JP2018128283A - Navigation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation device for performing lane guidance at intersections as much as possible even where no lane information exists.SOLUTION: Where there is no lane information at a next passing intersection A on a guidance route, a passing direction according to the guidance route of the intersection A is a right turn or a left turn, lane information exists at an intersection B on a guidance route just before the intersection A, a passing direction according to the guidance route at the intersection B is straight and a distance between the intersection A and the preceding intersection B is within a predetermined distance, and there is a passable lane in the same direction as a passing direction (right turn or left turn) according to the guidance route of the intersection A in lanes of the intersection B indicated by lane information at the intersection B, a lane configuration that is the same as the lane configuration indicated by lane information of a road section before the intersection B among the lanes at the intersection B indicated by the lane information is estimated as the lane configuration of the intersection A to perform lane guidance.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a lane guidance technique in a navigation system.

  As a lane guidance technique in the navigation system, for each intersection, information on the lane configuration indicated by the number of lanes of the road section before the intersection and the traffic classification according to the traveling direction of each lane is stored in advance as lane information of the intersection. In order to pass the next intersection along the guidance route set as the route to the destination, along the guidance route, the lane recommended to travel in the road section before the intersection There is known a technique for calculating a recommended lane using the lane information and displaying a lane guide image representing the lane configuration of the road section before the intersection represented by the lane information of the intersection and the recommended lane (for example, a patent) References 1, 2).

JP 2008-241616 A JP 2004-340826 A

The above-described lane information is not necessarily maintained for all intersections, and lane information for some intersections may not be stored in advance in the navigation system.
For an intersection for which no lane information of such an intersection is stored, depending on the lane guidance technique for performing lane guidance for the road section before the intersection based on the previously stored intersection lane information, the lane I cannot give guidance.

  Therefore, the present invention provides lane guidance as much as possible for an intersection where no lane information exists in a navigation system that provides lane guidance for a road section before the intersection based on prestored intersection lane information. Is an issue.

  In order to achieve the above object, the present invention provides a navigation system mounted on an automobile, a guidance route setting unit that sets a route to a destination as a guidance route, and the number of lanes in a road section before each intersection. Storage means for storing lane information representing the lane configuration indicated by the road segment according to the traveling direction corresponding to each lane, and the next intersection when passing along the guidance route as the next intersection, the guidance to the next intersection The guidance target lane configuration setting means for setting the lane configuration of the road section before the next intersection when entering according to the route as the guidance target lane configuration, and the road section before the next intersection indicated by the guidance target lane configuration The road segment according to the direction of travel in the lane can pass the next intersection in the passing direction according to the guidance route. On the lane configuration diagram illustrating the lane configuration of the road section before the next intersection indicated by the recommended lane configuration, recommended lane setting means for setting at least one lane of the represented lanes as a recommended lane, Or, the guidance of the next intersection in the direction of travel of the recommended lane set by the recommended lane setting means of the lane configuration of the road section before the next intersection on the guidance route indicated by the guidance target lane configuration A lane displaying a lane guide image indicating the position of the recommended lane set by the recommended lane setting means on the lane configuration diagram illustrating the lane configuration replaced with the traveling section classified by the traveling direction that can proceed only in the passing direction according to the route Guide means are provided. Here, when the lane information of the road section before the next intersection is stored in the storage means, the guidance target lane configuration setting means stores the road section before the next intersection indicated by the lane information. The lane configuration is set as the guidance target lane configuration, the lane information of the road section before the next intersection is not stored in the storage means, and the intersection that has passed immediately before the next intersection according to the guidance route is the previous intersection. As described above, the storage means stores the lane information of the road section before the previous intersection when the passing direction according to the guidance route of the previous intersection is straight and the vehicle enters the previous intersection according to the guidance route. The lane configuration of the road section before the next intersection is estimated using the lane configuration indicated by the lane information of the road section before the previous intersection. , Sets the estimated lane configuration as the guidance target lane configuration.

  Here, in such a navigation system, in the guidance target lane configuration setting means, the storage means does not store the lane information of the road section before the next intersection, and follows the guidance route of the previous intersection. The passing direction is straight, the lane information of the road section before the previous intersection is stored in the storage means, the passing direction according to the guidance route of the next intersection is not straight, and the previous intersection and the next intersection Is within a predetermined distance, and can travel in the same passing direction as the passing direction according to the guidance route of the next intersection among the lanes of the previous intersection indicated by the lane information of the road section before the previous intersection When there are lanes with direction-specific traffic sections, the same lane configuration as the lane configuration indicated by the lane information of the road section before the previous intersection is the same as that of the next intersection. Of estimating a lane configuration of a road segment, the estimated lane configuration may be configured to set as the guidance target lane configuration.

  Alternatively, in such a navigation system, in the guidance target lane configuration setting unit, the storage unit does not store the lane information of the road section before the next intersection, and passes according to the guidance route of the next intersection. The direction is straight, the passing direction according to the guidance route of the previous intersection is straight, the lane information of the road section before the previous intersection is stored in the storage means, and the next intersection according to the guidance route Lane information of a road section before the rear intersection when entering the rear intersection according to the guidance route is stored in the storage means, and the storage means stores the lane information before the front intersection. The number of lanes indicated by the lane information of the road section is equal to the number of lanes indicated by the lane information of the road section before the rear intersection, Of the lane information for the straight road ahead of the previous intersection indicated by the lane information for the road section before the intersection, the lane information for the road section immediately before the rear intersection shown in the lane information for the straight road only for the straight road If there is a straight-ahead lane with the same arrangement as the lane, the number of lanes indicated by the lane information in the road section before the previous intersection is equal to the number of lanes, and the previous lane information indicated by the lane information in the road section before the previous intersection. Of the straight-ahead lanes in the road section before the intersection, the straight-ahead lanes with the same arrangement as the straight-ahead lane in the road section before the rear intersection indicated by the lane information of the road section before the rear intersection A lane configuration including a dedicated lane is estimated as the lane configuration of the road section before the next intersection, and the estimated lane configuration is set as the guidance target lane configuration. It may be configured to be set.

