk, a guidance phrase condition table 32, a predetermined program, and the like, and stores a predetermined program on the hard disk. And a recording head (not shown) which is a driver for writing data. The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk.

  Here, the map information DB 31 includes, for example, link data 33 related to roads (links), node data 34 related to node points, branch point data 35 related to each branch point, and among features formed on the road surface, particularly stop lines. Storage means for storing feature data 36 relating to road markings, point data relating to points such as facilities, map display data for displaying maps, search data for searching for routes, search data for searching for points, and the like It is.

  Here, the link data 33 includes, for example, a link ID for identifying the link, end node information for identifying a node located at the end of the link, the road type of the road constituting the link, the number of lanes, and the like. Remembered. The node data 34 stores a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected via a link, and the like. Further, as the branch point data 35, relevant node information for specifying a node forming the branch point (intersection), connection link information for specifying a link connected to the branch point (hereinafter referred to as a connection link), a branch point The traffic signal information 37 and the like related to the traffic signals installed around is stored.

  Further, as the traffic signal information 37, the traffic signal installed in the vicinity of each branch point (intersection) in the country is the direction in which the traffic signal is installed (that is, the direction in which the traffic light is facing, hereinafter referred to as the installation direction). ), The number of lamps (three-lamp type, one-lamp type, etc.), the position coordinates where the traffic light is installed (hereinafter referred to as installation coordinates), and the like are stored. Furthermore, when a plurality of traffic lights are installed at one branch point, the installation direction, installation coordinates, etc. are stored for each of the traffic lights. For example, as shown in FIG. 2, eight traffic lights 52 to 59 are installed at a branching point 51 where two one-lane roads intersect. Accordingly, as the traffic signal information 37 of the branch point 51, the installation direction, installation coordinates, and the like of the traffic signals 52 to 59 are stored.

  As the traffic signal information 37, for each exit direction from the branch point, the traffic signal on the most exit side (that is, the traffic signal that can be visually recognized at the end of the branch when the vehicle passes through the branch point, hereinafter, exit) It is good also as a structure which memorize | stores only the information regarding a side signal apparatus. For example, at the branch point 51 shown in FIG. 2, information on the traffic signal 53 that is the exit side traffic signal is stored for the exit direction from the bottom to the top of the diagram, and the exit side is displayed for the exit direction from the top to the bottom of the diagram. Stores information on the traffic light 55 that is a traffic light, stores information on the traffic light 57 that is a traffic light on the exit side with respect to the exit direction from the left to the right in the figure, and exits on the exit direction from the right to the left in the figure. Information on the traffic signal 59 that is a traffic signal is stored. That is, it is good also as a structure which memorize | stores only the installation direction and installation coordinate of the traffic lights 53, 55, 57, 59 among the 8 traffic lights 52-59. In addition, for each approach direction from a branch point, as a configuration for storing only information related to a traffic light that is closest to the entry side (that is, the departure side) (that is, a traffic light that can be visually recognized by the vehicle first, hereinafter referred to as an entry side traffic signal). Also good.

  On the other hand, the feature data 36 stores information related to the road marking of the stop line among the features formed on the road surface. Specifically, the identification ID, the coordinate data for specifying the position of the stop line on the map, and the branch point ID for identifying the branch point where the stop line is installed are stored. For example, as shown in FIG. 2, stop lines 80 to 83 are installed at four points at a branch point 51 where two lanes on one side intersect. Therefore, as the feature data 36, various information regarding the stop lines 80 to 83 is stored.

  And navigation ECU13 is based on each data memorize | stored in map information DB31 as mentioned later, and the branch existing in the departure place side of a guidance route from this guidance branch point ahead of the advancing direction of a vehicle. A point (hereinafter referred to as a front branch point) is specified. Further, the traffic signal information 37 of the traffic lights around the guidance branch point and the front branch point and the feature data 36 of the stop line are acquired, and the guidance start section and the guidance end section are set. The guidance branch point is a branch point to which guidance such as a right / left turn instruction is given when the navigation device 1 performs traveling guidance according to the guidance route set in the navigation device 1.

The guidance phrase condition table 32 needs to start guidance utterance and the time required to output the guidance utterance together with the content of the spoken phrase for guidance for guiding the guidance branch point. A guidance start section that is a section (that is, a section where guidance needs to be started while the vehicle is located in that section), or a section that needs to end guidance utterance (that is, while the vehicle is positioned in that section) The end point of the guidance end section is the guidance end point that is the point where the utterance of the guidance needs to end) It is a stored table.
In the navigation device 1 according to the present embodiment, the guidance start section and the guidance end section are the relative positions of the vehicle with respect to the guidance branch point and the front branch point (more specifically, the guidance branch point and the front branch, as will be described later). The relative position of the vehicle with respect to a traffic light or a stop line arranged at a point).

