JP2018146461A - Information creation device and information creation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movable body with guidance information on a lane to be selected on the road on which the movable body travels.SOLUTION: An event information acquisition part 740 receives information transmitted from an analysis part 725 and a communication part 730, the information being on information on an event that may hinder a movable body MV from traveling, and derives, from the information, event information including the presence/absence of a vehicle parking on the street and the presence/absence of a traffic jam sequence as well as a travel hindering section. A determination part 770, when a vehicle parking on the street is present on a lane on which the movable body should travel and a lane on which the movable body travels is the lane on which the movable body should travel, determines that first lane change is necessary before the movable body MV reaches the travel hindering section. When a section between the beginning of the travel hindering section in proximity with a guidance attention point to the guidance attention point is not a lane change prohibition section, the determination part 770 determines that second lane change to the lane on which the movable body should travel is necessary after the movable body passes through the travel hindering section. Subsequently, a creation part 780 creates guidance information on the details of results of determination performed by the determination part 770.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an information generation apparatus, an information generation method, an information generation program, and a recording medium on which the information generation program is recorded.

  Conventionally, navigation devices arranged on a moving body such as a vehicle have been widely used. In recent years, the progress of the technology of the navigation apparatus is remarkable, and many functions are provided for the purpose of providing guidance guidance that is easy to understand for the user. As one of such functions, there is one that performs guidance guidance for changing lanes to a driver of a vehicle traveling in a plurality of lanes, and various techniques for performing the guidance guidance have been proposed.

  As one of such proposed technologies, when there are a plurality of lanes on the road, it is determined whether or not an event has occurred that serves as a reference material for necessity of lane change at a point where the vehicle is currently traveling. There is a guide for posting basic information for determining whether or not a lane change is necessary (see Patent Document 1: hereinafter referred to as “Conventional Example 1”). In the technology of the conventional example 1, lane change guidance is performed when a lane change event that requires a lane change is detected within a specified distance in front of the traveling lane.

  In addition, as another proposed technique, there is one that guides and guides a vehicle to change lanes according to traffic congestion in a lane when the vehicle is traveling on a road with multiple lanes (see Patent Document 2: This will be referred to as Conventional Example 2). In the technique of Conventional Example 2, in order to follow the optimum route, it is determined which lane that leads to the road junction should be traveled. If a traffic jam occurs in the lane leading to the road branch point and the traffic jam head position is before the road branch point, the traffic lane leading to the determined road branch point before the traffic jam head position Guidance to change lanes.

Japanese Patent Laying-Open No. 2015-155857 JP 2013-050397 A

  In the technique of the conventional example 1 described above, when a traveling road has a plurality of lanes and there is a congested vehicle train ahead of the traveling lane, display guidance “There is a traffic jam ahead” is performed. When there is a road parked vehicle in front of the traveling lane, a display guidance “There are many parked vehicles in this lane” is performed. As described above, in the technique of the conventional example 1, when the presence of a congested vehicle train or the presence of a parked vehicle on the road is detected as a lane change event, only the lane selected by the above-described display guidance is selected. There is no guidance on whether or not it is good.

  In the technique of the conventional example 2 described above, guidance guidance is provided as to which lane to select when traveling on a road with multiple lanes and there is a congested vehicle train ahead. . However, in the technology of Conventional Example 2, when driving on a road with multiple lanes, guidance is provided on how to select the lane to travel according to the presence or absence of a parked vehicle on the road ahead. Absent.

  For this reason, the technique which can provide the guidance information regarding the lane which should be selected on the driving | running | working road according to the presence or absence of the on-road parked vehicle is desired. Meeting this requirement is one of the problems to be solved by the present invention.

  The invention according to claim 1 is an event information acquisition unit that acquires event information including the presence / absence of a road parked vehicle, which is information on an event that may be a travel disturbance on a traveling direction side of a moving body traveling on a road; A generating unit that generates guidance information about a lane on the road on which the moving body should travel based on the presence or absence of a road parked vehicle.

  The invention according to claim 13 is an information generation method used in an information generation apparatus including an event information acquisition unit and a generation unit, wherein the event information acquisition unit is a progression of a moving object traveling on a road. An event information acquisition step of acquiring event information including event information including presence / absence of a road parked vehicle, which is information on an event that may cause a direction-side travel obstruction; and the generation unit travels based on the presence / absence of the road parked vehicle A generation step of generating guidance information relating to the lane on the road to be generated.

  A fourteenth aspect of the invention is an information generation program that causes a computer included in the information generation apparatus to execute the information generation method according to the thirteenth aspect.

  According to a fifteenth aspect of the present invention, there is provided a recording medium in which the information generation program according to the fourteenth aspect is recorded so as to be readable by a computer included in the information generation apparatus.

It is a block diagram which shows the structure of the information generation apparatus which concerns on one Embodiment of this invention. It is a block diagram which shows roughly the structure of the information generation apparatus which concerns on one Example of this invention. It is a flowchart for demonstrating the production | generation and alerting | reporting process of the guidance information regarding a travel lane by the information generation apparatus of FIG. It is a flowchart for demonstrating the production | generation process of the guidance information regarding the lane accompanying the disturbance event generation | occurrence | production of FIG. It is a flowchart for demonstrating the production | generation process of the guidance information corresponding to the obstruction event of FIG. It is a flowchart for demonstrating the production | generation process of the guidance information corresponding to the road parking vehicle of FIG. It is a flowchart for demonstrating the production | generation process of the guidance information corresponding to the congestion line of FIG. It is a flowchart for demonstrating the alerting | reporting process of the guidance information of FIG. It is FIG. (1) which shows the image display example of the guidance information regarding a lane when a disturbance event is a road parked vehicle. It is FIG. (2) which shows the example of an image display of the guidance information regarding a lane when a disturbance event is a road parked vehicle. It is FIG. (3) which shows the example of an image display of the guidance information regarding a lane when a disturbance event is a road parked vehicle. It is FIG. (4) which shows the example of an image display of the guidance information regarding a lane when a disturbance event is a road parked vehicle. It is FIG. (1) which shows the example of an image display of the guidance information regarding a lane when a disturbance event is a congestion line. It is FIG. (2) which shows the example of an image display of the guidance information regarding a lane when a disturbance event is a congestion line.

  Hereinafter, an embodiment of the present invention will be described with reference to FIG. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 1 is a block diagram illustrating a configuration of an information generation apparatus 700 according to an embodiment. The information generation device 700 is disposed in the mobile body MV. In this embodiment, in addition to the information generation apparatus 700, the position detection part 910 and the driving | running | working motion detection part 920 are arrange | positioned at the mobile body MV.

  The position detector 910 sequentially detects the current position of the moving body MV. Then, the position detection unit 910 sends the detected current position of the moving body MV to the information generation apparatus 700.

  The traveling operation detection unit 920 described above sequentially detects the current traveling operation of the moving body MV. Then, the traveling operation detection unit 920 sends the current traveling operation of the detected moving object MV to the information generation device 700. In the present embodiment, the traveling operation of the moving body MV includes the speed of the moving body MV.

<Configuration of Information Generating Device 700>
The configuration of the information generation apparatus 700 will be described.

