JP2017053678A - Travel support system, travel support method and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel support system, a travel support method and a computer program capable of guiding relevant to a traveling of a vehicle with an intuitively comprehensible mode.SOLUTION: The travel support system is configured to: identify a traffic lane to guide a vehicle; identify a traffic lane change recommendation zone for recommending a driver to change the traffic lane to a guide traffic lane; display an image of a road on which the vehicle is travelling on an HUD (head-up display) 19; and display a plurality of instruction images 65 for prompting the driver to change the traffic lane while overlapping with the traffic lane change recommendation zone in the displayed road image.SELECTED DRAWING: Figure 12

Description

  The present invention relates to a driving support system, a driving support method, and a computer program that guide a vehicle to a specific lane.

  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. Then, the guidance route set based on the search result is displayed on the display screen, and when approaching an intersection (hereinafter referred to as a guidance intersection) for guidance such as a right or left turn, a voice or a display screen is used. By performing the guidance, the user is surely guided to a desired destination. In recent years, some mobile phones, smartphones, PDAs (Personal Digital Assistants), personal computers, and the like have functions similar to those of the navigation device.

  Here, when the guide route is composed of a plurality of lanes in particular, it is important to provide guidance for guiding the vehicle to the lane in which the vehicle should travel (hereinafter referred to as a guidance lane). For example, if the vehicle makes a left turn at the next guidance intersection, it is necessary to drive the lane divided in the left turn direction before reaching the guidance intersection, while the vehicle turns right at the next guidance intersection. When the vehicle is to be operated, it is necessary for the vehicle to travel on the lane divided in the right turn direction before reaching the guidance intersection. However, even if the guidance for turning left or right is given just before the guidance intersection without guiding the lane, the vehicle does not always travel in the lane corresponding to the passing direction, so the guidance cannot be made without making a right or left turn. There is a possibility of deviating from the route. Therefore, it is desirable to perform guidance guidance for guiding the vehicle to the guide lane in advance. In addition to guidance intersections, it may be necessary to perform guidance guidance for guiding a vehicle to a specific guidance lane in the same manner, for example, in a lane reduction section due to construction or an accident.

  Therefore, for example, in Japanese Patent Application Laid-Open No. 2010-236915, when a vehicle approaches a section where a guidance lane such as a guidance intersection exists, a guidance lane exists by highlighting a road sign on the guidance lane. There has been proposed a technique for notifying the user of this and urging lane movement to the guide lane.

JP 2010-236915 (10th, 6th, 7th)

  Here, in the technique of Patent Document 1, it is possible to guide the position of the guide lane by highlighting the road sign on the guide lane, but how to move the lane specifically. I couldn't guide you to move to the guide lane. Further, in the guidance mode in which road signs are highlighted, it takes time to recognize the guidance contents, and there is a problem that it is particularly difficult for a low vision person to grasp the guidance contents.

  The present invention has been made to solve the above-described conventional problems, and in the case of performing guidance guidance for guiding a vehicle from the first lane to the second lane, how to move the lane specifically. A driving support system, a driving support method, and a computer program that enable the user to recognize the guidance contents instantaneously by guiding in an intuitively understandable manner whether to move from the first lane to the second lane. The purpose is to provide.

In order to achieve the above object, a driving support system according to the present invention is a driving support system that performs guidance guidance for guiding a vehicle from a first lane to a second lane different from the first lane, and from the first lane A recommended section specifying means for specifying a recommended lane movement section that recommends lane movement to the second lane, a road image display means for displaying an image of a road on which the vehicle is traveling, on a display device, and displayed on the display device. Instruction image display means for displaying a plurality of instruction images for urging lane movement superimposed on the recommended lane movement section of the road image.
The “first lane” may be a lane in which the vehicle is currently traveling, or may be a lane other than the lane (guidance lane) where the vehicle needs to be finally guided other than the lane in which the vehicle is currently traveling. It may be a lane. Further, the “second lane” may be a guide lane, or may be a lane between the lane in which the vehicle is currently traveling and the guide lane.

  The driving support method according to the present invention is a driving support method for performing guidance guidance for guiding a vehicle from a first lane to a second lane different from the first lane. Specifically, the recommended section specifying means specifies a lane movement recommended section for recommending lane movement from the first lane to the second lane, and the road image display means is for a road on which the vehicle is traveling. A step of displaying an image on a display device, and a step of displaying a plurality of instruction images for prompting lane movement superimposed on the recommended lane movement section of the road image displayed on the display device. And having.

  Furthermore, the computer program according to the present invention is a computer program for performing guidance guidance for guiding a vehicle from a first lane to a second lane different from the first lane. Specifically, the computer displays on the display device recommended section specifying means for specifying a recommended lane movement section that recommends lane movement from the first lane to the second lane, and an image of a road on which the vehicle travels. Functioning as road image display means for displaying and a plurality of instruction images for prompting lane movement to be superimposed on the recommended lane movement section of the road image displayed on the display device. .

  According to the driving support system, the driving support method, and the computer program according to the present invention having the above-described configuration, when performing guidance guidance for guiding the vehicle from the first lane to the second lane, from the first lane to the second lane. The recommended lane movement recommended section of the lane movement is identified, and multiple instruction images that prompt the lane movement are displayed superimposed on the recommended lane movement section in the road image. It is possible to guide in an intuitively understandable manner whether to move from the first lane to the second lane. In addition, it is possible to make the user recognize the guidance content instantaneously, and it is possible to provide guidance that is easy to grasp even for a weakly sighted person.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is a flowchart of the driving assistance processing program concerning this embodiment. It is a flowchart of the sub process program of the guidance area | region setting process which concerns on this embodiment. It is the figure which showed an example of the guidance intersection. It is the figure which showed an example of the guidance intersection. It is the figure which showed an example of each point set with respect to a guide road. It is the figure which showed an example of the guidance area | region set with respect to a guide road. It is the figure which showed an example of the guidance set with respect to each guidance area | region. It is a flowchart of the sub process program of the guidance guidance process which concerns on this embodiment. It is the figure which showed the movement guidance screen before a vehicle arrives at a guidance area | region. It is the figure which showed the movement guidance screen after a vehicle arrives at a guidance area | region. It is the figure which showed the movement guidance screen when a vehicle is located in a lane movement caution area. It is the figure which showed the movement guidance screen when a vehicle is located in a lane movement warning area. It is the figure which showed the movement guidance screen after a vehicle passes the inside of a lane movement warning area. It is the figure which showed an example of guidance by voice guidance especially among guidance guidance.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a driving support system according to the present invention will be described in detail with reference to the drawings based on an embodiment in which the navigation device 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, a liquid crystal display 15 that displays a map around the vehicle, guidance information for lanes, and the like 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. The navigation device 1 is connected to a head-up display device (hereinafter referred to as HUD) 19 via an in-vehicle network such as CAN.