  Hereinafter, the guidance phrase condition table 32 will be described in more detail with specific examples. FIG. 3 shows an example of the guidance phrase condition table 32. FIG. 4 is a diagram for explaining the guidance start section and the guidance end section defined in the guidance phrase condition table 32 shown in FIG. Note that the guidance shown in FIG. 3 shows guidance that is output when guidance for turning left and right at a guidance branch point is performed using a branch point where a traffic light is installed, among guidances performed at a guidance branch point. Each guide has a first phrase (phrase) for specifying a guide branch point using the number of traffic lights or branch points (particularly branch points with a traffic light in this embodiment) located between the vehicle and the guide branch point. And a phrase including a second phrase that specifies the moving direction of the vehicle at the guidance branch point. In the following description of the embodiment, the guide branch point and the front branch point are both branch points where a traffic light is installed, and the branch on the one side before the guide branch point (the departure side along the guide route). The point is referred to as the first front branch point, the branch point on the further one side of the first front branch point (the departure side along the guide route) is referred to as the second front branch point, and further to the second front branch point. A branch point on the front side (the departure side along the guide route) will be referred to as a third front branch point.

For example, when guiding “the third signal is in the left (right) direction”, the user can count traffic lights at three branch points before entering the guidance branch point. , It is necessary to start and end the guidance utterance (that is, start the voice guidance output and end the output). Therefore, as shown in FIG. 3, for the guidance that “the third signal is in the left (right) direction”, the guidance start section is “5 m before the exit signal at the third branch point before” “No. Section until the stop line at the second branch point (that is, after the traffic light located at the third branch point before the approach side traffic light at the guide branch point disappears from the user's view, , A section until a traffic light located at the branch point two before is visually recognized) is associated. In addition, a section similar to the guidance start section is associated as the guidance end section. Specifically, referring to FIG. 4, the guidance start section and the guidance end section are from a point A 5 m before the exit side traffic signal 63 at the third front branch point 62 that is three front from the guide branch point 61. This is a section to the point B where the stop line 65 of the second front branch point 64 on the second front side with respect to the guide branch point 61 is located. As a result, the user who has received the guidance counts the branch points where the three traffic lights, the second front branch point 64, the first front branch point 67, and the guide branch point 61, are installed before entering the guidance branch point 61. It becomes possible to clearly specify that the “third signal” in the guidance sentence is the traffic signal 70 installed at the guidance branch point 61. Furthermore, since the end point B of the guidance end section to the front branching point 64 is set to a short interval (around 5 to 10 m) (that is, the guidance end section is set to be long), a guidance execution determination process described later (FIG. 6). ), It is possible to make the guidance speech as much as possible.
The number of traffic lights in the guidance phrase is preferably the number of traffic lights in the branch point unit. That is, when a plurality of traffic signals are provided at the same branch point on a large road or the like, it is desirable that the plurality of traffic signals be counted as one traffic signal. In that case, the number of traffic lights in the guidance phrase corresponds to the number of branch points where traffic lights are installed (that is, traffic signal intersections). However, even when counting is performed in units of branch points, it is desirable to count the number of traffic lights (for example, push button type traffic lights) installed outside the branch point. The same applies to the following description.

  In addition, when performing the guidance that “the second signal is in the left (right) direction”, the user can count traffic lights at two branch points before entering the guidance branch point. , It is necessary to start and end the guidance utterance (that is, start the voice guidance output and end the output). Therefore, as shown in FIG. 3, for the guidance that “the second signal is in the left (right) direction”, the guidance start section starts from “5 m before the exit side traffic light at the second front branch point” from “ Section until the “stop line at the first branch point” (that is, after the traffic light located at the second branch point before the approach side traffic light at the guidance branch point disappears from the user's field of view, , A section until a traffic light located at the immediately preceding branch point can be visually recognized) is associated. In addition, a section similar to the guidance start section is associated as the guidance end section. Specifically, with reference to FIG. 4, the guidance start section and the guidance end section are from a point C 5 m before the exit side traffic light 66 of the second front branch point 64 that is two ahead of the guide branch point 61. This is a section from the guide branch point 61 to the point D where the stop line 68 of the first front branch point 67 on the near side is one. As a result, the user who has received the guidance can count the branch points where the two traffic lights, the first front branch point 67 and the guide branch point 61, are installed before entering the guidance branch point 61. It becomes possible to clearly specify that the “second signal” in the sentence is the traffic light 70 installed at the guidance branch point 61. Furthermore, since the end point B of the guidance end section to the front branching point 64 is set to a short interval (around 5 to 10 m) (that is, the guidance end section is set to be long), a guidance execution determination process described later (FIG. 6). ), It is possible to make the guidance speech as much as possible.