  As illustrated in FIG. 1, the information generation apparatus 700 includes a storage unit 710, a travel information acquisition unit 715, an imaging unit 720, an analysis unit 725, and a communication unit 730. In addition, the information generation apparatus 700 includes an event information acquisition unit 740, a specification unit 750, a determination unit 760, and a determination unit 770. Furthermore, the information generation apparatus 700 includes a generation unit 780, a notification unit 785, and a control unit 790.

  The storage unit 710 includes a nonvolatile storage element. The storage unit 710 stores map information. The event information acquisition unit 740, the identification unit 750, the determination unit 760, and the determination unit 770 are accessible to the storage unit 710.

  The map information includes node (intersection etc.) position information and road link information connecting the nodes. Here, the road link information includes information on the number of lanes of the road link. The information on the number of lanes of the road link includes information on lane divisions such as a straight lane, a left turn lane, and a right turn lane, information on a lane change prohibition section, and the like.

  The travel information acquisition unit 715 acquires the current position of the moving body MV sent from the position detection unit 910. In addition, the travel information acquisition unit 715 acquires the current speed of the moving object MV sent from the travel operation detection unit 920. Then, the travel information acquisition unit 715 sends information on the current position of the moving object MV to the event information acquisition unit 740, the specification unit 750, and the determination unit 760. In addition, the travel information acquisition unit 715 sends information on the current position and speed of the moving body MV to the control unit 790.

  The imaging unit 720 captures at least an image in front of the moving body MV in an imaging field including the moving direction of the moving body MV. The imaging unit 720 includes, for example, a wide viewing angle camera installed in a front part of the moving body MV. The captured image captured by the imaging unit 720 is sent to the analysis unit 725.

  The analysis unit 725 receives the captured image sent from the imaging unit 720. Then, the analysis unit 725 analyzes the captured image and derives information related to event information (hereinafter also referred to as “event information”) that may be a traveling disturbance of the moving body MV on the traveling direction side of the moving body MV. . Information regarding the event information thus derived is sent to the event information acquisition unit 740.

  Here, examples of “events” (hereinafter also referred to as “interfering events”) that may cause travel obstruction of the moving body MV include “street parking vehicles” and “congestion queues”. The “information related to event information” derived by the analysis unit 725 is information for determining the occurrence of the event. The “information on event information” includes the presence / absence of blinking of a hazard lamp of another moving body located in front of the moving body MV, the presence / absence of blinking of a direction indicator (hereinafter referred to as “winker”), and Includes whether or not the brake lamp is lit. In the following description, the presence / absence of blinking of a hazard lamp, the presence / absence of blinking of a blinker, and the presence / absence of lighting of a brake lamp are collectively referred to as “lighting / flashing of an indicator lamp”.

  The communication unit 730 performs communication with an external device and receives information related to event information from the external device. In the present embodiment, the communication unit 730 communicates with an external server (not shown) and with another mobile unit (not shown) that exists in the vicinity of the mobile unit MV, and information on event information Is supposed to receive. Then, the communication unit 730 sends information regarding the received event information to the event information acquisition unit 740.

  Here, the other mobile objects that can communicate with the communication unit 730 indicate whether the other mobile objects are lit / flashing and the current position of the other mobile objects. It is designed to send to nearby mobile objects. In addition, when the other mobile unit that can communicate with the communication unit 730 stops driving the other mobile unit, the fact that the drive is stopped is displayed together with the external server and the other unit along with the current position of the other mobile unit. It is designed to transmit to a mobile body existing around the mobile body.

  In addition, when another moving body includes an imaging unit configured similarly to the imaging unit 720 and an analyzing unit configured similar to the analyzing unit 725, an image in front of the other moving body is displayed. Information related to event information derived by analysis may be transmitted to a mobile unit existing in the vicinity of the external server and the other mobile unit.

  In addition, the communication unit 730 receives information on the presence / absence of lighting / flashing of the indicator light of the moving body MV and information on the current position of the moving body MV sent from a drive control unit (not shown) that controls driving of the moving body MV. It is like that. Then, the communication unit 730 uses the information on the presence / absence of lighting / flashing of the indicator light of the mobile unit MV and the information on the current position of the mobile unit MV to other mobile units existing around the external server and the mobile unit MV. To send to. In addition, when the communication unit 730 stops the driving of the moving body MV, the communication unit 730 indicates that the driving is stopped together with the current position of the moving body MV and other moving bodies existing around the external server and the moving body MV. To send to.

  The event information acquisition unit 740 receives information related to event information sent from the analysis unit 725. The event information acquisition unit 740 receives information related to event information sent from the communication unit 730. Furthermore, the event information acquisition unit 740 receives the current position of the moving object MV sent from the travel information acquisition unit 715.

  Then, the event information acquisition unit 740 refers to the map information stored in the storage unit 710 and the current position of the moving object MV, and based on information related to event information (hereinafter also referred to as “event occurrence determination information”), the lane Event information including the presence / absence of a road parked vehicle and the presence / absence of a traffic jam is derived and acquired for each time.

  For example, when receiving event occurrence determination information that another moving body is blinking a hazard lamp and stopped on the road, the event information acquisition unit 740 determines that the other moving body is a road parked vehicle. To do. In addition, when receiving event occurrence determination information indicating that another vehicle is not moving by turning on or blinking an indicator lamp on the road, the event information acquisition unit 740 determines that the other mobile body is a road parked vehicle. To do. In addition, when receiving event occurrence determination information indicating that another moving body has stopped driving on the road, the event information acquisition unit 740 determines that the other moving body is a road parked vehicle.

  In addition, for example, when receiving event occurrence determination information that a predetermined number or more of other moving objects in the vicinity are lighting the brake lamp on the road, the event information acquisition unit 740 Judge that there is a traffic jam in the vicinity. In addition, when receiving event occurrence determination information indicating that a certain number or more of the other moving objects in the vicinity are stopped by blinking the left turn signal on the road, the event information acquisition unit 740 displays the other moving objects in the vicinity. It is judged that there is a traffic jam line for the left turn.

  Here, the predetermined number is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of detecting occurrence of traffic jams.

  And when it is judged that a road parking vehicle exists, the event information acquisition part 740 specifies the area of the vehicle row | line | column of the said road parking vehicle as a driving | running | working obstruction area by a road parking vehicle. If it is determined that there is a traffic jam column, the event information acquisition unit 740 identifies the section of the traffic jam queue as a travel disturbance zone due to the traffic jam queue. Event information including the travel obstruction section thus identified is sent to the determination unit 770 and the control unit 790.

  Said specific | specification part 750 receives the present position of the moving body MV sent from the traveling information acquisition part 715. FIG. And the specific | specification part 750 is referring to the map information in the memory | storage part 710, and the mobile body MV is drive | working when the mobile body MV is drive | working the road of multiple lanes and is approaching the guidance focus point. Identify the driving lane. Information on the travel lane of the moving body MV specified in this way is sent to the determination unit 770.

  Here, the guidance focus point is a point where guidance guidance is performed on the road in the route of the mobile MV searched by a search unit (not shown), and an example is an intersection.

  The determination unit 760 receives the current position of the moving body MV sent from the travel information acquisition unit 715. Then, the determination unit 760 refers to the map information in the storage unit 710, and when the moving body MV is traveling on a road with a plurality of lanes and approaches the guidance focus point, the planned entry direction to the guidance focus point And a traveling lane that the moving body MV should travel from the current position to the guidance attention point is determined from the planned exit direction from the guidance attention point. Information on the traveling lane of the moving body MV determined in this way is sent to the determination unit 770.