  Further, in such a navigation system, in the guidance target lane configuration setting means, the storage means does not store the lane information of the road section before the next intersection, and passes according to the guidance route of the next intersection. When the direction is not straight, the passing direction according to the guidance route of the previous intersection is straight, the lane information of the road section before the previous intersection is stored in the storage means, and the next intersection is straight Lane information of the road section before the rear intersection when the next intersection is entered as a rear intersection, and is stored in the storage means. If the number of lanes indicated by the lane information of the road section before the road is greater than the number of lanes indicated by the lane information of the road section before the rear intersection, The direction of travel in which the number of lanes indicated by the lane information of the road section before the point is the same as the number of lanes, and the lane-by-direction lane segment on the side of the passing direction according to the guidance route at the next intersection is the direction of travel. A lane configuration that is a separate traffic section may be estimated as a lane configuration of a road section before the next intersection, and the estimated lane configuration may be set as the guidance target lane configuration.

  In order to achieve the above object, the present invention provides a guidance route setting unit for setting a route to a destination as a guidance route in a navigation system mounted on an automobile, and a lane of a road section before each intersection. Storage means storing lane information indicating the lane configuration indicated by the number and the road segment according to the traveling direction corresponding to each lane, and the next intersection when passing along the guidance route as the next intersection, The guidance target lane configuration setting means for setting the lane configuration of the road section before the next intersection when entering according to the guidance route as the guidance target lane configuration, and the road before the next intersection indicated by the guidance target lane configuration Of the lanes in the section, the road segment by direction of travel can pass the next intersection in the passing direction according to the guidance route. A lane configuration diagram illustrating the lane configuration of the road section before the next intersection indicated by the recommended lane configuration, and recommended lane setting means for setting at least one lane of the lanes representing that as a recommended lane Or the road segment according to the direction of travel of the recommended lane set by the recommended lane setting means of the lane configuration of the road section before the next intersection on the guidance route indicated by the guidance target lane configuration A lane guidance image showing the position of the recommended lane set by the recommended lane setting means is displayed on the lane configuration diagram showing the lane configuration replaced with the traveling direction classified by traveling direction that can proceed only in the passing direction according to the guidance route. Lane guiding means for carrying out the operation. Here, when the lane information of the road section before the next intersection is stored in the storage means, the guidance target lane configuration setting means is the road section before the next intersection indicated by the lane information. The lane configuration is set as the guidance target lane configuration, the lane information of the road section before the next intersection is not stored in the storage means, and the passing direction according to the guidance route of the next intersection is straight ahead When the intersection passing immediately after the next intersection according to the guidance route is a rear intersection, the lane information of the road section before the rear intersection when entering the rear intersection according to the guidance route is stored in the storage means. The lane configuration of the road section before the next intersection is determined using the lane configuration indicated by the lane information of the road section before the rear intersection. Constant, and sets the estimated lane configuration as the guidance target lane configuration.

  In order to achieve the above object, the present invention provides a guidance route setting unit for setting a route to a destination as a guidance route in a navigation system mounted on an automobile, and a lane of a road section before each intersection. Storage means storing lane information indicating the lane configuration indicated by the number and the road segment according to the traveling direction corresponding to each lane, and the next intersection when passing along the guidance route as the next intersection, The guidance target lane configuration setting means for setting the lane configuration of the road section before the next intersection when entering according to the guidance route as the guidance target lane configuration, and the road before the next intersection indicated by the guidance target lane configuration Of the lanes in the section, the road segment by direction of travel can pass the next intersection in the passing direction according to the guidance route. A lane configuration diagram illustrating the lane configuration of the road section before the next intersection indicated by the recommended lane configuration, and recommended lane setting means for setting at least one lane of the lanes representing that as a recommended lane Or the road segment according to the direction of travel of the recommended lane set by the recommended lane setting means of the lane configuration of the road section before the next intersection on the guidance route indicated by the guidance target lane configuration A lane guidance image showing the position of the recommended lane set by the recommended lane setting means is displayed on the lane configuration diagram showing the lane configuration replaced with the traveling direction classified by traveling direction that can proceed only in the passing direction according to the guidance route. Lane guiding means for providing the lane. Here, when the lane information of the road section before the next intersection is stored in the storage means, the guidance target lane configuration setting means is the road section before the next intersection indicated by the lane information. Lane configuration is set as the guidance target lane configuration, and the current traveling direction of the upward direction and the downward direction of the road is set as the current traveling direction, the lane of the road section before the next intersection is stored in the storage means. No information is stored, and lane information of the road section before the adjacent intersection in the case of traveling in the current traveling direction and entering the intersection adjacent to the next intersection on the traveling road is stored. In this case, the lane configuration of the road section before the next intersection is estimated using the lane configuration indicated by the lane information of the road section before the adjacent intersection, and the estimated lane To set the formation as the guidance target lane configuration.

  According to the navigation system as described above, even when there is no lane information indicating the lane configuration of the road section before the next intersection that is the next intersection that passes when the vehicle travels according to the guidance route, the traveling road Estimate the lane configuration of the road section in front of the next intersection from the lane information of the road section in front of the adjacent intersection when traveling in the current driving direction and entering the intersection adjacent to the next next intersection. It is possible to guide the lane to be driven on the road section in front. Here, the lane configuration of the road section before the next intersection is highly correlated with the lane configuration of the intersection adjacent to the next intersection on the running road, and the estimation is performed using the lane configuration of the intersection adjacent to the next intersection. By doing so, the lane configuration of the next intersection can be estimated relatively correctly. Therefore, according to the present invention, lane guidance can be performed as much as possible even at an intersection where no lane information exists.

  Of the above navigation system forms, the lane configuration of the road section before the next intersection is estimated using the route information of the road section before the intersection when entering according to the guidance route of the intersection on the guidance route. According to this form, it is possible to perform lane guidance for the next intersection using only the intersection information that was the next intersection in the past or the intersection that will be the next intersection in the future. The lane guidance can be performed while suppressing the processing load associated with the lane guidance.