Below, each component which the navigation apparatus 1 has 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 the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). The data recording unit 12 may include a flash memory, a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Further, the map information DB 31 may be stored in an external server, and the navigation device 1 may be configured to acquire by communication.

  Here, the map information DB 31 includes, for example, link data 32 relating to roads (links), node data 33 relating to node points, intersection data 34 relating to each intersection, point data relating to points such as facilities, and map display data for displaying a map. The storage means stores search data for searching for routes, search data for searching for points, and the like.

  Here, as the link data 32, for example, a link ID for identifying the link, end node information for specifying a node located at the end of the link, the road type of the road constituting the link, the number of lanes, the road The width, the direction of travel for each lane, and the like are stored. The node data 33 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 through a link, and the like. Further, as the intersection data 34, relevant node information for identifying nodes forming the intersection, connection link information for identifying a link connected to the intersection (hereinafter referred to as a connection link), and a stop line provided at the intersection Is stored.

  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. Read out from the ROM 43 and the ROM 43 in which a RAM 42 that stores route data when the route is searched, a control program, a driving support processing program (FIG. 2) described later, and the like are recorded. An internal storage device such as a flash memory 44 for storing the program is provided. The navigation ECU 13 has various means as processing algorithms. For example, the recommended section specifying means specifies a lane movement recommended section that recommends lane movement from the first lane to the second lane. The road image display means displays on the HUD 19 an image of the road on which the vehicle is traveling. The instruction image display means displays a plurality of instruction images for urging lane movement superimposed on the recommended lane movement section of the road image displayed on the HUD 19.

  The operation unit 14 is operated when inputting a starting point as a travel start point and a destination as a travel end point, and has 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 may have a touch panel provided on the front surface of the liquid crystal display 15. Moreover, you may have 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.

  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 this embodiment, when the vehicle travels on a road composed of a plurality of lanes as will be described later, voice guidance for guiding the vehicle to the lane in which the vehicle should travel is also output.

  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. A card slot for reading / writing a memory card may be provided instead of the DVD drive 17.

  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.

  The HUD 19 is installed inside the dashboard of the vehicle, and includes a projector and a screen on which an image from the projector is projected. And the image projected on the screen is reflected on the front window in front of the driver's seat so as to be visually recognized by the vehicle occupant. And when the occupant visually recognizes the image projected on the screen reflecting off the front window, the image projected on the screen at a position far away from the front window is not a virtual image for the occupant. Visible. In the present embodiment, the virtual image generated by the HUD 19 is a guide image that guides the vehicle to the lane in which the vehicle should travel when the vehicle travels on a road composed of a plurality of lanes as will be described later. In addition, it is good also as a structure which guides those by the liquid crystal display 15 instead of HUD19. In that case, the HUD 19 becomes unnecessary.

  Next, a driving support 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. 2 is a flowchart of the driving support processing program according to this embodiment. Here, the driving support processing program is a program that is executed after the ACC power supply (accessory power supply) of the vehicle is turned on and guides the vehicle to the lane in which the vehicle is to travel to guide the vehicle to travel. . In the following description, guidance for guiding a vehicle to a lane in which the vehicle should travel is defined as “guidance guidance”, and a lane that ultimately guides the vehicle by guidance guidance is defined as “guidance lane”. The programs shown in the flowcharts of FIGS. 2, 3, and 9 below are stored in the RAM 42 and ROM 43 provided in the navigation device 1 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the driving support processing program, the CPU 41 obtains a guide route (a user's scheduled driving route) currently set in the navigation device 1. The guide route is a recommended route from the starting point to the destination set by the navigation device 1, and is searched using, for example, a known Dijkstra method. The navigation route 1 may be configured to search for the guidance route, or may be configured to be searched by an external server. Further, the departure point may be the current position of the user or an arbitrary point selected by the user (for example, home). On the other hand, the destination is set based on, for example, a user operation (for example, a registration point reading operation, facility search or selection operation) received in the operation unit 14.

  Next, in S2, the CPU 41 specifies a guidance intersection included in the guidance route acquired in S1. When a plurality of guidance intersections are included, all guidance intersections included in the guidance route may be specified, or only the guidance intersection nearest to the current position of the vehicle may be specified. Here, the guidance intersection is an intersection to which guidance such as a right / left turn instruction is given when guidance for traveling of the vehicle is performed according to the guidance route.

  Subsequently, in S <b> 3, 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. In the present embodiment, the lane in which the vehicle is currently traveling is also specified. The details of the high-accuracy location technology are already known and will be omitted.

  Thereafter, in S4, the CPU 41 determines whether or not a guidance area described later has already been set for the nearest guidance intersection (hereinafter referred to as the nearest guidance intersection) along the guidance route from the current position of the vehicle. . The guidance area is an area for performing guidance guidance, and is set for a lane included in a road on which the vehicle travels when entering a guidance intersection in S8 described later. If the navigation device 1 re-searches (reroutes) the guidance route due to the vehicle deviating from the guidance route or changing traffic conditions, the nearest guidance intersection may be changed. It becomes necessary to set a guidance area for a new nearest guidance intersection.