  In addition, when performing the guidance that “the next signal is in the left (right) direction”, the guidance is made while the user can count the traffic lights at one branch point before entering the guidance branch point. Needs to be started and ended (ie, voice guidance output is started and output is ended). Therefore, as shown in FIG. 3, for guidance that “the next signal is in the left (right) direction”, “Guide branch point from“ 5 m before the exit signal at the first branch point ”as the guidance start section. Section 30 meters before the stop line (that is, the traffic light located at the first branch point with respect to the traffic light on the approach side of the guidance branch point disappears from the user's field of view. Sections until they can be visually recognized) are associated with each other. In addition, a section similar to the guidance start section is associated as the guidance end section. Specifically, referring to FIG. 4, the guidance start section and the guidance end section are from a point E 5 m before the exit side traffic light 69 of the first front branch point 67 that is one front side with respect to the guidance branch point 61. This is a section from the stop line 71 of the guidance branch point 61 to a point F 30 m ahead. As a result, the user who has received the guidance can count only the guidance branch point 61 where the traffic light is installed before entering the guidance branch point 61, and the “next signal” in the guidance sentence is the guidance branch point 61. It is possible to clearly identify the traffic signal 70 installed in Furthermore, since a relatively long interval (30 m or more) is provided from the end point F of the guidance end section to the guidance branch point 61, the user can make a right / left turn preparation operation (eg , Deceleration, lighting of direction indicator, lane change, etc.).

The guidance phrase condition table 32 stores other guidance in the same manner. In addition to the left (right) direction, there are a right (left) diagonal direction, a right (left) front direction, and the like as the guidance direction of the guidance branch point. Further, the time required for outputting the guidance varies depending on the guidance direction. Each numerical value (5 m, 30 m, etc.) specifying the start end or the end of the guidance start section and the guidance end section can be changed as appropriate. In addition, the end point of the guidance end section of the guidance of “the third signal is in the left (right) direction” and “the second signal is in the left (right) direction” is the stop line at the front branch point ahead However, any other point may be used as the end point of the guidance end section as long as it is closer to the front branch point. For example, it may be 5 m before the stop line at the front branch point or the traffic light on the approach side. However, it is necessary to provide at the guidance branch point side from the start point of the guidance start point where guidance is started. Similarly, the end point of the guidance end section of the guidance “the next signal is in the left (right) direction” can be arbitrarily set. However, the distance (second predetermined distance) from the end point of the guidance end section to the guidance branch point ahead is the distance from the end point of the guidance end section of other guidance to be performed in advance to the front branch point (first number). 1 predetermined distance). Further, the guidance start section and the guidance end section may be defined using an approach side traffic signal instead of the stop line.
Then, as will be described later, the navigation ECU 13 determines whether the vehicle is located in the guidance start section based on the shape of the guidance route, the traffic light installed on the guidance route, the position information of the branch point, the guidance phrase condition table 32, or the like. When the guidance output at the guidance branch point is started, it is determined whether or not the guidance output can be terminated while the vehicle is positioned in the guidance end section. Further, when a plurality of guidance start sections and guidance end sections are set for each guidance, determination is made for each section (three sections A to B, C to D, and E to F in the example shown in FIG. 4). The guidance is output only in the section determined to be able to end.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. In addition to the RAM 42 that stores route data when a route is searched, a control program, a ROM 43 that stores a branch point guidance processing program (see FIGS. 5 and 6) described later, and the like. An internal storage device such as a flash memory 44 for storing a program read from the ROM 43 is provided. The navigation ECU 13 constitutes various means as processing algorithms. For example, the guidance route setting means sets a guidance route and a guidance branch point from a departure point (for example, the current position of the vehicle) that guides the movement of the vehicle (moving body) to the destination. The front branch point acquisition means acquires the position of the front branch point existing on the departure side of the guide route from the guide branch point. The first branch point guide means utters at the timing when the vehicle is located on the departure point side of the guide route from the previous branch point, and performs the first branch point guidance that is a guide for the guide branch point. The second branch point guidance means is uttered when the vehicle is located on the destination side of the guide route from the front branch point and on the departure side of the guide route from the guide branch point. A certain second branch point guidance is performed. The guidance end point setting means sets a guidance end point which is a point where the guidance utterance needs to be terminated for the first branch point guidance and the second branch point guidance. The stop line information acquisition means acquires position information of stop lines arranged at the guidance branch point and the front branch point.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. In particular, in the present embodiment, when the guidance branch point approaches within a predetermined distance (for example, 300 m) ahead of the traveling direction of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. In particular, in the present embodiment, when the guidance branch point is ahead of the traveling direction of the vehicle, a voice guidance indicating that the predetermined guidance start timing based on the guidance content (for example, “the second signal is to the left”) When outputting, the voice guidance of the guidance branch point is output at the timing when the vehicle reaches 5 m before (see FIG. 3) from the exit side traffic light of the second front branch point.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like.