  As described above, according to the present invention, in a navigation system that provides lane guidance for a road section in front of an intersection based on prestored intersection lane information, an intersection where no lane information exists is as much as possible. Lane guidance can be performed.

It is a block diagram which shows the structure of the navigation system which concerns on embodiment of this invention. It is a figure which shows the content of the map data which concern on embodiment of this invention. It is a figure which shows the example of a display of the navigation system which concerns on embodiment of this invention. It is a flowchart which shows the lane guidance process which concerns on embodiment of this invention. It is a figure which shows the process example of the lane guidance process which concerns on embodiment of this invention. It is a figure which shows the process example of the lane guidance process which concerns on embodiment of this invention. It is a figure which shows the process example of the lane guidance process which concerns on embodiment of this invention. It is a figure which shows the process example of the lane guidance process which concerns on embodiment of this invention. It is a figure which shows the process example of the lane guidance process which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows a configuration of a navigation system according to the present embodiment.
The navigation system is a device mounted on an automobile, and includes a navigation device 1, an operation unit 2, a display device 3, a vehicle state sensor 4, and a GPS receiver 5 as illustrated. Here, the vehicle state sensor 4 is a sensor group that detects various states of the vehicle, such as an angular acceleration sensor and a vehicle speed sensor such as a vehicle speed pulse sensor.

  The navigation device 1 includes a current state calculation unit 11, a route search unit 12, a storage device 13 such as an HDD that stores map data representing a map, a memory 14, a control unit 15, a guidance image generation unit 16, an operation unit 2, It has the GUI control part 17 which provides GUI using a display apparatus 3 to a user.

  However, the above navigation apparatus 1 may be a CPU circuit having a general configuration including peripheral devices such as a microprocessor, a memory, and other graphic processors and geometric processors in terms of hardware. In this case, each unit of the navigation device 1 described above may be realized by a microprocessor executing a program prepared in advance. In this case, such a program may be provided to the navigation apparatus 1 via a recording medium or an appropriate communication path.

Next, the contents of the map data stored in the storage device 13 are shown in FIG.
As shown in the figure, the map data includes management data describing production date and time of the map data, basic map data representing the map, and the like.
The basic map data includes a road unit that represents a road network and a drawing unit that defines a display map.
Here, in the road unit, the road network is defined as a set of nodes representing road connection points such as intersections and links connecting the nodes, and the road unit includes node data provided for each node. A node table, and a link table including link data provided for each link.

  Each node data includes a node number serving as an identifier of the corresponding node, a node attribute indicating various attributes of the corresponding node, node coordinates indicating the position of the corresponding node, and a connection link indicating a link connected to the corresponding node. Information, connection node information representing other nodes connected to the corresponding node via one link, and intersection lane information.

  Intersection lane information is provided when a node is an intersection, and is provided corresponding to each link that is connected to the node and has a lane that travels in the direction of entering the node. Including incoming link data. Each entry link data includes a link number of the corresponding link and an entry lane table, and the entry lane table includes, for each lane in which the direction of entering the node of the corresponding link is the traveling direction. The corresponding entry lane data is included. Each approach lane data includes a lane number indicating the order of the lane counted from the lane from the end of the road among the lanes in the same traffic direction as the corresponding lane, It includes traffic classification information for each traveling direction and exit link information. The traveling direction traffic classification information represents the type of lane related to the traveling direction, such as a left turn dedicated lane, a right turn dedicated lane, a straight traveling dedicated lane, a U-turn dedicated lane, and a non-dedicated lane. Further, in the exit link information, the link number of each link that can proceed from the corresponding lane through the intersection that is the corresponding node is registered.

  Next, each link data in the link table includes a link number that is an identifier of the corresponding link, a link attribute that represents various attributes of the corresponding link, and a node of the first node that is a node that is one end point of the corresponding link A first node number representing a number and a second node number representing a node number of a second node that is a node corresponding to the other end point are stored.

Now, in such a configuration, the current state calculation unit 11 of the navigation device 1 repeatedly performs the following processing.
That is, the current state calculation unit 11 determines the current position previously determined by the road unit of the basic map of the map data read from the storage device 13 with respect to the current position estimated from the outputs of the vehicle state sensor 4 and the GPS receiver 5. By performing map matching processing with a map around the position, the most probable coordinates as the current position and the most probable direction as the current traveling direction are determined as the current position and the current traveling direction, respectively. Set.

In addition, the control unit 15 receives a destination setting from the user via the operation unit 2 and the GUI control unit 17 and sets the destination setting in the memory 14.
Then, when the setting of the destination is accepted, the control unit 15 causes the route search unit 12 to search for a guidance route to reach the destination. The route search unit 12 reads the road unit data in the necessary geographical area from the storage device 13, and sets the minimum cost route from the current position to the destination set in the memory 14 to a predetermined cost model such as the minimum distance. Is calculated as a guidance route, and the calculated guidance route data is set in the memory 14.

  Further, when the current position set in the memory 14 becomes near the destination, the control unit 15 determines that the destination has arrived, and also performs a process of clearing the destination and the guidance route set in the memory 14. .

  The guide image generation unit 16 then displays a map display range that is a geographical range around the current position calculated by the control unit 15 according to the current position set in the memory 14 and the map display scale set at that time. A map image is drawn based on a map data drawing unit stored in the map data recording unit. In addition, a current position, a guidance route, and a graphic representing the destination set in the memory 14 are drawn on the map image, and a guide image is generated and displayed on the display device 3 via the GUI control unit 17.

  FIG. 3 shows an example of the guide image 300 displayed on the display device 3 in this way. As shown in the figure, the guide image 300 represents the current position on the map image 301 around the current position. A current position mark 302 is shown. Here, when the guidance route is set, the route graphic 303 representing the guidance route within the map display range is displayed on the map image 301 in the guide image 300, and the destination is set. When the destination is included in the display range, the destination mark indicating the destination is also displayed on the map image 301.

  In addition, when the guidance route is set, the control unit 15 calculates a recommended lane that is a lane that recommends traveling in a road section before the next passing intersection by a lane guidance process described later, and calculates the recommended recommendation. A lane guidance image 310 for guiding the lane is generated and displayed on the guidance image 300 via the GUI control unit 17.