  Here, when the guidance focus point is an intersection and the mobile MV is scheduled to turn left at the intersection that is the guidance focus point, the traveling lane is generally the leftmost left turn lane. In addition, when the guidance focus point is an intersection and the mobile MV is scheduled to turn right at the intersection that is the guidance focus point, the traveling lane is generally the rightmost right turn lane.

  The determination unit 770 receives the travel lane information of the moving body MV sent from the specifying unit 750. Further, the determination unit 770 receives the information on the traveling lane of the moving body MV sent from the determination unit 760. Furthermore, the determination unit 770 receives event information sent from the event information acquisition unit 740. Upon receiving these pieces of information, the determination unit 770 determines whether or not it is necessary to change the lane of the moving body MV according to the travel lane, the traveling lane, and the event information of the moving body MV. Then, the determination unit 770 sends the content of the determination result to the generation unit 780. Details of the processing by the determination unit 770 will be described later.

  The generation unit 780 receives the determination result sent from the determination unit 770. In addition, the generation unit 780 receives a guidance information output command sent from the control unit 790. Then, the generation unit 780 generates guidance information related to the lane on the road to travel according to the content of the determination result according to the guidance information output command. The guidance information generated in this way is sent to the notification unit 785.

  The notification unit 785 includes a display unit, a sound output unit, and the like. The notification unit 785 receives the guide information sent from the generation unit 780. And the alerting | reporting part 785 alert | reports the display output of the guidance regarding the lane on the road which the mobile body MV should drive | work, audio | voice output, etc. based on the said guidance information.

  The control unit 790 receives the event information including the travel disturbance section sent from the event information acquisition unit 740. In addition, the control unit 790 receives information on the current position and speed of the moving object MV sent from the travel information acquisition unit 715. Then, the control unit 790 controls the timing at which the notification unit 785 notifies the guide information via the generation unit 780 according to the contents of the event information and the current position and speed information of the moving object MV.

  In the present embodiment, from the mobile MV that is before reaching the travel obstruction section and at the end of the travel obstruction section (that is, the farthest position from the guide focus point and approaching the guide focus point). When the moving body MV is located at a point that is a predetermined distance away from the adjacent position) in the direction opposite to the traveling direction of the moving body MV, the control unit 790 generates a guidance output command and outputs the guidance output command. The data is sent to the generation unit 780. Here, the predetermined distance is determined according to the speed of the moving body MV, and the higher the speed of the moving body MV, the longer the predetermined distance.

  The relationship between the speed of the moving body MV and the predetermined distance is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of safely changing lanes.

[Operation]
The operation of the information generation apparatus 700 configured as described above will be described mainly focusing on the processing by the determination unit 770.

  In the information generating apparatus 700, it is assumed that a search unit (not shown) searches for a route from the current position to the destination. Then, it is assumed that the search unit sets, for example, an intersection that turns left or an intersection that turns right as a guidance focus point along the route to the destination.

  In the information generation device 700, the travel information acquisition unit 715 acquires the current position of the mobile unit MV sent from the position detection unit 910 and the speed information of the mobile unit MV sent from the travel operation detection unit 920. Suppose you are. Then, it is assumed that the travel information acquisition unit 715 sequentially sends the current position of the moving object MV to the event information acquisition unit 740, the specification unit 750, and the determination unit 760. In addition, it is assumed that the travel information acquisition unit 715 sequentially sends information on the current position and speed of the moving body MV to the control unit 790.

  The specifying unit 750 that has received the current position of the moving body MV sent from the traveling information acquisition unit 715 refers to the map information in the storage unit 710, and the moving body MV travels on a road with a plurality of lanes, and guides attention points. When the vehicle MV is approaching, it is assumed that the traveling lane in which the moving body MV is currently traveling is specified. And the specific | specification part 750 shall send the information of the travel lane of the specified mobile body MV to the determination part 770. FIG.

  Further, the determination unit 760 that has received the current position of the mobile unit MV sent from the travel information acquisition unit 715 refers to the map information, and the mobile unit MV travels on a road with multiple lanes and approaches the guidance point of interest. It is assumed that the traveling lane has been determined. And the determination part 760 shall send the information of the determined traveling lane of the moving body MV to the determination part 770.

  Furthermore, in the information generation device 700, it is assumed that the imaging unit 720 captures at least an image in front of the moving object MV and sends it to the analysis unit 725. Then, it is assumed that the analysis unit 725 analyzes the captured image to derive event occurrence determination information and sends the event occurrence determination information to the event information acquisition unit 740.

  Further, in the information generation device 700, when the communication unit 730 communicates with an external server and with other mobile objects existing around the mobile object MV and receives event occurrence determination information, It is assumed that event occurrence determination information is sent to the event information acquisition unit 740.

  Then, the event information acquisition unit 740, from the event occurrence determination information sent from the analysis unit 725, and the event occurrence determination information sent from the communication unit 730, the presence or absence of a road parked vehicle for each lane and the presence or absence of a traffic jam line, In addition, it is assumed that event information including a travel disturbance section is derived and the event information is sent to the determination unit 770 and the control unit 790.

  In the guidance information generation process, the determination unit 770 determines whether or not the mobile body MV is approaching the guidance target point from the time change of the current position of the mobile body MV and the map information while the mobile body MV is traveling. Determine. And when the result of the said determination is affirmative, the determination part 770 determines the necessity of the lane change of the mobile body MV based on the information of a travel lane and a progress lane, and event information.

  When determining whether or not it is necessary to change the lane, the determination unit 770 includes information indicating that the road parked vehicle is “present” in the event information, the road parked vehicle exists on the traveling lane, and the traveling lane is the traveling lane. If it is, it is determined that the first lane change is necessary before the moving body MV reaches the travel disturbance section. When the section between the head of the travel obstruction section on the side close to the guidance focus point and the guidance focus point is not a lane change prohibition section, the determination unit 770 passes the travel obstruction section and then moves to the traveling lane. It is further determined that the second lane change is necessary. Then, the determination unit 770 sends the determination result to the generation unit 780.

  On the other hand, when the section between the head of the travel obstruction section on the side close to the guidance focus point and the guidance focus point is a lane change prohibition section, the determination unit 770 moves to the traveling lane after passing through the travel obstruction section. Since it is impossible to change the second lane, it is determined to be unnecessary. Then, the determination unit 770 sends the determination result to the generation unit 780. In this embodiment, when it is determined that the second lane change is not necessary, the determination unit 770 determines that it is necessary to re-search for a route to a destination that does not travel in the planned exit direction from the guidance focus point. A re-search command is sent to the illustrated search unit.

  Further, when determining whether or not it is necessary to change the lane, the determination unit 770 includes information indicating that the road parked vehicle is “present” in the event information, the road parked vehicle exists on the traveling lane, and the travel lane is If it is not a traveling lane, it is determined whether or not the second lane change described above is necessary. Then, the determination unit 770 sends the determination result to the generation unit 780. If it is determined that the second lane change is not necessary, the determination unit 770 determines that it is necessary to re-search for a route to a destination that does not travel in the planned exit direction from the guidance focus point, and performs a search (not illustrated). A re-search command is sent to the part.