  The communication module 18 is a communication device for receiving traffic information composed of information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center, for example, a VICS center or a probe center. For example, a mobile phone or DCM is applicable.

  Next, a branch point guidance processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 5 is a flowchart of the branch point guidance processing program according to this embodiment. Here, the branch point guidance processing program is a program that is repeatedly executed at a predetermined interval (for example, every detection cycle of the current position of the vehicle) after the vehicle ACC is turned on, and guides the guidance branch point on the guidance route. . The programs shown in the flowcharts of FIGS. 5 and 6 below are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the branch point guidance processing program, the CPU 41 determines whether route guidance based on the guidance route set in the navigation device 1 is being performed. Here, the guidance route is a recommended route from the departure point (for example, the current position of the host vehicle) to the destination selected by the user, and is set based on the result of the route search process. Further, the route search process is performed by a known Dijkstra method or the like using link data 33, node data 34, traffic information acquired from the VICS center, etc. stored in the map information DB 31.

  And when it determines with the route guidance based on the guidance route set in the navigation apparatus 1 being performed (S1: YES), it transfers to S2. On the other hand, when it is determined that route guidance based on the guidance route set in the navigation device 1 is not performed (S1: NO), the branch point guidance processing program is terminated.

  In S <b> 2, the CPU 41 acquires the current position of the vehicle based on the detection result of the current position detection unit 11. A map matching process for specifying the current position of the vehicle on the map data is also performed. Furthermore, it is desirable to specify the current position of the vehicle in detail using high-precision location technology. Here, the high-accuracy location technology detects the white line and road surface paint information captured from the camera behind the vehicle by image recognition, and further compares the white line and road surface paint information with a previously stored map information DB, thereby driving the vehicle. This is a technology that makes it possible to detect lanes and highly accurate vehicle positions. The details of the high-accuracy location technology are already known and will be omitted.

  Next, in S <b> 3, the CPU 41 obtains a guidance route (including a guidance branch point in the guidance route) set in the navigation device 1.

  Subsequently, in S4, the CPU 41 determines a guidance branch point within a predetermined distance (for example, within 1.47 km) ahead of the traveling direction of the vehicle based on the current position of the vehicle acquired in S2 and the guidance route acquired in S3. It is determined whether or not there is. Note that the guidance branch point is a branch point to which guidance such as a right / left turn instruction is given when the navigation device 1 guides traveling according to the guidance route set in the navigation device 1 as described above.

  If it is determined that there is a guidance branch point within a predetermined distance ahead of the traveling direction of the vehicle (S4: YES), the process proceeds to S5. On the other hand, when it is determined that there is no guidance branch point within a predetermined distance ahead of the traveling direction of the vehicle (S4: NO), the branch point guidance processing program is terminated.

  In S5, the CPU 41 determines whether or not guidance for a guidance branch point in front of the vehicle traveling direction has already been performed. In S5, it is determined whether or not voice guidance for instructing a right or left turn or the like at the guidance branch point among the guidance for the guidance branch point has been performed.

  And when it determines with guidance with respect to the guidance branch point ahead of the advancing direction of a vehicle having already been performed (S5: YES), the said branch point guidance process program is complete | finished. On the other hand, when it is determined that the guidance for the guidance branch point ahead of the traveling direction of the vehicle is not performed (S5: NO), the process proceeds to S6.

  In S <b> 6, the CPU 41 determines whether or not guidance for the guidance branch point ahead in the traveling direction of the vehicle has already been determined for guidance in guidance execution determination processing (S <b> 7) described later.

  And when it determines with guidance implementation determination of the guidance implementation determination process (S7) with respect to the guidance branch point ahead of the advancing direction of a vehicle having already been performed (S6: YES), it transfers to S8. On the other hand, when it is determined that the guidance execution determination of the guidance execution determination process (S7) for the guidance branch point ahead of the traveling direction of the vehicle has not been performed (S6: NO), the process proceeds to S7. To do.

  In S7, the CPU 41 executes a guidance execution determination process (FIG. 6) described later. Note that the guidance execution determination process outputs the guidance while the vehicle is located in the guidance end section when the guidance branch point guidance output is started for the vehicle located in the guidance start section as described later. This is a process for determining whether or not the process can be terminated. When a plurality of guidance start sections and guidance end sections are set for each guide, the determination is made for each section (three sections A to B, C to D, and E to F in the example shown in FIG. 4).