  Here, the lane guidance image 310 arranges the rectangles representing the lanes of the road section before the intersection in the horizontal direction in the order of the lanes represented by the rectangles viewed along the approach direction to the intersection, In each rectangle representing a lane other than the recommended lane, an arrow indicating the traffic segmentation according to the traveling direction of the lane represented by the rectangle is represented, and in each rectangle representing the recommended lane, the passing direction of the intersection according to the guidance route is represented. It shall represent an arrow.

  Further, the control unit 15 displays a command button for accepting various user instructions via the GUI control unit 17 at the lower part of the guide image 300, and allows the user to operate the command button via the operation unit 2. Perform appropriate processing. For example, in FIG. 3, as this command button, a wide area button and map detail button 3041 for changing the map scale, a menu button 3042 for calling various menus, and a destination for receiving a user operation and setting a destination as described above. A destination button 3043 for calling the setting process is provided.

Hereinafter, the above-described lane guidance process performed by the control unit 15 will be described.
Here, this lane guidance process is executed during the period when the guidance route is set.
FIG. 4 shows the procedure of lane guidance processing performed by the control unit 15.
As shown in the figure, in this process, first, it is checked whether or not there is lane information of the road section before the next intersection that is the next intersection that passes through the guidance route (step 402). Here, in the lane information of the road section before the next intersection, the link that becomes the link immediately before the node corresponding to the next intersection on the guidance route in the intersection lane information of the node data of the node corresponding to the next intersection Corresponds to the approach lane table of the approach link data in which the link number is registered.

  If the lane information of the road section before the next intersection exists (step 402), the lane configuration of the road section before the next intersection represented by the lane information is set as the guidance target lane structure (step 404). . Here, the lane configuration is represented by the number of lanes in the road section and the traffic division according to the traveling direction of each lane.

  On the other hand, when the lane information of the road section before the next intersection does not exist (step 402), the lane configuration of the road section before the next intersection is estimated (step 414). Details of the lane configuration estimation performed in step 414 will be described later.

  If the estimation of the lane configuration of the road section before the next intersection has failed (step 416), waiting for the arrival of the next intersection at the current position (step 420), and if the current position has reached the next intersection, The processing returns to step 402.

On the other hand, if the lane configuration of the road section before the next intersection can be estimated, the estimated lane configuration is set as the guidance target lane configuration (step 418).
Next, if the guidance target lane configuration is set in step 404 or step 418, a recommended lane is calculated from the guidance target lane configuration and the passing direction of the next intersection according to the guidance route (step 406). Here, in step 406, all the lanes indicating that the traveling section by traveling direction can proceed in the passing direction of the next intersection according to the guidance route among the lanes corresponding to the number of lanes represented by the guidance target lane configuration, or One of the lanes indicating that the vehicle can proceed in the passing direction of the next intersection according to the guidance route is calculated as a recommended lane.

  Then, a lane guidance image 310 is generated based on the recommended lane and guidance target lane configuration, and is displayed on the display device 3 in a form arranged on the guidance image 300 as shown in FIG. 3 (step 408).

  Here, in step 408, the lane guidance image 310 is a rectangle representing lanes corresponding to the number of lanes represented by the guidance target lane configuration of the road section before the next intersection along the approach direction to the next intersection. The lanes are arranged in the horizontal direction in the order of the lanes to be represented, and each rectangle representing a lane other than the recommended lane represents an arrow indicating the traffic division according to the traveling direction of the lane represented by the rectangle, and each rectangle representing the recommended lane An image representing an arrow indicating the passing direction of the intersection according to the guidance route is generated.

  That is, for example, as shown in FIG. 5a, the guidance target lane configuration is such that the lane configuration of the road section before the next intersection is a left / straight-ahead lane, two straight lanes, and a right-turn lane from the road edge (left). In the case where the lane guide image 310 is configured, the lane guide image 310 is generated as follows by steps 406 and 408.

  That is, as shown in FIG. 5b, when the passing direction of the next intersection according to the guidance route is a right turn, a right turn exclusive lane that can turn right is calculated as a recommended lane. Then, the rectangles representing the number of lanes represented by the guidance target lane configuration of the road section before the next intersection are arranged in the horizontal direction in the order of the lanes viewed along the approach direction to the intersection. In the rectangle representing the lane and the two straight lanes, an arrow indicating the traveling section according to the traveling direction is represented. In addition, in the rectangle representing the right turn dedicated lane that is the recommended lane, an arrow representing the right turn that is the passing direction of the next intersection according to the guidance route, and a rectangle and right turn representing the right turn dedicated lane that are the recommended lanes are displayed. The arrow to be displayed is highlighted to indicate that the lane is a recommended lane.

  In addition, the arrow which shows the traffic division classified by advancing direction is an arrow showing the direction which can advance from the said lane according to the traffic division classified by advancing direction. In addition, the nth rectangle from the left of the lane guide image 310 represents the nth lane from the left.

  In addition, as shown in FIG. 5c, when the passing direction of the next intersection according to the guidance route is a left turn, a left turn / straight-ahead lane that can turn left is calculated as a recommended lane. Then, two straight lanes are arranged by arranging the rectangles representing the lanes corresponding to the number of lanes represented by the guidance target lane configuration of the road section before the next intersection in the horizontal direction in the order of the lanes viewed along the approach direction to the intersection. In the rectangle representing the right turn dedicated lane, an arrow indicating the traffic division according to the traveling direction is represented. In addition, the rectangle representing the left turn / straight-ahead lane that is the recommended lane represents an arrow that represents the left turn that is the passing direction of the next intersection according to the guidance route, and also represents the left-turn / straight-ahead lane that is the recommended lane The arrow indicating the rectangle and the left turn is highlighted to indicate that the lane is a recommended lane.