  Further, when determining whether or not it is necessary to change the lane, the determination unit 770 includes, in the event information, information that the road parked vehicle is “No” and information that the traffic jam column at the guidance focus point is “Yes” If there is a traffic jam line on the travel lane and the travel lane is not a travel lane, the lane to the travel lane is such that the position of the moving body MV is at the end of the traffic jam queue that is the travel jamming zone. Judge that change is necessary. Then, the determination unit 770 sends the determination result to the generation unit 780.

  Subsequently, the control unit 790 controls the timing for notifying the guidance information. When controlling the timing, the control unit 790 outputs a guidance output when the moving body MV is located at a position away from the last position of the travel disturbance section by a predetermined distance in the direction opposite to the traveling direction of the moving body MV. A command is generated and the guidance output command is sent to the generation unit 780.

  Upon receiving the guidance output command sent from the control unit 790, the generation unit 780 generates guidance information about the content of the determination result sent from the determination unit 770. Then, the generation unit 780 sends the generated guidance information to the notification unit 785. As a result, the notification unit 785 notifies the guidance regarding the lane on the road on which the moving body MV should travel.

  As described above, in the present embodiment, the event information acquisition unit 740 is information related to event information that can be an obstacle to traveling of the moving body MV on the traveling direction side of the moving body MV sent from the analysis unit 725 and the communication unit 730. Receive. And the event information acquisition part 740 derives | leads-out the event information containing the presence or absence of the road parking vehicle for every lane, the presence or absence of a traffic jam row | line | column, and a travel disturbance area from the said information. Subsequently, the determination unit 770 determines whether or not it is necessary to change the lane based on the information on the traveling lane and the traveling lane, and the event information including the traveling disturbance section.

  When determining whether or not it is necessary to change the lane, the determination unit 770 determines that there is a road parked vehicle on the traveling lane and the moving body MV reaches the traveling obstruction section when the traveling lane is the traveling lane. Then, it is determined that the first lane change is necessary. Then, after the moving body MV passes through the travel obstruction section, when the section between the head of the travel obstruction section on the side close to the guidance attention point and the guidance attention point is not a lane change prohibition section, the determination unit 770 After passing through the travel obstruction section, it is further determined that the second lane change to the traveling lane is necessary. In addition, when there is a road parked vehicle on the traveling lane and the traveling lane is not the traveling lane, the determining unit 770 determines whether the traveling disturbing section on the side adjacent to the guiding attention point is the leading point from the guiding attention point. When the section in between is not a lane change prohibition section, it is determined that the lane change to the traveling lane is necessary after the moving body MV passes through the travel obstruction section. Then, the generation unit 780 generates guidance information of the content of the determination result sent from the determination unit 770.

  As described above, in the present embodiment, when there is a road parked vehicle on the traveling lane, it is possible to provide the mobile body MV with accurate guidance information regarding lane travel on the road. For this reason, a user of the moving body MV (especially, a driver who drives the moving body MV) performs an appropriate driving operation in advance when the moving body MV is approaching a travel obstruction section where a road parked vehicle exists. Therefore, it is possible to perform driving operation with a psychological margin.

  Further, in the present embodiment, when the section between the head of the travel disturbing section on the side close to the guide focus point and the guide focus point is a lane change prohibition section, the determination unit 770 has passed the travel disturb section. Since it is impossible to change the lane to the next traveling lane, it is determined as unnecessary. If it is determined that a lane change to the traveling lane is not necessary, the determination unit 770 determines that a re-search for a route to a destination that does not travel in the planned exit direction is necessary, and Send a search command. For this reason, in this embodiment, it is possible to re-search for a new route to the destination while performing appropriate guidance that contributes to safe driving in compliance with traffic regulations.

  In the present embodiment, when determining whether or not it is necessary to change the lane, the determination unit 770 determines the position of the moving body MV when there is a traffic jam line on the traveling lane and the traveling lane is not the traveling lane. It is determined that the lane change to the traveling lane is necessary so that is at the end of the traffic jam column that is the travel disturbance section. Then, the generation unit 780 generates guidance information of the content of the determination result sent from the determination unit 770. For this reason, in this embodiment, when there is a congestion line on the traveling lane, it is possible to provide accurate guidance information regarding lane travel on the road.

  Further, in the present embodiment, the control unit 790 guides the mobile unit MV when the mobile unit MV is located at a point that is a predetermined distance away from the rearmost position of the travel disturbance section in the direction opposite to the traveling direction of the mobile unit MV. An output command is generated, and the guidance output command is sent to the generation unit 780. As a result, it is possible to provide the user of the mobile unit MV with guidance information regarding the lane in which the vehicle travels at an appropriate timing that contributes to safe driving. For this reason, since the user of the moving body MV can recognize the guidance information related to the appropriate driving operation in advance when the moving body MV is approaching the traffic jam line existing at the guidance attention point, It becomes possible to perform driving operation with a psychological margin.

  Therefore, according to the present embodiment, it is possible to provide guidance information regarding the lane to be selected on the traveling road to the user of the moving body MV according to the presence or absence of a road parked vehicle on the traveling road.

[Modification of Embodiment]
The present invention is not limited to the above-described embodiment, and various modifications are possible.

  For example, in the above-described embodiment, the disturbing events that may interfere with the traveling of the moving object are the “street parking vehicle” and the “congestion queue”. On the other hand, as a matter of course, an event that interferes with the traveling of the moving object such as road works may be added. In addition, what is necessary is just to make it perform the process similar to the case of the "road parking vehicle" in embodiment about the driving | running | working disturbance of the vehicle by road construction.

  Further, in the above embodiment, the guidance focus point is an intersection, but a road junction may be included in the guidance focus point.

  Moreover, in said embodiment, the specific | specification part specified the driving | running | working lane which the mobile body is drive | working with reference to map information based on the present position of a mobile body. On the other hand, the specifying unit may analyze the image in front of the moving body MV captured by the imaging unit and specify the traveling lane in which the moving body is traveling. Further, the specifying unit may specify the traveling lane based on the current position of the moving body and the analysis result of the image ahead of the moving body MV captured by the imaging unit while referring to the map information.

  In the above embodiment, the event information based on the captured image captured by the image capturing unit is not transmitted to the outside. However, the information regarding the event information is transmitted to an external server or another mobile object. It may be.

  Further, in the above embodiment, when the moving body is located at a point that is a predetermined distance away from the rearmost position of the traveling disturbance section in the direction opposite to the traveling direction of the moving body, the control unit outputs a guidance output command. Was generated. The predetermined distance is determined according to the speed of the moving body. The higher the speed of the moving body, the longer the predetermined distance. On the other hand, the predetermined distance may be determined according to the speed and acceleration of the moving body. In this case, the predetermined distance may be increased as the speed of the moving body is increased, and the predetermined distance may be increased as the acceleration of the moving body is increased.

  Further, the predetermined distance may be determined according to the length of the travel disturbance section. In this case, the predetermined distance may be increased as the travel disturbance section is shorter.

  Further, in the above embodiment, when the section between the head of the travel disturbance section on the side close to the guidance focus point and the guidance focus point is a lane change prohibition section, the determination unit passes the travel disturbance section. Since it was impossible to change the lane, it was judged unnecessary. On the other hand, even when the section between the head of the travel obstruction section on the side close to the guidance focus point and the guidance focus point is an overtaking prohibition section, it is not necessary to change the lane after passing the travel obstruction section. You may make it determine.