  And when it determines with the guidance area | region not being set with respect to the latest guidance intersection (S4: YES), in order to set a guidance area | region with respect to the latest guidance intersection, it transfers to S7. On the other hand, when it is determined that a guidance area has already been set for the latest guidance intersection (S4: NO), the process proceeds to S5.

  In S <b> 5, the CPU 41 acquires the current vehicle speed of the vehicle from the vehicle speed sensor 22.

  Next, in S6, the CPU 41 determines whether or not the vehicle speed has changed. In order to reduce the processing load on the CPU 41, it may be determined whether or not the speed has changed by a predetermined speed (for example, 10 km / h) or more. As will be described later, since the length of the guide area is determined by the current vehicle speed of the vehicle, it is necessary to set the guide area again based on the changed vehicle speed when the vehicle speed changes. Arise.

  And when it determines with the vehicle speed of the vehicle having changed (S6: YES), in order to reset a guidance area | region based on a new vehicle speed, it transfers to S8. On the other hand, when it is determined that the vehicle speed has not changed (S6: NO), the current guidance area setting is maintained and the process proceeds to S8.

  Next, in S7, the CPU 41 executes a guide area setting process (FIG. 3) described later. The guidance area setting process is a process for setting an area for guidance guidance (hereinafter referred to as a guidance area) for a lane included in the road on which the vehicle travels when entering the nearest guidance intersection as will be described later. is there.

  Thereafter, in S8, the CPU 41 executes a guidance and guidance process (FIG. 9) described later. In addition, the guidance guidance process is a process for performing guidance guidance for guiding the vehicle to the guidance lane using road images and voice guidance as described later.

  Next, the sub-process of the guidance area setting process executed in S7 will be described with reference to FIG. FIG. 3 is a flowchart of a sub-processing program for the guidance area setting process.

  First, in S11, CPU41 acquires the information regarding the latest guidance intersection from map information DB31. Specifically, the road shape of the road connected to the guidance intersection, the number of lanes, the traffic classification in the traveling direction for each lane, the position of the stop line, and the like.

  Next, in S12, the CPU 41 determines, among the roads connected to the nearest guidance intersection, especially the road on which the vehicle entering the nearest guidance intersection travels (that is, the road connected to the front side of the nearest guidance intersection along the guidance route). The number N of lanes of the guide road) is specified. In addition, when it is a road where the number of lanes increases or decreases (for example, when a right-turn exclusive lane is added), the maximum number of lanes is acquired.

  Subsequently, in S13, the CPU 41 determines whether or not the number N of lanes of the guide road acquired in S12 is 1.

  If it is determined that the number N of lanes on the guide road is 1 (S13: YES), that is, if the guide road is composed of only one lane, guidance guidance is provided for the nearest guidance intersection. Since there is no need, the process proceeds to S8 without setting a guide area for the guide road. On the other hand, if it is determined that the number N of lanes on the guide road is 2 or more (S13: NO), that is, if the guide road includes a plurality of lanes, the process proceeds to S14.

  In S14, the CPU 41 assigns a lane number to each lane included in the guide road acquired in S12. Specifically, as shown in FIG. 4, numbers are assigned in order from the right in the traveling direction of the vehicle. Therefore, when the guide road includes N lanes, lane numbers from 1 to N are given.

  Subsequently, in S15, the CPU 41 specifies the guide lane by lane number among the lanes included in the guide road acquired in S12. Let M be the lane number of the identified guide lane. The guide lane is a lane that finally guides the vehicle by the guidance guidance as described above, and is the lane to which the vehicle should travel when the vehicle travels along the guide route. That is, the traffic lane corresponding to the traveling direction of the guidance intersection is set as the guide lane. For example, when a guidance route for turning the vehicle to the right is set at the guidance intersection 50 shown in FIG. 4, the guidance lane for the guidance intersection 50 is the rightmost lane (lane number “1”) divided in the right turn direction. Lane). On the other hand, when a guidance route is set for the vehicle to turn left at the guidance intersection 50 shown in FIG. 4, the guidance lane for the guidance intersection 50 is the leftmost lane (lane number “4”) divided in the left turn direction. Lane).

  In addition, a plurality of lanes may correspond to the guide lane candidates. For example, when a guidance route for turning the vehicle to the right is set at the guidance intersection 51 shown in FIG. 5, the rightmost lane (lane with lane number “1”) divided in the right turn direction and the second from the right Two lanes of the lane (lane of lane number “2”) are candidates for the guide lane. In this case, all the lanes that are candidates for the guide lane may be specified as the guide lane, or only one of them may be specified as the guide lane. When only one of them is specified as the guide lane, it is preferable to specify the guide lane with priority on the lane at the end (the lane with the lane number “1” in the example shown in FIG. 5).

  Thereafter, in S <b> 16, the CPU 41 specifies a “lane movement end point X” at which the lane movement of the vehicle to the guide lane needs to be completed. In this embodiment, as shown in FIG. 6, “lane movement end point X” is set to a position before a predetermined distance (for example, 30 m) from the stop line 52. Further, when there is no stop line, it is assumed that there is a stop line before a predetermined distance (for example, 1 m) from the entry start point to the intersection. The “lane movement end point X” specified in S <b> 16 is a reference point when setting a guide area to be described later.

  Next, in S <b> 17, the CPU 41 substitutes 1 as an initial value for the parameter n used in the subsequent processing. The parameter n is stored in a memory such as the flash memory 44.

  Subsequently, in S18, the CPU 41 specifies each point serving as a reference for setting a guidance area for the lanes of the lane number M-n and the lane number M + n among the lanes included in the guide road. The specified points include “lane movement limit point A”, “lane movement warning point B”, “lane movement warning point C”, and “lane movement preparation point D”. Here, “lane movement limit point A” is a limit point that needs to start lane movement in order to move to the guide lane before reaching the lane movement end point, and after the vehicle passes through this point Gives up lane movement and basically does not provide guidance. Also, “lane movement warning point B” is a point where it is determined that there is no room for lane movement to the guide lane, and after passing this point, guidance guidance that prompts lane movement so as not to give a sense of crisis. Do. Further, the “lane movement caution point C” is a point where it is determined that it is better to start the lane movement to the guidance lane, and after passing this point, the guidance guidance for urging the lane movement is performed. Further, the “lane movement preparation point D” is a point where it is determined that it is better to start preparation for lane movement, and after passing through this point, guidance guidance is given to make the user aware of lane movement.