  Also, as shown in FIG. 5d, when the passing direction of the next intersection according to the guidance route is a left turn, two straight lanes are calculated as recommended lanes. Then, the rectangles representing the number of lanes represented by the guidance target lane configuration of the road section before the next intersection are arranged in the horizontal direction in the order of the lanes viewed along the approach direction to the intersection. In the rectangle representing the lane and the right turn exclusive lane, an arrow indicating the traffic division according to the traveling direction is represented. In addition, in the rectangles representing the two straight lanes that are recommended lanes, each rectangle representing the two straight lanes that are recommended lanes as well as an arrow representing the straight direction that is the passing direction of the next intersection according to the guidance route The arrow indicating a right turn is highlighted to indicate that the lane is a recommended lane.

  If there are a plurality of lanes indicating that the traveling direction by traveling direction can proceed in the passing direction of the next intersection according to the guidance route, all the lanes of the plurality of lanes are recommended lanes as shown in FIG. 5d. Or only one lane out of the plurality of lanes selected according to a predetermined condition may be calculated as a recommended lane.

  Returning to FIG. 4, if the lane guidance image 310 is displayed, it waits for the arrival of the next intersection at the current position (step 410), and if the current position reaches the next intersection, the display of the lane guidance image 310 is erased ( Step 412), the process returns to Step 402.

The procedure of the lane guidance process performed by the control unit 15 has been described above.
Next, details of the lane configuration estimation performed in step 414 of the lane guidance process shown in FIG. 4 will be described.
First, in step 414, the passing direction according to the guidance route of the next intersection A having no lane information of the road section in front is a right turn or a left turn, and the intersection on the guidance route that passed immediately before the next intersection A. There is lane information of the road section before the intersection B, the passing direction according to the guidance route of the previous intersection B is straight, and the distance between the next intersection A and the previous intersection B is within a predetermined distance (for example, 50 m) Yes, among the lanes in the road section before the intersection B indicated by the lane information of the road section before the previous intersection B, it can pass in the same direction as the passing direction (right turn or left turn) according to the guidance route of the next intersection A When a lane exists, the same lane configuration as the lane configuration indicated by the lane information of the road section before the previous intersection B is estimated as the lane configuration of the road section before the intersection A. . Here, if there is a lane that can pass in the same direction as the right-left turn direction according to the guidance route of the next intersection A at the intersection B near the next intersection A on the same road as the next intersection A, the intersection B No decrease in lanes between the intersection A and the next intersection A can be estimated to have the same lane configuration as the intersection B. Therefore, by performing the above estimation, The lane configuration of the next intersection can be estimated correctly.

  That is, for example, in the case shown in FIG. 6a, the passing direction according to the guiding route of the next intersection A without the lane information of the road section in front is a right turn, and the guiding route that passed in the straight direction immediately before the next intersection A There is lane information 601 of the road section before the previous intersection B which is the upper intersection, the distance between the next intersection A and the previous intersection B is within a predetermined distance (for example, 50 m), and the road section before the previous intersection B Among the lanes in the road section before the previous intersection B indicated by the lane information 601 of this, there is a right turn exclusive lane that is a lane that can pass through the previous intersection B in the right turn direction that is the passing direction according to the guidance route of the next intersection A Therefore, as shown in FIG. 6B, the same lane configuration as the lane information indicated by the lane information 601 of the road section before the previous intersection B is the same as the lane configuration 61 of the road section before the intersection A. It estimated as.

As the lane information of the road section before the previous intersection B, the lane information acquired as the lane information of the next intersection when the previous intersection B was the next intersection in the past is used.
When the lane configuration 611 of the road section before the intersection A can be estimated as described above, the estimated lane configuration 611 is set as the guidance target lane configuration as described above (step 418), and the guidance is performed. A lane guide image 310 is generated and displayed based on the target lane configuration (steps 406 and 408).

  In step 414, the passing direction according to the guidance route of the next intersection A having no lane information of the preceding road section is straight, and the previous intersection B which is the intersection on the guidance route that passes immediately before the next intersection A. The direction of the road following the guidance route is straight, the lane information of the road section before the previous intersection B is present, and the road section before the rear intersection C that is the intersection on the guidance route passing immediately after the next intersection A The number of lanes indicated by the lane information of the road section before the front intersection B is equal to the number of lanes indicated by the lane information of the road section before the rear intersection C, and the arrangement (order from the left) is the same. The road ahead of the rear intersection C indicated by the lane information of the straight road lane of the road section before the front intersection B indicated by the lane information of the road section before the front intersection B and the road section before the rear intersection C When there is a straight lane between them, the number of lanes is equal to the number of lanes indicated by the lane information of the road section before the front intersection B and the rear intersection C, and the straight lane of the road section before the rear intersection C And the same lane (order from the left) and the lane with the same arrangement (order from the left) as the straight lane in the road section before the previous intersection B is the straight lane, and the other lanes are classified according to the direction of travel. The lane configuration which is an unknown lane is estimated as the lane configuration of the road section before the next intersection A.

  Here, since the rear intersection C and the previous intersection B are adjacent intersections on the same road with the next intersection A sandwiched between them, the number of lanes in the road section before the rear intersection C and the road section before the front intersection B If the number of lanes is equal, there is no decrease or increase in lane between the previous intersection B and the rear intersection C, and the straight-ahead lane and the straight-ahead lane in the road section before the rear intersection C are arranged. There is a high probability that the straight-ahead lane in the road section in front of the previous intersection B having the same (order from the left) is a continuous straight-ahead lane. Therefore, by performing the estimation as described above, the lane configuration of the next intersection can be estimated relatively accurately with respect to the straight-ahead lane used for passing the next intersection A according to the guidance route and its arrangement.