  Note that the travel information acquisition unit, analysis unit, identification unit, determination unit, event information acquisition unit, determination unit, generation unit, control unit, and search unit of the information generation device in the above-described embodiment are connected to a central processing unit (CPU: Central). A part of the generation unit and the control unit in the above embodiment is configured as a computer as a calculation unit including a processing unit (DSP), a digital signal processor (DSP), and the like, and a program prepared in advance is executed by the computer. Alternatively, all functions may be realized. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is read from the recording medium and executed by the computer. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 2 is a block diagram illustrating a schematic configuration of the information generating apparatus 100 according to an embodiment. The information generation apparatus 100 is an aspect of the information generation apparatus 700 (see FIG. 1) according to the above-described embodiment. The information generation apparatus 100 is disposed in the vehicle CR.

  As shown in FIG. 2, the information generation apparatus 100 includes a processing control unit 110 and a storage unit 120. In addition, the information generation apparatus 100 includes a sound output unit 130 and a display unit 140. Further, the information generating apparatus 100 includes a GPS (Global Positioning System) receiving unit 150, a sensor unit 160, a wireless communication unit 170, and an imaging unit 180.

  The process control unit 110 performs overall control of the information generation apparatus 100 and executes various processes. The processing control unit 110 includes a central processing unit (CPU), a DSP (Digital Signal Processor) and its peripheral circuits as arithmetic means. Various functions as the information generation apparatus 100 are realized by the processing control unit 110 executing various programs. Among these functions, the travel information acquisition unit 715, analysis unit 725, identification unit 750, determination unit 760, event information acquisition unit 740, determination unit 770, generation unit 780, control unit 790, and search unit in the embodiment described above. The function of is also included.

  The processing control unit 110 is connected to a drive control unit (not shown) that controls the driving of the vehicle CR. And the process control unit 110 receives the information on the presence / absence of lighting / flashing of the indicator light of the vehicle CR sent from the drive control unit. Information on the presence / absence of lighting / flashing of the indicator light of the vehicle CR acquired in this way is sent to the external server and other vehicles existing around the vehicle CR through the wireless communication unit 170 together with the current position of the vehicle CR. It is supposed to send. In other words, the processing control unit 110 performs a part of the function of the communication unit 730 described above. Details of the processing executed by the processing control unit 110 will be described later.

  The program executed by the processing control unit 110 is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is loaded from the recording medium and executed. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

  The storage unit 120 includes a nonvolatile storage device such as a hard disk device, and stores various information data used in the information generation device 100. Such information data includes map information MPI and the like. The storage control unit 110 can access the storage unit 120. That is, the storage unit 120 fulfills the function of the storage unit 710 described above.

  The map information MPI includes node (intersection etc.) position information and road link information connecting the nodes. Here, the road link information includes information on the number of lanes of the road link including information on lane divisions such as a straight lane, a left turn lane, and a right turn lane, and information on a lane change prohibited section.

  The sound output unit 130 includes a speaker. The sound output unit 130 receives the output sound data sent from the processing control unit 110. Then, the sound output unit 130 outputs an output sound corresponding to the output sound data. That is, the sound output unit 130 performs a part of the function of the notification unit 785 described above.

  The display unit 140 includes a display device such as a liquid crystal display panel. The display unit 140 receives display data sent from the processing control unit 110. Then, the display unit 140 displays an image corresponding to the display data. In other words, the display unit 140 performs a part of the function of the notification unit 785 described above.

  The GPS receiving unit 150 calculates the current position of the vehicle CR based on reception results of radio waves transmitted from a plurality of GPS satellites. The GPS receiving unit 150 measures the current time based on the date / time information transmitted from the GPS satellite. Information regarding these current position and current time is sent to the processing control unit 110 as GPS data. Here, the GPS receiving unit 150 performs the function of the position detecting unit 910 described above.

  The sensor unit 160 includes a vehicle speed sensor, an acceleration sensor, and the like. Detection results from various sensors included in the sensor unit 160 are sent to the processing control unit 110 as sensor data. Here, the sensor unit 160 is configured to perform the function of the traveling operation detection unit 920 described above.

  The wireless communication unit 170 is configured with an antenna (not shown). The wireless communication unit 170 processes the received signal received by the antenna and converts it into a digital data signal that can be processed by the processing control unit 110. Also, the wireless communication unit 170 processes the transmission signal sent from the processing control unit 110, converts it into a signal corresponding to the wireless signal, and sends it to the antenna.

  The wireless communication unit 170 is used to receive information (event occurrence determination information) related to event information that may interfere with traveling on the traveling direction side of the vehicle CR from an external server (not shown). Information regarding the event information received in this way is sent to the processing control unit 110.

  In addition, the wireless communication unit 170 is used to communicate with devices arranged in other vehicles (not shown) around the vehicle CR, and receive information related to event information (event occurrence determination information). Then, the wireless communication unit 170 sends information regarding the event information to the processing control unit 110. In other words, the wireless communication unit 170 performs a part of the function of the communication unit 730 described above.

  The imaging unit 180 includes an in-vehicle camera (not shown) and a data processing unit (not shown). The in-vehicle camera is disposed on the back side of the room mirror, for example. The in-vehicle camera captures a peripheral image in the traveling direction of the vehicle CR as a moving image. The data processing unit converts the imaging result obtained by the in-vehicle camera into digital image data. The digital image data of the peripheral image of the vehicle CR thus captured is sent to the processing control unit 110 as a captured image.

[Operation]
The operation of the information generating apparatus 100 configured as described above will be described mainly focusing on the generation and notification processing of guidance information related to the traveling lane by the processing control unit 110.

  It is assumed that the process control unit 110 is searching for a route from the current position to the destination. Then, it is assumed that the processing control unit 110 sets, for example, an intersection that makes a left turn or an intersection that makes a right turn as a guidance attention point along the route to the destination.

  In addition, it is assumed that information regarding the current position and the current time of the vehicle CR is sent from the GPS receiving unit 150 to the processing control unit 110 as GPS data. Further, it is assumed that detection results from various sensors are sequentially sent from the sensor unit 160 to the processing control unit 110 as sensor data. Furthermore, it is assumed that information related to event information (event occurrence determination information) is sent from the wireless communication unit 170 to the processing control unit 110.

  Furthermore, in the information generation device 100, the imaging unit 180 captures a peripheral image in the traveling direction of the vehicle CR, converts the imaging result into digital image data, and sends the digital image data to the processing control unit 110.

  In the following description, it is assumed that the obstacle events that may interfere with the traveling of the vehicle CR are “road parked vehicle” and “congestion queue”.

  As shown in FIG. 3, in the generation and notification processing of guidance information related to the travel lane, first, in step S11, the processing control unit 110 causes the vehicle CR to travel on one side of a plurality of lanes and approaches the guidance focus point. Then, it is determined whether or not the distance to the guidance focus point is within the determination distance. Here, the determination distance is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of appropriately providing guidance information regarding the lane corresponding to the disturbance event.

  If the result of this determination is negative (step S11: N), the process of step S11 is repeated. When the vehicle CR approaches the guidance focus point, the distance to the guidance focus point becomes the determination distance, and when the determination result in step S11 becomes affirmative (step S11: Y), the process proceeds to step S12.