And each point of said A-D is specifically specified based on the following references | standards.
First, the lane adjacent to the guide lane (the lane having the lane number M-1 or M + 1) will be described with reference to FIG. 6. The "lane movement limit point A" is 4.8 seconds from the "lane movement end point X". A point to reach. Note that 4.8 seconds is a time obtained by adding 1 second of the reaction time to the average time of 3.8 seconds required for lane movement. The distance from “lane movement limit point A” to “lane movement end point X” is specified based on the current vehicle speed of the vehicle. For example, when the current vehicle speed of the vehicle is 50 km / h, 66. 7m.
The “lane movement warning point B” is a point that reaches the “lane movement limit point A” in 4 seconds. Note that 4 seconds is a time according to the average time 3.8 seconds required for lane movement. The distance from “lane movement warning point B” to “lane movement limit point A” is specified based on the current vehicle speed of the vehicle. For example, when the current vehicle speed of the vehicle is 50 km / h, 55. 6m.
The “lane movement caution point C” is a point that reaches the “lane movement warning point B” in 8 seconds. Note that 8 seconds is a time obtained by adding a certain grace time to the average time required for lane movement of 3.8 seconds, and can be appropriately changed based on the road type and shape. However, the time is set so that the distance from “lane movement warning point C” to “lane movement warning point B” is longer than the distance from “lane movement warning point B” to “lane movement limit point A”. . The distance from the “lane movement warning point C” to the “lane movement warning point B” is specified based on the current vehicle speed of the vehicle. For example, when the current vehicle speed of the vehicle is 50 km / h, 111. 1m.
The “lane movement preparation point D” is a point that reaches the “lane movement caution point C” in 18 seconds. Note that 18 seconds is a time obtained by adding a certain grace time to the average time required for lane movement of 3.8 seconds, and can be appropriately changed based on the road type and shape. However, the time is set so that the distance from the “lane movement preparation point D” to the “lane movement warning point C” is longer than the distance from the “lane movement warning point C” to the “lane movement warning point B”. The distance from the “lane movement preparation point D” to the “lane movement attention point C” is specified based on the current vehicle speed of the vehicle. For example, when the current vehicle speed of the vehicle is 50 km / h, 250. 0m.

  Similarly, a lane other than the lane adjacent to the guide lane (lane of lane number M-1 or M + 1) (for example, a lane that separates one lane between the guide lanes (lane of lane number M-2 or M + 2)) Also, each of the points A to D is specified for a lane that separates two lanes between the guide lanes (lane of lane number M-3 or M + 3). FIG. 7 shows an example of points A to D set in each lane when the guide road connected to the guidance intersection 50 is a four-lane road on one side. Here, for lanes other than the lane adjacent to the guide lane (lane of lane number M-1 or M + 1), “lane movement limit point A” reaches “lane movement end point X” in 4.8 seconds. Instead of a point, it is set to a point that reaches the point adjacent to the “lane movement warning point B” of the lane adjacent to the guide lane in 4.8 seconds. That is, the vehicle that has started moving toward the guide lane at the “lane movement limit point A” is set at a position where it can reach the “lane movement warning point B” in the lane adjacent to the guide lane. The other “lane movement warning point B”, “lane movement caution point C”, and “lane movement preparation point D” are set by the method described above with reference to “lane movement limit point A”.

  Thereafter, in S19, the CPU 41 sets a guidance area for the lanes of the lane number M-n and the lane number M + n among the lanes included in the guide road. Specifically, an area including a plurality of sections divided by the points A to D specified in S18 is set as a guide area. In particular, in the present embodiment, an area including three sections “(1) lane movement warning section”, “(2) lane movement caution section”, and “(3) lane movement preparation section” is set as a guide area. Hereinafter, each section will be described.

“(1) Lane movement warning section” is a section in the guidance area that is a target of guidance guidance for urging lane movement so as not to give a sense of crisis, and starts from “lane movement warning point B”. It is set in a rectangular shape along the lane in the lane with the lane movement limit point A ″ as the end point. In the example shown in FIG.
The “(2) lane movement caution section” is a section in the guidance area that is a target of guidance guidance for urging normal lane movement. The “lane movement caution point C” is the starting point, and the “lane movement warning” A rectangular shape along the lane is set in the lane with the point B ″ as the end point. In the example shown in FIG. In the present embodiment, it is recommended that the lane movement from the current travel lane to the lane adjacent to the guide lane is recommended for the section including “(1) lane movement warning section” and “(2) lane movement caution section”. This is the “lane movement recommended section”.
The “(3) lane movement preparation section” is a section in the guidance area that is a target for guidance guidance that makes lane movement conscious. The “lane movement preparation point D” is the starting point, and the “lane movement caution point” It is set in a rectangular shape along the lane in the lane with C ″ as the end point. In the example shown in FIG. 7, the section 56 corresponds.

  As a result of setting the sections (1) to (3), the guidance area is separated from the “lane movement end point X” by a distance corresponding to the number of lanes between the guide lane and the guide lane as shown in FIG. It is set to an area within a predetermined distance with the point as the end point. In addition, as the number of lanes between the guide lanes increases, the guide area is set at a position farther from the “lane movement end point X”. Specifically, the end point of the guide area is the lane adjacent to the guide lane side. Is set to a point that is a predetermined distance away from the end point of the guide area (for example, a distance that the vehicle can travel in 8.8 seconds). As a result, the guidance area of each lane is set in a step shape as shown in FIG.

  Next, in S20, the CPU 41 reads the parameter n and adds one.

  Thereafter, in S21, the CPU 41 determines whether or not the guidance area has been set in S19 for all lanes (excluding the guide lane) included in the guide road.