  That is, for example, in the case shown in FIG. 7a, the direction of passage according to the guidance route of the next intersection A without the lane information of the previous road section is straight, and the guidance route that has passed in the straight direction immediately before the next intersection A There is lane information 701 of the road section before the previous intersection B which is the upper intersection, and lane information 702 of the road section before the rear intersection C which is the intersection on the guidance route passing immediately after the next intersection A, The number of lanes indicated by the lane information of the road section before the front intersection B and the number of lanes indicated by the lane information of the road section before the rear intersection C are equal to 4, and the lane information 701 of the road section before the front intersection B is The left and right of the second and third straight lanes from the left of the road section before the front intersection B shown and the road section before the rear intersection C indicated by the lane information 702 of the road section before the rear intersection C The second and third straight traveling lanes are straight traveling dedicated lanes having the same arrangement (in order from the left). Therefore, as shown in FIG. 7B, the number of lanes is the road section before the front intersection B or the rear intersection C. The number of lanes in the front road section is equal to 4, and the 2nd and 3rd lanes are straight lanes just like the road section before the front intersection B and the road section before the rear intersection C. A lane configuration in which the fourth lane is a lane whose traveling direction is unknown is estimated as the lane configuration 711 of the road section before the intersection A.

  When the lane configuration 711 of the road section before the intersection A can be estimated as described above, the estimated lane configuration 711 is set as the guidance target lane configuration as described above (step 418), and the guidance is performed. A lane guide image 310 is generated and displayed based on the target lane configuration (steps 406 and 408). However, here, in the generation of the lane guidance image 310 in step 408, as shown in FIG. 7b, in the guidance target lane configuration, the rectangle representing the lane in which the traveling section according to the traveling direction is an unknown lane is included. Don't show the arrow.

  As the lane information of the road section before the previous intersection B, the lane information acquired as the lane information of the next intersection when the previous intersection B was the next intersection in the past is used. Further, the lane information of the road section before the rear intersection C is used as the lane information of the next intersection when the rear intersection C becomes the next intersection after passing through the intersection A.

The details of the lane configuration estimation performed in step 414 of the lane guidance process shown in FIG. 4 have been described above.
By the way, in the estimation of the lane configuration performed in step 414, as shown in FIG. 8a, the passing direction according to the guidance route of the next intersection A having no lane information of the previous road section is a right turn or a left turn, and the previous intersection B The direction of passage according to the guide route is straight, the lane information 801 of the road section before the previous intersection B exists, and the road section of the road section before the next intersection C that arrives next when the vehicle travels straight through the next intersection A When the lane information 802 exists, the number of lanes indicated by the lane information 802 of the road section before the rear intersection C is smaller than the number of lanes indicated by the lane information 801 of the road section before the front intersection B. Is the same lane configuration as the lane information indicated by the lane information of the road section before the previous intersection B described with reference to FIG. 6a, and the lane of the road section before the next intersection A. Estimated to be formed it may not be performed unconditionally.

  In this case, in the estimation of the lane configuration performed in step 414, as shown in FIG. 8a, the passing direction according to the guidance route of the next intersection A having no lane information of the previous road section is a right turn or a left turn. In the case where the passing direction according to the guidance route of the previous intersection B is straight, the number of lanes indicated by the lane information 802 of the road section in front of the rear intersection C that arrives next when the next intersection A is traveled straight is If the number of lanes indicated by the lane information 801 of the road section before the intersection B is smaller than the number of lanes, the lane configuration of the road section before the next intersection A may be estimated as follows.

  That is, as shown in FIG. 8b, the number of lanes in the road section before the next intersection A is the same as the number of lanes indicated by the lane information 802 of the road section before the next intersection C, and the road section before the next intersection A. The lane configuration 811 is estimated.

  Also, as shown in the figure, when the passing direction according to the guidance route of the next intersection A is a right turn, the rightmost lane among the lanes of the road section before the next intersection A is a right turn dedicated lane, The remaining lanes are designated as straight driving lanes, and the lane configuration 811 of the road section before the next intersection A is estimated. Also, if the passing direction according to the guidance route at the next intersection A is a left turn, the leftmost lane in the road section before the next intersection A is the left turn lane, and the remaining lanes go straight As a dedicated lane, the lane configuration 811 of the road section before the next intersection A is estimated.

  When the lane configuration 711 of the road section before the intersection A can be estimated as described above, the estimated lane configuration 811 is set as the guidance target lane configuration as described above (step 418), and the guidance is performed. A lane guide image 310 is generated and displayed based on the target lane configuration (steps 406 and 408).

  By doing so, the rightmost / leftmost lane that can make a right turn / left turn reliably while suppressing the confusion to the user by guiding the lane guide image 310 with more lanes than the actual number of lanes. It can be guided as a recommended lane.

  The estimation of the lane configuration described above with reference to FIGS. 6, 7, and 8 is an example, and the estimation of the lane configuration performed in step 414 of the lane guidance process shown in FIG. If the lane information of the road section in front of the intersection when passing through the intersection in the same direction as the current traveling direction (upward / downward) of an intersection adjacent to a certain next intersection, You may make it perform by an estimation method.

  That is, for example, as shown in FIG. 9a, when traveling in the upward direction at a point before the next intersection A of the road X according to the guidance route, the intersection Y adjacent to the next intersection A on the road X, or the road A road in front of the next intersection A using at least one of the lane information 901 and 902 of the road section before the intersection when the road X enters the intersection Z adjacent to the next intersection A on X. The lane configuration of the section may be estimated.

  Here, the lane configuration of the next intersection A is highly correlated with the lane configuration of the intersections Y and Z adjacent to the next intersection on the running road, and is at least of the lane configuration of the intersections Y and Z adjacent to the next intersection A. By performing estimation using one of them, the lane configuration of the next intersection A can be estimated relatively correctly.

  More specifically, in this case, for example, when the lane configuration indicated by the lane information 901 and 902 of the road section before the intersection in the case of entering the intersection Y and the intersection Z in the upward direction is the same. As shown in FIG. 9b, the lane configuration of the road section before the next intersection A is the same as the lane configuration of the road section of the road section before the intersection in the case of entering in the upward direction of the intersection Y or the intersection Z. The lane configuration 911 is estimated.

  When the lane configuration 711 of the road section before the intersection A can be estimated as described above, the estimated lane configuration 911 is set as the guidance target lane configuration as described above (step 418), and the guidance is performed. A lane guide image 310 is generated and displayed based on the target lane configuration (steps 406 and 408).