  In step S <b> 12, the processing control unit 110 determines whether or not an interference event that may interfere with the traveling of the vehicle CR has occurred on the traveling direction side of the vehicle CR. If the result of this determination is negative (step S12: N), the process returns to step S11.

  If the result of the determination in step S12 is affirmative (step S12: Y), the process proceeds to step S13. In step S <b> 13, the process control unit 110 performs “a guide information generation process related to a lane associated with the occurrence of a disturbance event”. Details of the processing in step S13 will be described later. Then, when the process of step S13 ends, the process proceeds to step S14.

  In step S14, the process control unit 110 performs a “guidance information notification process”. Details of the processing in step S14 will be described later. Then, when the process of step S14 ends, the process returns to step S11. Thereafter, the processes of steps S11 to S14 are repeated.

<Guidance information generation process for lanes associated with the occurrence of jamming events>
The “guidance information generation process regarding the lane associated with the occurrence of the disturbance event” in step S13 described above will be described.

  As shown in FIG. 4, in the “guidance information generation process associated with the occurrence of a disturbance event”, first, in step S21, the processing control unit 110 refers to the map information MPI and determines the vehicle based on the current position. The travel lane in which the CR is traveling is specified. Subsequently, in step S22, the processing control unit 110 refers to the map information MPI and determines from the current position to the guidance focus point from the planned approach direction to the guidance focus point and the exit direction from the guidance focus point. The traveling lane on which the vehicle CR should travel is determined. Next, in step S23, the processing control unit 110 refers to the map information MPI, and identifies the generated lane that is the lane in which the disturbance event has occurred based on the current position and the event information. Thereafter, the process proceeds to step S24.

  In step S24, the process control unit 110 determines whether or not the generated lane matches the traveling lane. If the result of this determination is negative (step S24: N), the process proceeds to step S25. In step S25, the processing control unit 110 determines whether or not the currently traveling lane is the same as the generated lane in which the disturbance event occurs. If the result of this determination is affirmative (step S25: Y), the process proceeds to step S26.

  In step S <b> 26, the processing control unit 110 generates guidance information indicating “change lane to traveling lane”. When the process of step S26 ends, the process of step S13 ends. And a process progresses to step S14 of FIG. 3 mentioned above.

  On the other hand, when the result of the determination in step S25 is negative (step S25: N), the process proceeds to step S27. In step S <b> 27, the processing control unit 110 generates guidance information indicating “maintain the lane”. When the process of step S27 ends, the process of step S13 ends. And a process progresses to step S14 of FIG. 3 mentioned above.

  If the result of the determination in step S24 described above is affirmative (step S24: Y), the process proceeds to step S28. In step S <b> 28, the process control unit 110 performs “guidance information generation process corresponding to the disturbance event”. When the process of step S28 ends, the process of step S13 ends. And a process progresses to step S14 of FIG. 3 mentioned above.

《Guidance information generation process corresponding to jamming events》
The “guidance information generation process corresponding to the disturbance event” in step S28 described above will be described.

  As shown in FIG. 5, in the “guidance information generation process corresponding to an obstruction event”, first, in step S31, the process control unit 110 determines whether or not the obstruction event is “road parked vehicle”. To do. If the result of this determination is affirmative (step S31: Y), the process proceeds to step S32.

  In step S <b> 32, the processing control unit 110 performs “guidance information generation processing corresponding to a road parked vehicle”. Details of the processing in step S32 will be described later. When the process of step S32 is completed, the process of step S28 and the process of step S13 of FIG. 4 are terminated, and the process proceeds to step S14 of FIG. 3 described above.

  If the result of the determination in step S31 is negative (step S31: N), the process proceeds to step S33.

  In step S <b> 33, the processing control unit 110 performs “guidance information generation processing corresponding to a traffic jam queue”. Details of the processing in step S33 will be described later. When the process of step S33 ends, the process of step S28 and the process of step S13 of FIG. 4 end, and the process proceeds to step S14 of FIG. 3 described above.

(Guidance information generation process corresponding to road parked vehicles)
The “guidance information generation process corresponding to a road parked vehicle” in step S32 described above will be described.

  As shown in FIG. 6, in the “guidance information generation process corresponding to a road parked vehicle”, first, in step S <b> 41, the processing control unit 110 performs the current driving lane and the obstruction event (road parked vehicle). ) Is the same as the generated lane. If the result of this determination is negative (step S41: N), the process proceeds to step S43 described later.

  On the other hand, when the result of the determination in step S41 is affirmative (step S41: Y), the process proceeds to step S42. In step S42, the processing control unit 110 generates the first type of lane change related information that "the lane change is necessary to avoid the travel of the generated lane before the vehicle CR reaches the travel obstruction section due to the road parked vehicle". To do. Thereafter, the process proceeds to step S43.

  In step S43, whether or not there is a distance for the processing control unit 110 to change the lane to the traveling lane, that is, a section between the head of the traveling disturbance section on the side close to the guidance attention point and the guidance attention point. It is determined whether the distance is equal to or longer than the lane changeable distance. Here, the lane changeable distance is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of safely changing lanes. If the result of this determination is affirmative (step S43: Y), the process proceeds to step S44.

  In step S44, the processing control unit 110 determines whether or not the position where the lane change to the traveling lane is a lane change prohibition section. If the result of this determination is negative (step S44: N), the process proceeds to step S45. In step S45, the processing control unit 110 generates the second type of lane change related information that “the lane change to the traveling lane is necessary after the vehicle CR has passed the travel obstruction section due to the road parked vehicle”. Thereafter, the process proceeds to step S47 described later.

  On the other hand, if the determination in step S43 is negative (step S43: N), or if the determination result in step S44 is affirmative (step S44: Y), the process proceeds to step S46. . In step S46, the process control unit 110 re-searches for a new route to a destination that does not travel in the planned exit direction from the guidance focus point. In addition, the processing control unit 110 generates lane change related information that “the vehicle CR does not change the lane to the traveling lane after passing through the road obstruction section due to the road parked vehicle”. Thereafter, the process proceeds to step S47.

  In step S47, the processing control unit 110 relates to the lane on the road to be driven based on the first type and / or second type lane change related information and the content of the lane change related information generated in step S46. Guide information is generated.

  When the process of step S47 ends, the process of step S32 ends. When the process of step S32 is completed in this way, the above-described step S28 of FIG. 5 and step S13 of FIG. 4 are completed. And a process progresses to step S14 of FIG. 3 mentioned above.

(Guidance information generation process corresponding to the traffic jam queue)
The “guidance information generation process corresponding to the traffic jam column” in step S33 described above will be described.

  As shown in FIG. 7, in the “guidance information generation process corresponding to a traffic jam queue”, first, in step S51, the processing control unit 110 determines that the currently traveling lane and the jamming event (traffic jam queue). It is determined whether or not the generated lane is the same. If the result of this determination is negative (step S51: N), the process proceeds to step S52.

  In step S <b> 52, the processing control unit 110 generates the third type of lane change related information that “the lane change to the traveling lane is necessary so that the position of the vehicle CR is at the end of the traffic jam line”. Thereafter, the processing proceeds to step S54 described later.