  And when it determines with having set the guidance area | region by said S19 targeting all the lanes contained in a guidance road (S21: YES), it transfers to S22. On the other hand, if it is determined in S19 that the guidance area is not set for all lanes included in the guide road (S21: NO), the process returns to S18, and the guidance areas for the remaining lanes are set. Continue processing.

  In S22, the CPU 41 sets the guidance content of the guidance guidance according to the positional relationship with the guidance lane and the lane movement end point for each section included in the guidance area set in S19. Specifically, in S22, the CPU 41 sets the display mode of the instruction image for each section included in the guidance area. Here, in this embodiment, the instruction image is an image of an arrow heading to the lane adjacent to the guide lane side, and is displayed superimposed on the road image when a road image around the vehicle is displayed as described later. And in this embodiment, the display mode of a different instruction image is set for every section as follows. FIG. 8 is a diagram showing a display mode of instruction images set in each section included in the guidance area.

As shown in FIG. 8, first, the section 56 corresponding to the “(3) lane movement preparation section” farthest from the lane movement end point has a margin to the lane movement end point, and at the present time, the lane movement is positive. There is no need to prompt. Accordingly, the instruction image is set not to be displayed.
On the other hand, a section 55 corresponding to “(2) lane movement attention section” is a section in which lane movement is recommended. Therefore, in order to promote the lane movement, the arrow 57 extending from the lane in which the section is arranged to the lane adjacent to the guide lane is continuously displayed from the start point to the end point of the section at a predetermined interval (for example, at an interval of 5 m). Set the display mode.
Finally, the section 54 corresponding to the “(1) Lane movement warning section” closest to the lane movement end point is a section that recommends lane movement as in the lane movement warning section, but is close to the lane movement end point. The guidance that strongly suggests lane movement also gives a sense of crisis to the user and may cause a mistake in driving operation. Therefore, in order not to give the user a sense of crisis, a display mode is set in which the arrow 58 is continuously displayed at a predetermined interval (for example, an interval of 5 m) from the start point to the end point of the section only in the lane adjacent to the guide lane side. As a result, as shown in FIG. 8, the display mode of the instruction image is changed stepwise according to the distance to the lane movement end point. When there are three or more lanes on the guide road and there is an area where the arrow 57 and the arrow 58 overlap, the area is set so that the arrow 57 is displayed with priority.

  Furthermore, in S22, the CPU 41 also sets a guidance phrase for each section. The guidance phrase is set to indicate that there is no margin for lane movement in the section closer to the lane movement end point. For example, “(1) Lane movement warning section” is “Y immediately (Y is the lane to the guide lane). Number) to the right (left) lane. " “(2) Lane movement warning section” should be “Y (Y is the number of lanes to the guide lane) and move to the right (left) lane”, and “(3) Lane movement preparation section” is “ "Y (Y is the number of lanes up to the guide lane) and prepare to move to the right (left) lane."

  As will be described later, when the navigation device 1 displays the image of the guide road on the HUD 19, the navigation device 1 displays the instruction image superimposed on the corresponding section in the display mode set in S22. In addition, when the vehicle enters each section included in the guidance area, voice guidance is performed using a guidance phrase set for the section where the vehicle is located.

  Next, a sub-process of the guidance guidance process executed in S8 will be described with reference to FIG. FIG. 9 is a flowchart of a sub-processing program for guidance guidance processing.

  First, in S31, the CPU 41 acquires the current position of the vehicle based on the detection result of the current position detection unit 11. The details are the same as S3, and the description is omitted.

  Next, in S32, the CPU 41 determines whether or not the current position of the vehicle is within a predetermined distance from the lane movement end point. The predetermined distance is longer than the distance to the starting point (lane movement preparation point D) of the guidance area that is farthest from the lane movement end point, for example, 3 km. As shown in FIG. 7, when a guidance area is set for the guidance intersection 50, the distance from the stop line 52 to the start point (lane movement preparation point D) of the guidance area installed in the leftmost lane. Also take a long distance. In S32, it may be determined whether or not the vehicle is located in the guidance area set in S7. Further, the determination process in S32 may be omitted, and a road image in S33 (described later) may be displayed whenever the vehicle is traveling.

  When it is determined that the current position of the vehicle is within a predetermined distance from the lane movement end point (S32: YES), the process proceeds to S33. On the other hand, when it is determined that the current position of the vehicle is not within the predetermined distance from the lane movement end point (S32: NO), the process proceeds to S36.

  In S33, the CPU 41 generates a virtual image of the movement guide screen 61 for guiding the vehicle to the guide lane by the HUD 19. On the travel guidance screen 61, the instruction image set in S22 is displayed superimposed on the road image together with the image of the road on which the vehicle is currently traveling. In addition, the position which produces | generates the virtual image of the movement guidance screen 61 is the front of the windshield of a vehicle, and when a user visually recognizes a front environment through a windshield, it shall be the position and size which do not disturb a user's visual field.

Here, FIGS. 10 to 14 are diagrams showing examples of the movement guide screen 61 generated by the HUD 19 in S33. First, FIG. 10 shows display contents of the movement guidance screen 61 immediately after the movement guidance screen 61 is generated by the HUD 19, that is, before the vehicle reaches the guidance area.
As shown in FIG. 10, an image 62 of a road on which the vehicle is currently traveling is displayed on the movement guide screen 61. Further, the vehicle position mark 63 indicating the current position of the vehicle and a straight line ahead of the traveling direction from the current position of the vehicle along the lane in which the vehicle currently travels are drawn on the road image 62 where the vehicle is currently traveling The route image 64 displayed is superimposed and displayed. The route image 64 is an image of a line segment connecting the current position of the vehicle to the instruction image along the lane in which the vehicle is currently traveling.