The embodiment of the present invention has been described above.
Here, in the above embodiment, the lane guidance image 310 is arranged in the horizontal direction in the order of the lanes as viewed along the approach direction to the intersection, with the rectangles representing the lanes of the road section before the intersection. In each rectangle representing a lane other than the recommended lane, an arrow indicating the traffic division according to the traveling direction of the lane represented by the rectangle is represented, and the passing direction of the intersection according to the guidance route is represented in each rectangle representing the recommended lane In the lane guide image 310, the rectangles representing the lanes of the road section before the intersection are arranged in the horizontal direction in the order of the lanes viewed along the approach direction to the intersection. In addition, each rectangle representing each lane represents an arrow indicating the traffic division according to the traveling direction of the lane represented by the rectangle, that is, the recommended lane is also the other lane. Similarly, it may be a representation of an arrow indicating a traveling direction traffic section by of the recommended lane lane set in in a rectangle representing the set to the recommended lane lane.

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 2 ... Operation part, 3 ... Display apparatus, 4 ... Vehicle state sensor, 5 ... GPS receiver, 11 ... Current state calculation part, 12 ... Route search part, 13 ... Memory | storage device, 14 ... Memory, 15 ... Control unit, 16 ... Guide image generation unit, 17 ... GUI control unit.

Claims (7)