  Next, in S8, the CPU 41 can perform the guidance execution determination process in S7 (that is, when the guidance branch point guidance output is started for the vehicle located in the guidance start section, the vehicle is in the guidance end section. It is determined whether or not the vehicle is located in the guidance start section set for the guidance determined to be capable of terminating the output of the guidance while being positioned.

  When it is determined that the vehicle is located in the guidance start section set to the guidance determined to be executable in the guidance execution determination process of S7 (S8: YES), the process proceeds to S9. On the other hand, when it is determined that the vehicle is not located in the guidance start section set in the guidance determined to be executable in the guidance execution determination process of S7 (S8: NO), the branch point guidance processing program Exit.

In S10, the CPU 41 provides guidance for the guidance branch point corresponding to the guidance start section reached by the vehicle. Specifically, guidance for identifying the guidance branch point and guidance for identifying the exit direction of the vehicle at the guidance branch point (that is, guidance for identifying the exit road from which the vehicle exits the guidance branch point) are performed. For example, it is determined that the guidance “the second signal is in the left (right) direction” can be implemented in the guidance execution determination process in S7, and then reaches 5m before the exit side traffic light at the second branch point. In this case, the phrase “the second signal is in the left (right) direction” is output from the speaker 16. Further, when the guidance branch point approaches within a predetermined distance (for example, 300 m) of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed on the liquid crystal display 15. Further, once guidance at the guidance branch point is performed, guidance at the guidance branch point is not performed again while the vehicle is located in the same guidance start section.
As a result, it becomes possible for the user to accurately specify the guidance branch point and the road from which the vehicle exits from the guidance branch point.

  Normally, the time when the vehicle arrives at the start point of the guidance start zone, particularly the guidance start zone, is set as the timing for starting the guidance output. Specifically, the vehicle is “5m before the exit signal at the third branch point” or “5m before the exit signal at the second branch point” or “from the exit signal at the first branch point”. Further, it is determined that it is time to start outputting the guidance when reaching “5 m before”. However, if the guidance output ends while the vehicle is located in the guidance end section, the guidance output is based on the time when the vehicle reaches a point other than the start point (for example, the end point or the intermediate point) in the guidance start section. It is also possible to start the process. For example, taking into account the detection error of the current position of the vehicle, the time when the vehicle reaches the point moved from the start point of the guidance start section to the end point by the distance of the maximum possible detection error (for example, 30 m) is output as guidance. It is also possible to start the process. Also, if the previous guidance is not finished when the vehicle arrives at the start point of the guidance start section, such as when the distance between the front branch points is short or when the guidance branch points are continuous, the previous guidance ends. The time after this is set as the timing for starting the output of guidance.

  Next, the sub-process of the guidance execution determination process executed in S7 will be described with reference to FIG. FIG. 6 is a flowchart of a sub-processing program for guidance execution determination processing.

  First, in S11, the CPU 41 guides a guidance branch point ahead in the traveling direction of the vehicle based on the data such as the branch point data 35, the feature data 36, and the traffic signal information 37 stored in the map information DB 31. Set the start section and guidance end section. The guidance start section and guidance end section that are set are stored in advance in the guidance phrase condition table 32 (FIG. 3).

  Next, in S12, the CPU 41 guides from the start point of the guidance start section set in S11 based on the link data 33, node data 34, branch point data 35, feature data 36, etc. stored in the map information DB 31. A distance X to the end point of the end section is calculated. In addition, as shown in FIG. 3, there are three types of guidance (“the third signal is in the left (right) direction”), “second signal” Left (right) ”,“ Next signal is left (right) ”). In S12, the distance X is calculated for each guidance.

In the following, a method for calculating the distance X will be described with reference to FIG. 7, taking as an example a guidance phrase “the next signal is in the left (right) direction” in the guidance at the guidance branch point.
As shown in FIG. 7, first, the CPU 41 is one before the guidance branch point 61 based on the link data 33, node data 34, branch point data 35, feature data 36, etc. stored in the map information DB 31. The distance a from the exit side traffic light 66 of the first front branch point 67, which is a branch point with a traffic signal on the side, to the guide branch point 61 is acquired. Subsequently, the distance b from the stop line 71 of the guidance branch point 61 to the guidance branch point 61 is acquired. Thereafter, a difference between the distance obtained by adding 5 m to the distance a and the distance obtained by adding 30 m to the distance b is calculated as the distance X.