  If the result of the determination in step S51 is affirmative (step S51: Y), the process proceeds to step S53. In step S <b> 53, the processing control unit 110 generates lane change related information indicating that “the lane is maintained so that the position of the vehicle CR is at the end of the traffic jam column”. Thereafter, the process proceeds to step S54.

  In step S54, the processing control unit 110 generates guidance information regarding the lane on the road to be traveled based on the content of the lane change related information of the third type or lane keeping.

  When the process of step S54 ends, the process of step S33 ends. When the process of step S33 is thus completed, the above-described step S28 of FIG. 5 and step S13 of FIG. 4 are completed. And a process progresses to step S14 of FIG. 3 mentioned above.

<Notification processing of guidance information>
The “guidance information notification process” in step S14 will be described.

  As shown in FIG. 8, the “guidance information notification process” is performed by first determining whether or not the position of the vehicle CR has become a notification point in step S <b> 61. It is determined whether or not the output timing has come. In the present embodiment, a point that is a predetermined distance away from the rearmost position of the travel disturbance section in the direction opposite to the traveling direction of the vehicle CR is set as the notification point. If the result of this determination is negative (step S61: N), the process of step S61 is repeated.

  When the guidance information output timing is reached and the determination result in step S61 is positive (step S61: N), the process proceeds to step S62. In step S62, the process control unit 110 generates display data and output sound data corresponding to the content of the guidance information. Then, the processing control unit 110 sends the display data to the display unit 140 and sends the output sound data to the sound output unit 130.

  As a result, an image of guidance information corresponding to the display data is displayed on the display unit 140. Further, the sound output unit 130 outputs an output sound of guidance information corresponding to the output sound data. When the guidance information is output in this way, the process of step S62 ends. When the process of step S62 ends, the process of step S14 ends. And a process returns to step S11 of FIG. 3 mentioned above.

<Image display example of guidance information about lanes>
9 to 14 show examples of guidance information images displayed on the display unit 140 by the process of step S14 of FIG. Here, in the description of the image display example of the guidance information regarding the lane, it is assumed that the planned travel route of the vehicle CR is scheduled to turn left at the intersection that is the guidance focus point. For this reason, the traveling lane of the vehicle CR is determined to be a left turn lane. Further, it is assumed that the generated lane in which the disturbance event occurs is a left turn lane.

  In the example of FIG. 9, the obstruction event is “road parked vehicle”, and the travel lane of the vehicle CR before reaching the travel obstruction section is a left turn lane. Further, in the example of FIG. 9, it is possible to change the lane to the left turn lane after passing through the travel disturbance section. In this case, the processing control unit 110 performs guidance that prompts the user to “change the lane to a straight / right turn lane before the vehicle CR reaches the road parked vehicle”. In addition, the processing control unit 110 performs guidance that prompts the user to “change the lane to the left turn lane after the vehicle CR has passed the on-road parked vehicle”.

  In the example of FIG. 10, the obstruction event is “road parked vehicle”, and the travel lane of the vehicle CR before reaching the travel obstruction section is a straight / right turn lane. Further, in the example of FIG. 10, it is possible to change the lane to the left turn lane after passing through the travel disturbance section. In this case, the processing control unit 110 provides guidance that prompts the user to “change the lane to the left turn lane after the vehicle CR passes through the road parked vehicle”.

  In the example of FIG. 11, the obstruction event is “road parked vehicle”, and the traveling lane of the vehicle CR before reaching the traveling obstruction section is a left turn lane. Further, in the example of FIG. 11, it is impossible to change the lane to the left turn lane after passing through the travel disturbance section. In this case, the processing control unit 110 performs guidance that prompts the user to “change the lane to a straight / right turn lane before the vehicle CR reaches the road parked vehicle”. In addition, the processing control unit 110 performs guidance for prompting that “the vehicle CR does not change the lane to the left turn lane after passing the road parked vehicle”.

  In the example of FIG. 12, the disturbance event is “road parked vehicle”, and the traveling lane of the vehicle CR before reaching the traveling obstruction section is a straight / right turn lane. Further, in the example of FIG. 12, it is impossible to change the lane to the left turn lane after passing through the travel obstruction section. In this case, the processing control unit 110 performs guidance for prompting that “the vehicle CR does not change the lane to the left turn lane after the vehicle CR passes through the on-road parked vehicle”.

  In the example of FIG. 13, the jamming event is a “congestion train”, and the travel lane of the vehicle CR before reaching the travel jamming zone is a left turn lane. In this case, the processing control unit 110 performs guidance that prompts the user to “make the position of the vehicle CR be at the end of the congestion line without changing lanes”.

  In the example of FIG. 14, the jamming event is a “congestion queue”, and the travel lane of the vehicle CR before reaching the travel jamming zone is a straight ahead / right turn lane. In this case, the processing control unit 110 provides guidance that prompts the user to “change the lane to the left turn lane so that the position of the vehicle CR is at the end of the congestion line”.

  As described above, in the present embodiment, the processing control unit 110 analyzes the captured image captured by the imaging unit 180, and the event information including the presence / absence of a road parked vehicle, the presence / absence of a traffic jam train, and the travel disturbance section. Is derived. Further, the processing control unit 110 derives event information including the presence / absence of a parked vehicle on the road, the presence / absence of a traffic jam line, and a travel disturbance section from information on event information (event occurrence determination information) sent from the wireless communication unit 170. To do. Then, the processing control unit 110 determines whether or not it is necessary to change the lane based on the information on the traveling lane and the traveling lane, and the event information including the traveling disturbance section.

  When determining whether or not it is necessary to change the lane, the processing control unit 110, when a road parked vehicle exists on the traveling lane and the traveling lane is a traveling lane, before the vehicle CR reaches the traveling obstruction section. Then, it is determined that the first lane change is necessary. Then, after the vehicle CR passes through the travel obstruction section, when the section from the head of the travel obstruction section on the side close to the guide attention point to the guidance attention point is not a lane change prohibition section, the processing control unit 110 After passing through the travel obstruction section, it is further determined that the second lane change to the traveling lane is necessary. In addition, when there is a road parked vehicle on the traveling lane and the traveling lane is not the traveling lane, the processing control unit 110 moves from the head of the traveling disturbance section on the side close to the guidance attention point to the guidance attention point. When the section between is not a lane change prohibition section, it is determined that the lane change to the traveling lane is necessary after the vehicle CR passes through the travel obstruction section.

  As described above, in this embodiment, when there is a road parked vehicle on the traveling lane, it is possible to provide accurate guidance information regarding lane travel on the road. For this reason, the user of the vehicle CR (especially, the driver who drives the vehicle CR), when the vehicle CR is approaching the travel obstruction section where the road parked vehicle exists, Therefore, it is possible to perform driving operation with a psychological margin.

  Further, in this embodiment, when the section between the head of the travel disturbance section on the side close to the guidance focus point and the guidance focus point is a lane change prohibition section, the processing control unit 110 has passed through the travel disturbance section. Since it is impossible to change the lane to the next traveling lane, it is determined as unnecessary. If it is determined that the lane change to the traveling lane after passing through the travel obstruction section is unnecessary, the processing control unit 110 re-searches the route to the destination that does not travel in the planned exit direction. For this reason, in this embodiment, it is possible to re-search for a new route to the destination while performing appropriate guidance that contributes to safe driving in compliance with traffic regulations.