A navigation system mounted on a car,
A guidance route setting unit for setting a route to the destination as a guidance route;
Storage means for storing lane information representing the lane configuration indicated by the number of lanes and the road segment by traveling direction corresponding to each lane of the road section before each intersection;
When the vehicle travels according to the guidance route, the next intersection is set as the next intersection, and the lane configuration of the road section before the next intersection when entering the next intersection according to the guidance route is set as the guidance target lane configuration. Guidance target lane configuration setting means,
Among the lanes of the road section before the next intersection shown by the guidance target lane configuration, at least one of the lanes indicating that the road segment by traveling direction can pass the next intersection in the passing direction according to the guidance route Recommended lane setting means for setting one lane as a recommended lane,
On the lane configuration diagram illustrating the lane configuration of the road section before the next intersection indicated by the guidance target lane configuration, or on the road section before the next intersection on the guidance route indicated by the guidance target lane configuration. A lane configuration is illustrated in which the recommended lane-specific traffic section set by the recommended lane setting means of the lane configuration is replaced with a travel-direction specific traffic section that can travel only in the passing direction according to the guidance route of the next intersection. Lane guide means for displaying a lane guide image indicating the position of the recommended lane set by the recommended lane setting means on the lane configuration diagram;
The guidance target lane configuration setting means
When lane information of the road section before the next intersection is stored in the storage means, the lane configuration of the road section before the next intersection indicated by the lane information is set as the guidance target lane configuration. ,
The lane information of the road section before the next intersection is not stored in the storage means, and the passage according to the guidance route of the previous intersection is defined as the intersection that passed immediately before the next intersection according to the guidance route. When the direction is straight and the lane information of the road section before the previous intersection in the case of entering the previous intersection according to the guidance route is stored in the storage means, the road section of the road before the previous intersection is stored. A navigation system, wherein a lane configuration of a road section before the next intersection is estimated using a lane configuration indicated by lane information, and the estimated lane configuration is set as the guidance target lane configuration. A navigation system mounted on a car,
A guidance route setting unit for setting a route to the destination as a guidance route;
Storage means for storing lane information representing the lane configuration indicated by the number of lanes and the road segment by traveling direction corresponding to each lane of the road section before each intersection;
When the vehicle travels according to the guidance route, the next intersection is set as the next intersection, and the lane configuration of the road section before the next intersection when entering the next intersection according to the guidance route is set as the guidance target lane configuration. Guidance target lane configuration setting means,
Among the lanes of the road section before the next intersection shown by the guidance target lane configuration, at least one of the lanes indicating that the road segment by traveling direction can pass the next intersection in the passing direction according to the guidance route Recommended lane setting means for setting one lane as a recommended lane,
On the lane configuration diagram illustrating the lane configuration of the road section before the next intersection indicated by the guidance target lane configuration, or on the road section before the next intersection on the guidance route indicated by the guidance target lane configuration. A lane configuration is illustrated in which the recommended lane-specific traffic section set by the recommended lane setting means of the lane configuration is replaced with a travel-direction specific traffic section that can travel only in the passing direction according to the guidance route of the next intersection. Lane guide means for displaying a lane guide image indicating the position of the recommended lane set by the recommended lane setting means on the lane configuration diagram;
The guidance target lane configuration setting means includes:
When lane information of the road section before the next intersection is stored in the storage means, the lane configuration of the road section before the next intersection indicated by the lane information is set as the guidance target lane configuration. ,
The lane information of the road section before the next intersection is not stored in the storage means, the passing direction according to the guidance route of the next intersection is straight, and passes immediately after the next intersection according to the guidance route. When the lane information of the road section before the rear intersection in the case of entering the rear intersection according to the guidance route with the intersection as the rear intersection, the storage means stores the lane information of the road section before the rear intersection. A navigation system, wherein a lane configuration of a road section before the next intersection is estimated using a lane configuration indicated by lane information, and the estimated lane configuration is set as the guidance target lane configuration. The navigation system according to claim 1,
The guidance target lane configuration setting means does not store the lane information of the road section before the next intersection in the storage means, the passing direction according to the guidance route of the previous intersection is straight, and the previous intersection Lane information of the road section before is stored in the storage means, the passing direction according to the guidance route of the next intersection is not straight, and the distance between the previous intersection and the next intersection is within a predetermined distance, Among the lanes of the previous intersection indicated by the lane information of the road section in front of the previous intersection, there are lanes according to the traveling direction that can pass in the same passing direction as the passing direction according to the guidance route of the next intersection. The same lane configuration as the lane configuration indicated by the lane information of the road section before the previous intersection is estimated as the lane configuration of the road section before the next intersection. Navigation system and sets the configuration as the guidance target lane configuration. The navigation system according to claim 1,
The guidance target lane configuration setting means does not store the lane information of the road section before the next intersection in the storage means, the passing direction according to the guidance route of the next intersection is straight, and the front intersection The passing direction according to the guidance route is straight, the lane information of the road section before the previous intersection is stored in the storage means, and the intersection that passes immediately after the next intersection according to the guidance route passes the rear intersection. The lane information of the road section before the rear intersection when entering the rear intersection according to the guidance route is stored in the storage means, and the number of lanes indicated by the lane information of the road section before the front intersection Is equal to the number of lanes indicated by the lane information of the road section before the rear intersection, and the front intersection indicated by the lane information of the road section before the front intersection. When there is a straight-ahead lane with the same arrangement as the straight-ahead lane of the road section before the rear intersection indicated by the lane information of the road section before the rear intersection among the straight-ahead lanes of the road section before the point The number of lanes is equal to the number of lanes indicated by the lane information of the road section before the previous intersection, and the lane information of the road section before the previous intersection indicates the straight-ahead dedicated lane of the road section before the previous intersection. A lane configuration including a straight-ahead dedicated lane having the same arrangement as a straight-ahead dedicated lane and a straight-ahead dedicated lane having the same arrangement as the straight-ahead dedicated lane of the road section before the rear intersection indicated by the lane information of the road section before the rear intersection A navigation system characterized by estimating a lane configuration of a road section and setting the estimated lane configuration as the guidance target lane configuration. The navigation system according to claim 1,
The guidance target lane configuration setting means does not store the lane information of the road section before the next intersection in the storage means, the passing direction according to the guidance route of the next intersection is not straight, and the previous intersection The direction of passage according to the guidance route is straight, the lane information of the road section before the previous intersection is stored in the storage means, and when the next intersection is straight, the next intersection to be reached is the rear intersection. Lane information of the road section before the next intersection when the next intersection is entered straight after entering the next intersection is stored in the storage means, and the lane information of the road section before the previous intersection is If the number of lanes indicated is greater than the number of lanes indicated by the lane information of the road section before the rear intersection, the number of lanes indicated by the lane information of the road section before the rear intersection The lane configuration in which the lane structure according to the traveling direction of the lane on the side of the passing direction according to the guidance route of the next intersection is the road segment according to the traveling direction in which the traveling direction can proceed in the traffic direction is the front of the next intersection. A navigation system, wherein the estimated lane configuration is set as the guidance target lane configuration. A navigation system mounted on a car,
A guidance route setting unit for setting a route to the destination as a guidance route;
Storage means for storing lane information representing the lane configuration indicated by the number of lanes and the road segment by traveling direction corresponding to each lane of the road section before each intersection;
When the vehicle travels according to the guidance route, the next intersection is set as the next intersection, and the lane configuration of the road section before the next intersection when entering the next intersection according to the guidance route is set as the guidance target lane configuration. Guidance target lane configuration setting means,
Among the lanes of the road section before the next intersection shown by the guidance target lane configuration, at least one of the lanes indicating that the road segment by traveling direction can pass the next intersection in the passing direction according to the guidance route Recommended lane setting means for setting one lane as a recommended lane,
On the lane configuration diagram illustrating the lane configuration of the road section before the next intersection indicated by the guidance target lane configuration, or on the road section before the next intersection on the guidance route indicated by the guidance target lane configuration. A lane configuration is illustrated in which the recommended lane-specific traffic section set by the recommended lane setting means of the lane configuration is replaced with a travel-direction specific traffic section that can travel only in the passing direction according to the guidance route of the next intersection. Lane guide means for displaying a lane guide image indicating the position of the recommended lane set by the recommended lane setting means on the lane configuration diagram;
The guidance target lane configuration setting means includes:
When lane information of the road section before the next intersection is stored in the storage means, the lane configuration of the road section before the next intersection indicated by the lane information is set as the guidance target lane configuration. ,
The current traveling direction of the upward direction and the downward direction of the road is the current traveling direction, the lane information of the road section before the next intersection is not stored in the storage means, and When the lane information of the road section in front of the adjacent intersection in the case of traveling in the current traveling direction and entering the intersection adjacent to the next intersection is stored, the road section in front of the adjacent intersection A navigation system, wherein a lane configuration of a road section before the next intersection is estimated using a lane configuration indicated by lane information, and the estimated lane configuration is set as the guidance target lane configuration. A computer program that is read and executed by a computer installed in an automobile,
The computer program stores the computer,
A guidance route setting unit for setting a route to the destination as a guidance route;
Storage means for storing lane information representing the lane configuration indicated by the number of lanes and the road segment by traveling direction corresponding to each lane of the road section before each intersection;
When the vehicle travels according to the guidance route, the next intersection is set as the next intersection, and the lane configuration of the road section before the next intersection when entering the next intersection according to the guidance route is set as the guidance target lane configuration. Guidance target lane configuration setting means,
Among the lanes of the road section before the next intersection shown by the guidance target lane configuration, at least one of the lanes indicating that the road segment by traveling direction can pass the next intersection in the passing direction according to the guidance route Recommended lane setting means for setting one lane as a recommended lane,
On the lane configuration diagram illustrating the lane configuration of the road section before the next intersection indicated by the guidance target lane configuration, or on the road section before the next intersection on the guidance route indicated by the guidance target lane configuration. A lane configuration is illustrated in which the recommended lane-specific traffic section set by the recommended lane setting means of the lane configuration is replaced with a travel-direction specific traffic section that can travel only in the passing direction according to the guidance route of the next intersection. On the lane configuration diagram, function as lane guide means for displaying a lane guide image indicating the position of the recommended lane set by the recommended lane setting means,
The guidance target lane configuration setting means includes:
When lane information of the road section before the next intersection is stored in the storage means, the lane configuration of the road section before the next intersection indicated by the lane information is set as the guidance target lane configuration. ,
The current traveling direction of the upward direction and the downward direction of the road is the current traveling direction, the lane information of the road section before the next intersection is not stored in the storage means, and When the lane information of the road section in front of the adjacent intersection in the case of traveling in the current traveling direction and entering the intersection adjacent to the next intersection is stored, the road section in front of the adjacent intersection A computer program characterized by estimating a lane configuration of a road section before the next intersection using a lane configuration indicated by lane information, and setting the estimated lane configuration as the guidance target lane configuration.