  After that, when the vehicle approaches the nearest guidance intersection, among the guidance areas, in particular, “(2) Lane movement warning section” and “(1) Lane movement warning section” are included in the display of the movement guidance screen 61. As shown in FIG. 11, an instruction image 65 for prompting lane movement is additionally displayed. Here, as described above, the instruction image 65 is an arrow that prompts the vehicle to move from the lane in which the vehicle currently travels to the lane on the guide lane side, and is displayed superimposed on the road image. Further, as described above, the display mode of the instruction image 65 is different for each section, and the section 55 corresponding to “(2) lane movement caution section” is changed from the lane in which the section is arranged to the lane adjacent to the guide lane side. Are continuously displayed at predetermined intervals (for example, 5 m intervals) from the start point to the end point of the section. As shown in FIG. 11, the route image 64 is connected to the instruction image 65 displayed in “(2) Lane movement caution section” and is displayed as an integral arrow. On the other hand, in the section 54 corresponding to “(1) lane movement warning section”, arrows are continuously displayed at predetermined intervals (for example, 5 m intervals) from the start point to the end point of the section in the lane adjacent to the guide lane side. . As a result, the display mode of the instruction image 65 changes from “no arrow” to “an arrow displayed across lanes” to “an arrow displayed only in the destination lane” according to the distance to the lane movement end point. It will be changed step by step. Note that the direction of the arrow displayed as the instruction image 65 corresponds to the direction of lane movement, and more specifically, the arrow is directed toward the guide lane.

  After that, when the vehicle further approaches the nearest guidance intersection and reaches within the “(2) lane movement caution section” in the guidance area, the own vehicle position mark 63 indicates the guidance lane side as shown in FIG. It overlaps with the arrow instruction image 65. As a result, the user can grasp that the lane movement should be performed in the direction indicated by the arrow at the current timing.

  Thereafter, when the vehicle further approaches the nearest guidance intersection without moving in the lane and reaches within the “(1) lane movement warning section” in the guidance area, as shown in FIG. Although it does not overlap with the arrow instruction image 65, an arrow is displayed in the adjacent lane on the guide lane side. As a result, the user can grasp that the lane movement should be performed in the direction indicated by the arrow at the current timing. Further, in the lane movement warning section, the instruction image 65 and the own vehicle position mark 63 are not displayed in an overlapping manner, so that the user is not given a sense of crisis for approaching the lane movement end point.

  Thereafter, when the vehicle passes through “(1) Lane movement warning section” without moving the lane, the instruction image 65 is deleted as shown in FIG. That is, when the vehicle passes the “lane movement limit point A”, the lane movement is given up, and thereafter, guidance guidance is basically not performed. It should be noted that the route image 64 drawn linearly forward from the current position of the vehicle in the traveling direction may be displayed again or may not be displayed. On the other hand, it is assumed that the navigation device 1 passes through the guidance intersection at the time when the vehicle passes the “(1) lane movement warning section” in the direction corresponding to the traffic segment of the currently traveling lane (for example, the straight traveling direction). The guide route is re-searched (rerouted). Thereby, the user is not forced to operate the vehicle.

  On the other hand, when the vehicle moves from each section (1) to (3) and moves to the guidance lane, the guidance image 65 is deleted because it is no longer necessary to perform guidance guidance. Then, it is good also as a structure which displays the route image 64 drawn linearly ahead of the advancing direction from the present position of a vehicle. Further, the display of the movement guide screen 61 may be terminated after the vehicle has moved to the guide lane.

  Thereafter, in S34, the CPU 41 determines whether or not the vehicle has entered each section included in the guidance area.

  When it is determined that the vehicle has entered each section included in the guidance area (S34: YES), the process proceeds to S35. On the other hand. When it is determined that the vehicle has not entered each section included in the guidance area (S34: NO), the process proceeds to S36.

  In S <b> 35, the CPU 41 performs guidance guidance by voice guidance with guidance contents set for the section located after the vehicle enters. For example, as shown in FIG. 15, when traveling on a two-lane road on one side and a left lane different from the guide lane toward the guidance intersection 50, the vehicle is moved to a section 56 that is “(3) recommended lane movement section”. When entering, a voice guidance “Please prepare for moving to the right one lane” is output from the speaker 16. After that, when the vehicle enters the section 55 which is “(2) lane movement caution section” without moving the lane, a voice guidance prompting the driver to move to the lane more strongly is “Please move to the right lane”. Output from the speaker 16. Furthermore, when the vehicle enters the section 54 that is “(1) lane movement warning section” without moving the lane, “Please move immediately to the right lane” and voice guidance prompting the lane movement more strongly. Is output from the speaker 16. After that, if the vehicle does not move in the lane and passes through the section 54 which is “(1) lane movement warning section”, the lane movement is given up and basically no voice guidance is output. In addition, when the vehicle moves in a lane and enters the guide lane, basically no voice guidance is output. However, it may be configured to provide guidance that suggests maintaining the lane in which the vehicle travels, such as “Please continue traveling in the current lane”. The timing at which the voice guidance is started is the timing at which the vehicle crosses the boundary of the section.

  As described above, in the present embodiment, a plurality of instruction images 65 for prompting lane movement are displayed superimposed on “(1) lane movement warning section” or “(2) lane movement caution section” in the road image. Thus, it is possible to guide in an intuitively easy manner how to move the lane and move to the guide lane. Specifically, since the section in which the instruction image 65 is continuously displayed is a section in which lane movement is recommended, the user can easily grasp the timing for performing lane movement. In addition, from the direction of the arrow displayed as the instruction image 65, the direction of lane movement can be easily grasped. Therefore, it is possible to provide guidance that is easy to grasp even for a weakly sighted person.

  Thereafter, in S36, the CPU 41 determines whether or not the vehicle has passed through the latest guidance intersection.

  And when it determines with the vehicle having passed the latest guidance intersection (S36: YES), the said driving assistance processing program is complete | finished. Then, it is set as the structure which performs the guidance guidance based on the setting process of the next nearest guidance intersection, and the guidance area based on a guidance area. On the other hand, when it is determined that the vehicle has not passed through the latest guidance intersection (S36: NO), the process returns to S31 and guidance is continuously provided.