  Next, in S <b> 13, the CPU 41 calculates the travel distance Y necessary for outputting guidance for the guidance branch point based on the current vehicle speed of the vehicle and the guidance phrase condition table 32. Specifically, the distance Y is a distance obtained by multiplying the time (for example, 4 seconds) required to output the guidance (voice guidance) stored in the guidance phrase condition table 32 by the current vehicle speed detected by the vehicle speed sensor 22. It becomes. A predetermined vehicle speed (for example, 60 km / h) may be multiplied instead of the current vehicle speed. Further, the predetermined vehicle speed may be changed according to the road type of the road on which the vehicle is traveling (for example, 60 km / h for national roads and prefectural roads and 40 km / h for other general roads). As shown in FIG. 3, the guidance branch point guidance includes three types of guidance (“the third signal is in the left (right) direction”, “2” The first signal is in the left (right) direction ”and“ the next signal is in the left (right) direction ”). In S13, the distance Y is calculated for each guidance.

  Subsequently, in S14, the CPU 41 determines that the distance X from the start point of the guidance start section calculated in S12 to the end point of the guidance start section is set to the travel distance Y necessary for outputting the guidance calculated in S13. It is determined whether or not the distance is equal to or more than a distance obtained by adding a grace distance α (for example, 100 m), that is, whether or not the guidance output can be ended in the guidance end section when the guidance output is started in the guidance start section. In addition, as shown in FIG. 3, there are three types of guidance (“the third signal is in the left (right) direction”), “second signal” Left (right) ”,“ Next signal is left (right) ”). In S14, the distance X is compared with the travel distance Y + α for each guide. The grace distance α may be 0 m.

  Then, when it is determined that the distance X from the start point of the guidance start section to the end point of the guidance start section is equal to or more than the distance obtained by adding the predetermined grace distance α to the travel distance Y necessary for outputting the guidance ( S14: YES), that is, when it is determined that the output of guidance can be completed within the guidance end section when the output of guidance is started in the guidance start section, the guidance subject to determination is determined in an appropriate section. It is determined that output is possible (S15).

  On the other hand, when it is determined that the distance X from the start point of the guidance start section to the end point of the guidance start section is less than the distance obtained by adding the predetermined grace distance α to the travel distance Y necessary for outputting the guidance ( S14: NO), that is, when it is determined that the output of the guidance cannot be completed within the guidance end section when the guidance output is started in the guidance start section, the guidance that is the determination target is displayed in the appropriate section. It is determined that output is not possible (S16). Thereafter, the process proceeds to S17.

  In S <b> 17, the CPU 41 determines whether or not the determination processes in S <b> 14 to S <b> 16 have been executed for all the guidance for the guidance branch point. In this embodiment, three types of guidance (“the third signal is in the left (right) direction”, “the second signal is in the left (right) direction”, “ The next signal is in the left (right) direction ").

  And when it determines with having performed the determination process of said S14-S16 with respect to all the guidance with respect to a guidance branch point (S17: YES), it transfers to S18. On the other hand, if it is determined that the determination process of S14 to S16 is not executed for all the guidance for the guidance branch point (S17: NO), the process returns to S12 and guidance that is not the determination target. The processes from S12 onward are executed.

  In S18, the CPU 41 classifies the determination processes in S14 to S16 for each guide and stores them in a RAM or the like. Thereafter, the process proceeds to S8.