  Further, in this embodiment, when determining whether or not it is necessary to change the lane, the processing control unit 110 determines the position of the vehicle CR when there is a traffic jam line on the traveling lane and the traveling lane is not the traveling lane. It is determined that the lane change to the traveling lane is necessary so that is at the end of the traffic jam column that is the travel disturbance section. For this reason, in this embodiment, when there is a congestion line on the traveling lane, it is possible to provide accurate guidance information regarding lane travel on the road. Also in this case, since the user of the vehicle CR can recognize the guidance information about the appropriate driving operation in advance when the vehicle CR is approaching the traffic jam line existing at the guidance attention point, It is possible to perform a driving operation with a sufficient margin.

  Further, in this embodiment, the processing control unit 110 provides guidance information when the vehicle CR is located at a point that is a predetermined distance away from the rearmost position of the travel disturbance section in the direction opposite to the traveling direction of the vehicle CR. Is output. For this reason, it is possible to provide guidance information regarding the lane in which the vehicle travels at an appropriate timing that contributes to safe driving.

  Therefore, according to the present embodiment, it is possible to provide guidance information related to the lane to be selected on the traveling road in accordance with the presence or absence of a road parked vehicle on the traveling road.

[Modification of Example]
The present invention is not limited to the above-described embodiments, and various modifications can be made.

  For example, in the above-described embodiment, the disturbing events that may interfere with the traveling of the vehicle are “road parked vehicle” and “congestion train”. On the other hand, as a matter of course, an event that may interfere with the traveling of the vehicle such as road construction may be added. In addition, about the driving | running | working disturbance of the vehicle by road construction, what is necessary is just to perform the process similar to the case of the "road parking vehicle" in an Example.

  Further, in the above-described embodiment, the guidance focus point is an intersection, but a road junction may be included in the guidance focus point.

  Further, in the above embodiment, the processing control unit passes through the travel obstruction section when the section between the head of the travel obstruction section on the side close to the guidance attention point and the guidance attention point is a lane change prohibition section. Since it was impossible to change the lane after On the other hand, even when the section between the head of the travel obstruction section on the side close to the guidance focus point and the guidance focus point is an overtaking prohibition section, it is not necessary to change the lane after passing the travel obstruction section. You may make it determine.

  Moreover, about said Example, the deformation | transformation similar to the deformation | transformation with respect to embodiment mentioned above can be given suitably.

DESCRIPTION OF SYMBOLS 100 ... Information generator 110 ... Processing control unit (A part of communication part, an analysis part, an identification part, a determination part, event information acquisition
(Acquiring unit, determining unit, generating unit, control unit)
130 ... Sound output unit (part of the notification unit)
140 ... Display unit (part of the notification unit)
170 ... Wireless communication unit (part of communication unit)
180... Imaging unit (imaging unit)
700 ... Information generation device 720 ... Imaging unit 725 ... Analysis unit 730 ... Communication unit 740 ... Event information acquisition unit 750 ... Identification unit 760 ... Determination unit 770 ... Determination unit 780 ... Generation unit 785 ... Notification unit 790 ... Control unit

Claims (15)

An event information acquisition unit that acquires event information that may be an obstacle to travel on the traveling direction side of a moving body that travels on a road, and that includes event information including the presence or absence of a road parked vehicle;
A generating unit that generates guide information related to a lane on the road on which the moving body should travel based on the presence or absence of the road parked vehicle;
An information generation device comprising: When the road has a plurality of lanes and the moving body is approaching a guide point of interest on the road in the searched route, a specifying unit that specifies a traveling lane on which the moving body is traveling When;
Based on a planned entry direction of the mobile object to the guide focus point and a planned exit direction from the guide focus point, the mobile body should travel between the current position of the mobile body and the guide focus point. A deciding unit that decides the lane;
The generation unit generates the guidance information based on the event information, the traveling lane, and the traveling lane.
The information generation apparatus according to claim 1. A determination unit for determining whether or not the lane of the moving body needs to be changed;
The event information includes information on a travel disturbing section related to a section in which an event that may become the travel disturbing occurs,
The determination unit determines whether the lane change is necessary based on the travel lane, the traveling lane, and the travel obstruction section.
The generation unit generates the guidance information based on a determination result of the determination unit.
The information generation apparatus according to claim 2. The event information includes information that there is a road parked vehicle,
When the road parked vehicle exists on the traveling lane and the traveling lane is the traveling lane,
The determination unit determines that a lane change is necessary before the mobile body reaches the travel obstruction section, and the lane change to the traveling lane is possible after the mobile body passes the travel obstruction section. If there is, it is further determined that a lane change to the traveling lane is necessary.
The information generation apparatus according to claim 3. The event information includes information that there is a road parked vehicle,
When the road parked vehicle exists on the traveling lane and the traveling lane is not the traveling lane,
The determination unit determines that a lane change to the traveling lane is necessary if the lane change to the traveling lane is possible after the moving body has passed the travel obstruction section.
The information generation apparatus according to claim 3.   If the section from the head of the travel disturbing section on the side close to the guidance focus point to the guidance focus point is a lane change prohibition zone, the determination unit does not need to change the lane to the traveling lane. The information generation apparatus according to claim 4, wherein the information generation apparatus is determined.   The determination unit according to claim 6, wherein if the lane change to the traveling lane is determined to be unnecessary, the determination unit further determines that it is necessary to re-search for a route to a destination that does not travel in the planned exit direction. The information generating device described. The event information includes information that there is no road parked vehicle, and information that there is a traffic jam line at the guidance point of interest,
When the congestion queue exists on the traveling lane and the traveling lane is not the traveling lane,
The determination unit determines that a lane change to the traveling lane is necessary so that the position of the moving body is at the end of the traffic jam column that is the travel disturbance section,
The information generation apparatus according to claim 3. A notifying unit for notifying the guide information generated by the generating unit;
A control unit that controls the timing at which the notification unit notifies the guidance information;
When the moving body is located at a point away from the rearmost position of the travel obstruction section by a predetermined distance in the direction opposite to the traveling direction of the moving body, the control unit notifies the guidance information. Let the department know,
The information generation device according to claim 3, wherein the information generation device is a device.   The information generation apparatus according to claim 9, wherein the predetermined distance is determined according to a speed at which the moving body travels. A communication unit for communicating with an external device;
The event information acquisition unit acquires information on the event information via the communication unit from at least one of an external server and another mobile different from the mobile.
The information generation apparatus according to claim 1, wherein An imaging unit that images at least the front of the moving body;
An analysis unit that analyzes a captured image captured by the imaging unit and derives information related to the event information;
The event information acquisition unit acquires information on the event information analyzed by the analysis unit,
The information generation device according to any one of claims 1 to 11, wherein the information generation device is an information generation device. An information generation method used in an information generation apparatus including an event information acquisition unit and a generation unit,
An event information acquisition step in which the event information acquisition unit acquires event information including information on whether or not there is a road parked vehicle, which is information on an event that may cause travel obstruction on the traveling direction side of a moving object traveling on a road;
A generating step in which the generating unit generates guidance information related to a lane on the road on which the moving body should travel based on the presence or absence of the road-parked vehicle;
An information generation method comprising:   An information generation program that causes a computer included in the information generation apparatus to execute the information generation method according to claim 13.   15. A recording medium on which the information generation program according to claim 14 is recorded so as to be readable by a computer included in the information generation apparatus.

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