  As described above in detail, according to the navigation device 1, the driving support method using the navigation device 1, and the computer program executed by the navigation device 1 according to the present embodiment, the guide lane for guiding the vehicle is specified (S15). ), A recommended lane movement recommended section for lane movement to the guide lane is specified (S19), and an image of the road on which the vehicle is traveling is displayed by the HUD 19, and the lane movement recommended section is displayed in the displayed road image. Since a plurality of instruction images 65 for prompting lane movement to be superimposed are displayed (S33), it is possible to provide guidance in an intuitive and easy-to-understand manner on how to move to the guide lane. It becomes. In addition, it is possible to make the user recognize the guidance content instantaneously, and it is possible to provide guidance that is easy to grasp even for a weakly sighted person.

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 this embodiment, the guide lane for guiding the vehicle to the guidance intersection included in the guidance route and the guidance area for performing guidance guidance are set. However, there are guidance lanes other than the guidance intersection. If it is a road, it is good also as a structure which sets the guidance lane and guidance area | region mentioned above, and performs guidance guidance. For example, there are lane reduction sections due to construction and accidents. In addition, for lanes included in the road that enter the intersection even if it is an intersection other than the guidance intersection, a guidance lane and a guidance area are set in the same manner for the intersection with a traffic division for each traveling direction, and guidance guidance is provided. It is good also as composition to perform.

  In this embodiment, an area including three sections of “(1) lane movement warning section”, “(2) lane movement caution section”, and “(3) lane movement preparation section” is used as a guidance area. The guidance area may be divided into two sections or four sections or more. Further, in this embodiment, the recommended lane movement section for which lane movement is recommended is a section combining “(1) lane movement warning section” and “(2) lane movement caution section”, but “(3) lane movement” The “preparation zone” may be included in the recommended lane movement zone. In this case, the instruction image 65 is displayed also in “(3) Lane movement preparation section”.

  Further, in the present embodiment, the guidance guidance is not performed when the lane in which the vehicle travels is a lane composed of only one lane, but the guidance area for the lane in which the vehicle travels even if there is only one lane. It is good also as a structure which implements guidance guidance.

  In the present embodiment, the guide lane for guiding the vehicle to the nearest guide intersection from the current position of the vehicle and the guide area for performing the guide guidance are set (S7). It is good also as a structure which sets the guidance area | region for performing the guidance lane which guides a vehicle with respect to all the guidance intersections included in and guidance guidance. In that case, when setting the length of the section, the estimated vehicle speed estimated from the road regulation speed and the degree of congestion is used instead of the current vehicle speed.

  In addition, a guide color is set for each of the three sections “(1) lane movement warning section”, “(2) lane movement caution section”, and “(3) lane movement preparation section” included in the guidance area. When the vehicle is located in each section, the vehicle position mark 63 may be displayed in a color corresponding to the section in which it is located. Moreover, it is good also as a structure which displays the color of the road image 62 or the instruction | indication image 65 in the color corresponding to a area.

  In the present embodiment, the interval at which the instruction image 65 is displayed is a fixed interval (for example, an interval of 5 m), but the interval at which the instruction image 65 is displayed may be changed according to the distance to the lane movement end point X. . Specifically, the instruction image 65 is displayed at a narrower interval as the position is closer to the lane movement end point X. As a result, the user can intuitively grasp the distance to the point where the lane movement must be ended from the displayed instruction image 65.

  In the present embodiment, the instruction image 65 is an arrow image facing the guide lane side, but may be another image as long as the image suggests lane movement. However, it is desirable that the image has a shape that makes it easy to visually understand the direction of lane movement.

  In addition to the navigation device, the present invention can be applied to various devices having a function of performing route guidance based on a guidance route. For example, the present invention can be applied to a mobile terminal such as a mobile phone or a smartphone, a personal computer, a tablet terminal (hereinafter referred to as a mobile 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-mentioned driving support processing program (FIG. 2) may be configured to be implemented by either a server or a mobile terminal.

  Moreover, although the embodiment which actualized the driving support system according to the present invention has been described above, the driving support system can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
A driving support system (1) for performing guidance guidance for guiding a vehicle from a first lane to a second lane different from the first lane, wherein the lane is recommended to move from the first lane to the second lane. A recommended section specifying means (41) for specifying a recommended moving section (54, 55), a road image display means (41) for displaying an image (62) of a road on which the vehicle travels on a display device (19), Instruction image display means (41) for displaying a plurality of instruction images (65) for urging lane movement superimposed on the lane movement recommended section among the road images displayed on the display device.
According to the driving support system having the above-described configuration, it is possible to guide in an intuitively easy-to-understand manner how to move the lane and move from the first lane to the second lane. In addition, it is possible to make the user recognize the guidance content instantaneously, and it is possible to provide guidance that is easy to grasp even for a weakly sighted person.

The second configuration is as follows.
The instruction image display means (41) continuously displays the instruction image (65) at a predetermined interval from the start point to the end point of the lane movement recommended section (54, 55).
According to the driving support system having the above-described configuration, it is possible to visually guide the section recommended to move from the first lane to the second lane in an easy-to-understand manner. It becomes possible to make the user instantly recognize when to move to the second lane.

The third configuration is as follows.
The vehicle includes lane movement end point specifying means (41) for specifying a lane movement end point where the lane movement of the vehicle to the second lane needs to be completed, and the instruction image display means (41) includes the instruction image The display mode of the instruction image is changed stepwise according to the distance from the position to be displayed in (65) to the lane movement end point.
According to the driving support system having the above-described configuration, it is possible to provide guidance for prompting lane movement from the first lane to the second lane with an appropriate response according to the distance to the lane movement end point.

The fourth configuration is as follows.
Of the recommended lane movement sections (54, 55), a section away from the lane movement end point is divided and set as a caution section (55), and a section near the lane movement end point is divided as a warning section (54). The instruction image display means (41) displays the instruction image (65) straddling the first lane to the second lane in the caution section, and displays the instruction image in the second lane in the warning section. indicate.
According to the driving support system having the above-described configuration, it is possible to clearly guide the timing at which the lane movement from the first lane to the second lane should be performed using the instruction image, while the instruction image is displayed in the warning section near the lane movement end point. By not letting the vehicle position overlap, it is possible to avoid giving the user a sense of crisis for approaching the lane movement end point.