As described in detail above, according to the navigation device 1 according to the present embodiment, the movement guidance method using the navigation device 1 and the computer program executed by the navigation device 1, guidance is provided for guidance at a guidance branch point. Set a guidance start section, which is a section where utterance needs to be started, and a guidance end section, which is a section where guidance utterance needs to end, and guide the vehicle when it reaches a predetermined distance before the guidance branch point. When the output of the guidance at the guidance branch point is started for the vehicle located in the start section, it is determined whether or not the output of the guidance can be finished while the vehicle is located in the guidance end section (S7). When it is determined that the output can be finished and when it is determined that the vehicle is located in the guidance start section, the guide branch point guidance output is started (S9). Also, of guidance at the guidance branch point, guidance that is performed on the front side of the front branch point (for example, “the third signal is in the left (right) direction”, “the second signal is in the left (right) direction” )) At the guidance branch point side from the point where guidance is started (start point of the guidance start zone), and the first predetermined distance from the front branch point ahead The guidance is started at the guidance end point (the end point of the guidance end section) of guidance (for example, “Next signal is in the left (right) direction”) that is set at a point in front of the guidance branch point. Since it is set to a point that is closer to the guidance branch point than the point (start point of the guidance start point) and is a second predetermined distance longer than the first predetermined distance with respect to the front guidance branch point (S11), By loosening the conditions for the end time of the guidance utterances that occur before Utterance of the guide despite the it is possible to perform the speech it is possible to prevent a situation in which not performed. On the other hand, by making the conditions for the end time of the guidance utterance performed before the branch point to be guided, such as turning left and right, the utterance of the guidance can be ended as soon as possible, and the user at the guidance branch point It is possible to perform appropriate preparatory operations (for example, deceleration, lighting of a direction indicator, lane change, etc.).
Also, since the guidance end point where the guidance utterance needs to be terminated is defined by the relative position of the stop line, the guidance end point is set to an appropriate position in consideration of the position of the vehicle with respect to landmarks such as branch points and traffic lights. It becomes possible to do.
In addition, since the guidance utterance of the guidance branch point is started at the timing when it passes the exit side traffic signal, there is a contradiction between the guidance content and the actual user field of view in consideration of the user's visual status with respect to the landmarks such as the branch point and traffic signal It is possible to provide guidance that does not occur. Therefore, it is possible to make the user specify the guidance branch point accurately.
In addition, since the guidance includes the first phrase that specifies the guidance branch point and the second phrase that specifies the movement direction of the vehicle at the guidance branch point, the movement direction of the vehicle at the guidance branch point and the guidance branch point is determined respectively. It becomes possible to make a user grasp appropriately.
In addition, since guidance including a phrase for identifying a guidance branch point is performed using the number of traffic lights or branch points located between the vehicle and the guidance branch point, the position of the guidance branch point can be determined by the user even in a complicated route. Can be grasped easily and accurately.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, the guidance branch point guidance by the navigation device 1 is output by voice guidance from the speaker 16, but the guidance may be performed by displaying text on the liquid crystal display 15.

  In this embodiment, the guidance start section and the guidance end section are specified based on the positions of stop lines and exit side traffic lights installed around the branch point. It is good also as a structure specified based on the position of the 1st front branching point, the 2nd front branching point) and the approach side traffic signal. Furthermore, if it is the said structure using a branch point and a stop line, the traffic signal information 37 will become unnecessary.

  In the present embodiment, guidance using the number of traffic lights (or intersections with traffic lights) from the current position of the vehicle to the guidance branch point is provided as guidance for the guidance branch point. Also good. For example, instead of a traffic light, guidance using a landmark, a branch point, a distance to a guidance branch point, or the like may be used.

  In the present embodiment, the starting point of the guidance start section is set as a predetermined distance (e.g., 5 m before) of the exit side traffic light at the front branch point. It is good also as a switching point where it switches to the state where it becomes invisible. The switching point is preferably changed depending on the vehicle type. Further, the start point of the guidance start section may be the position where the exit side traffic light is installed at the front branch point.

  Moreover, in this embodiment, although the guidance start area and the guidance end area are the same area, it is good also as an area which prescribes | regulates a different range. Further, the guidance start section and the guidance end section may be defined by points.

  In addition to the navigation device, the present invention can be applied to a device having a function of performing route guidance based on a guidance route. For example, the present invention can be applied to a portable terminal such as a cellular phone or a PDA, a personal computer, a portable music player, etc. (hereinafter referred to as a portable terminal or the like). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described branch point guidance processing program (FIGS. 5 and 6) may be configured to be implemented by either the server or the portable terminal. In addition, when the present invention is applied to a mobile terminal or the like, travel guidance may be given to a moving body other than a vehicle, for example, a user such as a mobile terminal or a two-wheeled vehicle.

1 Navigation device 13 Navigation ECU
31 Map information DB
32 Guidance phrase condition table 41 CPU
42 RAM
43 ROM
61 Guide branch point 62, 64, 67 Front branch point 63, 66, 69, 70 Traffic light 65, 68, 71 Stop line

Claims (8)