The fifth configuration is as follows.
The instruction image display means (41) displays the instruction image (65) at a narrower interval as the position is closer to the lane movement end point.
According to the driving support system having the above configuration, it is possible to intuitively grasp the distance to the point where lane movement must be ended from the displayed instruction image.

The sixth configuration is as follows.
The instruction image (65) is an arrow heading from the first lane toward the second lane.
According to the driving support system having the above configuration, the user clearly indicates the direction of the lane movement and the timing of the lane movement by visually recognizing the direction of the displayed arrow and the section where the arrow is displayed. Is possible.

The seventh configuration is as follows.
The road image display means (41) displays an image (62) of a road around the current position of the vehicle, and displays an image (63) indicating the current position of the vehicle on the display device ( 19).
According to the driving support system having the above-described configuration, it is possible to clearly guide the positional relationship between the current position of the vehicle and the recommended lane movement recommended section for lane movement, and the user can easily grasp the timing of lane movement. It becomes possible to do.

The eighth configuration is as follows.
The first lane is a travel lane in which the vehicle travels, and an image (64) connecting the current position of the vehicle to the instruction image (65) along the first lane is displayed on the road image (62 ) And a route image display means (41) for displaying on the display device (19).
According to the travel support system having the above configuration, it is possible to visually display a travel line that the vehicle should travel in the future.

The ninth configuration is as follows.
The instruction image display means (41) deletes the instruction image (65) after the vehicle has passed through the lane movement recommended section (54, 55) without moving to the second lane.
According to the driving support system having the above-described configuration, it is configured not to perform the guidance guidance to the second lane in a situation where lane movement to the second lane should be given up, so that the user can perform an unreasonable vehicle operation. Absent. In addition, it is possible to reduce the operation burden on the user.

The tenth configuration is as follows.
It has a guide route acquisition means (41) for acquiring a guide route for guiding the travel of the vehicle, and the recommended section specifying means (41) is provided for the guidance intersection (50, 51) included in the guide route. A lane movement recommended section (54, 55) is specified.
According to the driving support system having the above configuration, in particular when the vehicle passes through the guidance intersection, it is appropriate for the user what kind of vehicle operation should be performed at what timing to drive the vehicle along the guidance route. Can be grasped. As a result, the vehicle can be turned left or right in the direction along the guidance route without departing from the guidance route at the guidance intersection.

1 Navigation device 13 Navigation ECU
19 HUD
41 CPU
42 RAM
43 ROM
50, 51 guidance intersection 52 stop line 54 lane movement warning section 55 lane movement caution section 56 lane movement preparation section 61 travel guidance screen 62 road image 63 own vehicle position mark 64 route image 65 instruction image

Claims (12)

A driving support system for performing guidance guidance for guiding a vehicle from a first lane to a second lane different from the first lane,
Recommended section specifying means for specifying a lane movement recommended section that recommends lane movement from the first lane to the second lane;
Road image display means for displaying an image of a road on which the vehicle travels on a display device;
A driving support system comprising: instruction image display means for displaying a plurality of instruction images for urging lane movement superimposed on the recommended lane movement section of the road image displayed on the display device.   The driving support system according to claim 1, wherein the instruction image display means continuously displays the instruction image at a predetermined interval from a start point to an end point of the lane movement recommended section. A lane movement end point specifying means for specifying a lane movement end point where the lane movement of the vehicle to the second lane needs to be completed;
The said instruction image display means changes the display mode of the said instruction image in steps according to the distance from the position used as the display object of the said instruction image to the said lane movement end point. Driving support system. Of the recommended lane movement section, a section away from the lane movement end point is set as a caution section, and a section near the lane movement end point is divided and set as a warning section,
The instruction image display means includes
In the caution zone, the instruction image straddling the first lane to the second lane is displayed,
The driving support system according to claim 3, wherein the instruction image is displayed in the second lane in the warning section.   The driving support system according to claim 3 or 4, wherein the instruction image display means displays the instruction image at a narrower interval as the position is closer to the lane movement end point.   The travel support system according to claim 1, wherein the instruction image is an arrow heading from the first lane toward the second lane. The road image display means displays an image of a road around the current position of the vehicle,
The driving support system according to claim 1, wherein an image indicating a current position of the vehicle on the road image is displayed on the display device. The first lane is a travel lane in which the vehicle travels,
8. The route image display unit according to claim 1, further comprising a route image display unit configured to superimpose an image connecting the current position of the vehicle from the current position along the first lane to the instruction image on the road image. The driving support system described in Crab.   The travel according to any one of claims 1 to 8, wherein the instruction image display means deletes the instruction image after the vehicle passes through the lane movement recommended section without moving to the second lane. Support system. Having a guide route acquisition means for acquiring a guide route for guiding the traveling of the vehicle;
The travel support system according to any one of claims 1 to 9, wherein the recommended section specifying unit specifies the recommended lane movement section with respect to a guidance intersection included in the guide route. A driving support method for performing guidance guidance for guiding a vehicle from a first lane to a second lane different from the first lane,
A recommended section identifying means identifying a lane movement recommended section that recommends lane movement from the first lane to the second lane;
A road image display means for displaying an image of a road on which the vehicle travels on a display device;
The instruction image display means includes a step of displaying a plurality of instruction images for urging lane movement superimposed on the lane movement recommended section of the road image displayed on the display device. A computer program for performing guidance guidance for guiding a vehicle from a first lane to a second lane different from the first lane,
Computer
Recommended section specifying means for specifying a lane movement recommended section that recommends lane movement from the first lane to the second lane;
Road image display means for displaying an image of a road on which the vehicle travels on a display device;
Instruction image display means for displaying a plurality of instruction images for urging lane movement superimposed on the lane movement recommended section of the road image displayed on the display device;
Computer program to make it function.

Images