A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
A front branch point acquiring means for acquiring a position of a front branch point existing on the departure side of the guide route from the guide branch point;
Utterance is performed at the timing when the moving body is located on the departure point side of the guide route from the front branch point, and a first branch point guide means for performing a first branch point guide that is a guide of the guide branch point;
An utterance is performed at the timing when the moving body is located on the destination side of the guide route from the front branch point and on the departure side of the guide route from the guide branch point, and the guide branch point is guided. Second branch point guidance means for performing second branch point guidance;
Guidance end point setting means for setting a guidance end point, which is a point where it is necessary to end the utterance of guidance, with respect to the first branch point guidance and the second branch point guidance,
The guidance end point setting means includes:
The guidance end point of the first branch point guidance is closer to the guidance branch point than the point where the guidance by the first branch point guidance unit is started, and is a first predetermined distance before the previous branch point. Set to a point,
The guidance end point of the second branch point guidance is closer to the guidance branch point than the point where the guidance by the second branch point guidance means is started, and from the first predetermined distance to the guidance branch point. A movement guidance system, characterized in that it is set at a point in front of a long second predetermined distance. Having stop line information acquisition means for acquiring position information of stop lines arranged at the guide branch point and the front branch point;
The movement guidance system according to claim 1, wherein the guidance end point setting means defines the guidance end point by a relative position with respect to the stop line. The first branch point guide means utters at the timing when the vehicle passes the exit side traffic light of the branch point adjacent to the departure point side of the guide route with respect to the front branch point,
The second branch point guide means utters at the timing when the vehicle passes the exit side traffic signal of the branch point adjacent to the guide branch point on the departure point side of the guide route. The movement guidance system according to claim 1 or claim 2.   The first branch point guide and the second branch point guide each include a first phrase that specifies the guide branch point and a second phrase that specifies a moving direction of the moving body at the guide branch point. The movement guidance system according to any one of claims 1 to 3, wherein   The said 1st phrase is a phrase which specifies the said guidance branch point using the number of the traffic signal or branch point located between the said mobile body and the said guidance branch point, It is characterized by the above-mentioned. Travel guidance system. A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
A front branch point acquiring means for acquiring a position of a front branch point existing on the departure side of the guide route from the guide branch point;
Utterance is performed at the timing when the moving body is located on the departure point side of the guide route from the front branch point, and a first branch point guide means for performing a first branch point guide that is a guide of the guide branch point;
An utterance is performed at the timing when the moving body is located on the destination side of the guide route from the front branch point and on the departure side of the guide route from the guide branch point, and the guide branch point is guided. Second branch point guidance means for performing second branch point guidance;
Guidance end point setting means for setting a guidance end point, which is a point where it is necessary to end the utterance of guidance, with respect to the first branch point guidance and the second branch point guidance,
The guidance end point setting means includes:
The guidance end point of the first branch point guidance is closer to the guidance branch point than the point where the guidance by the first branch point guidance unit is started, and is a first predetermined distance before the previous branch point. Set to a point,
The guidance end point of the second branch point guidance is closer to the guidance branch point than the point where the guidance by the second branch point guidance means is started, and from the first predetermined distance to the guidance branch point. A movement guide device characterized by being set at a point in front of a long second predetermined distance. A guidance route for guiding the movement of the moving body, and a guidance route setting step for setting a guidance branch point on the guidance route;
A near branch point acquiring step for acquiring a position of a near branch point existing on the departure side of the guide route from the guide branch point; and
A first branch point guidance step in which an utterance is performed at a timing when the moving body is positioned on the departure side of the guide route from the front branch point, and a first branch point guide is provided to guide the guide branch point;
An utterance is performed at the timing when the moving body is located on the destination side of the guide route from the front branch point and on the departure side of the guide route from the guide branch point, and the guide branch point is guided. A second branch point guide step for performing a second branch point guide;
A guidance end point setting step for setting a guidance end point, which is a point where it is necessary to end the utterance of guidance, with respect to the first branch point guidance and the second branch point guidance,
The guidance end point setting step includes:
The guidance end point of the first branch point guidance is closer to the guidance branch point than the point where the guidance by the first branch point guidance unit is started, and is a first predetermined distance before the previous branch point. Set to a point,
The guidance end point of the second branch point guidance is closer to the guidance branch point than the point where the guidance by the second branch point guidance means is started, and from the first predetermined distance to the guidance branch point. A movement guide method characterized by setting a point in front of a long second predetermined distance. On the computer,
A guidance route for guiding the movement of the moving body, a guidance route setting function for setting a guidance branch point on the guidance route,
A near branch point acquisition function for acquiring a position of a near branch point existing on the departure side of the guide route from the guide branch point;
A first branch point guidance function for performing a first branch point guidance that is a guidance of the guidance branch point, where speech is performed at the timing when the moving body is located on the departure side of the guide route from the previous branch point;
An utterance is performed at the timing when the moving body is located on the destination side of the guide route from the front branch point and on the departure side of the guide route from the guide branch point, and the guide branch point is guided. A second branch point guidance function for performing second branch point guidance;
For the first branch point guidance and the second branch point guidance, a guidance end point setting function for setting a guidance end point, which is a point where it is necessary to end the utterance of guidance,
A computer program for executing
The guidance end point setting function is
The guidance end point of the first branch point guidance is closer to the guidance branch point than the point where the guidance by the first branch point guidance unit is started, and is a first predetermined distance before the previous branch point. Set to a point,
The guidance end point of the second branch point guidance is closer to the guidance branch point than the point where the guidance by the second branch point guidance means is started, and from the first predetermined distance to the guidance branch point. A computer program characterized by being set at a point in front of a long second predetermined distance.

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